zhyinch
2020-07-05 8a64dd03a6565f25a4920171fb18d41f49aa8d11
源码/核心板/Src/application/dw_app.c
@@ -402,7 +402,7 @@
                           temp_sync_timer2=sync_timer;
                           memcpy(&temp_sync_timer1,&rx_buffer[ANCTIMEMS],2);
                           memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
                           exsistbase_list[0]=KEEP_TIMES;
                           
                           if(g_com_map[DEV_ROLE]!=0)
                           {
@@ -426,9 +426,11 @@
//                              tyncpoll_time=(tagslotpos-1)*slottime;
                           ////////////////////////////
                           rec_nearbasepos=0;
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                        if(temp_dist!=0x1ffff)
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                           
                           mainbase_lost_count=0;
                           flag_finalsend=1;
@@ -457,9 +459,11 @@
                              memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
                           }
                           
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                           if(temp_dist!=0x1ffff)
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                           
                           final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);                        
                           dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//灏嗗彂閫佹暟鎹啓鍏W1000
@@ -576,13 +580,13 @@
         }
         
      //   printf("%d,%d",temp_sync_timer2,temp_sync_timer1);
         #ifdef USART_INTEGRATE_OUTPUT
            usart_send[2] = 4;//姝e父妯″紡
            usart_send[3] = report_num*6+2;//姝e父妯″紡
            checksum = Checksum_u16(&usart_send[2],report_num*6+2);
            memcpy(&usart_send[4+report_num*6],&checksum,2);
            UART_PushFrame(usart_send,6+report_num*6);
         #endif
//         #ifdef USART_INTEGRATE_OUTPUT
//            usart_send[2] = 4;//姝e父妯″紡
//            usart_send[3] = report_num*6+2;//姝e父妯″紡
//            checksum = Checksum_u16(&usart_send[2],report_num*6+2);
//            memcpy(&usart_send[4+report_num*6],&checksum,2);
//            UART_PushFrame(usart_send,6+report_num*6);
//         #endif
//         if(mainbase_lost_count>5)
//         {
//            //tag_state=DISCPOLL;
@@ -799,7 +803,7 @@
         
         if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
         {
            motorstate =3;
            motorstate =0;
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
         {
            motorstate =2;