V1.33 增加每10秒自动重启，修复串口校验判断BUG

zhyinch

2020-11-18 be27b2e2729c0255d70a60ba5d07b258b7c41e78

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -329,6 +329,7 @@
extern uint16_t sync_timer;
u16 tmp_time;
extern float dw_vbat;
extern u16 slottime,max_slotnum,current_slotpos,tyncpoll_time;
void Tag_App(void)//发送模式(TAG标签)
{
   uint32_t frame_len;
@@ -338,7 +339,6 @@
   u8 bat_percent;
   //LED0_ON;
   dwt_forcetrxoff();
   g_Resttimer=0;
    dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);         //设置发送后开启接收，并设定延迟时间
    dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);      
   tag_succ_times = 0;
@@ -448,7 +448,7 @@
               {   
               g_Tagdist[anc_id_recv]=   hex_dist2;
               g_flag_Taggetdist[anc_id_recv]=0;
					
//               g_Resttimer=0;
               if(!g_com_map[MODBUS_MODE])
               {
               hex_dist2 = hex_dist2;      
@@ -469,7 +469,9 @@
      //         memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
         /* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
         if(result==0)
         {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
         {
			
            while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
         { };
      }
         /* Clear TXFRS event. */
@@ -493,10 +495,10 @@
//   deca_sleep(10);
}
//   dwt_entersleep();
//   if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM])
//   {
//   //poll_timer +=time32_incr&0x7+3;
//   }
   if(tag_succ_times<1)
   {
      tyncpoll_time=(current_slotpos--%max_slotnum)*slottime;
   }

   /* Execute a delay between ranging exchanges. */
   
@@ -521,7 +523,6 @@
   while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误
   { 
      IdleTask();
      g_Resttimer=0;
   };

   if (status_reg & SYS_STATUS_RXFCG)//成功接收
@@ -644,11 +645,11 @@
               /*--------------------------以下为非测距逻辑------------------------*/
               LED0_BLINK; //每成功一次通讯则闪烁一次
               g_UWB_com_interval = 0;
					
//                  g_Resttimer=0;
               hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
               if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
               {
               if(hex_dist-his_dist[tag_id_recv-TAG_ID_START]<15000||misdist_num[tag_id_recv-TAG_ID_START]>4)
               if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<15000||misdist_num[tag_id_recv-TAG_ID_START]>4)
               {
                  int32_t filter_dist;
                  misdist_num[tag_id_recv-TAG_ID_START]=0;