V1.35 大连电牵，测试版本。配置回复变成立即回复，收到数据才不重启

zhyinch

2020-11-17 c8fa9e7b73d663fd1ee78632d38cea1b49c14d39

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -1,5 +1,6 @@
#include "dw_app.h"
#include "ADC.h"
#define TDFILTER
enum enumtagstate
{
   DISCPOLL,
@@ -448,6 +449,7 @@
                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
                        if(temp_dist!=0x1ffff)
                           {
                              g_Resttimer=0;
                              #ifndef USART_INTEGRATE_OUTPUT
                              usart_send[2] = 1;//正常模式
                              usart_send[3] = 17;//数据段长度
@@ -699,7 +701,6 @@
{
   //LED0_ON;
   dwt_forcetrxoff();
   g_Resttimer=0;
      GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);   
   switch(tag_state)
   {
@@ -917,22 +918,30 @@
               tof = tof_dtu * DWT_TIME_UNITS;
               distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
               dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数
               dist_cm = dist_no_bias * 100; //dis ä¸ºå•ä½ä¸ºcm的距离				
               dist_cm = dist_no_bias * 1000; //dis ä¸ºå•ä½ä¸ºcm的距离				
               /*--------------------------以下为非测距逻辑------------------------*/
               //dist_cm=33000;
               getrange_success = 1;
               g_Resttimer=0;
               LED0_BLINK; //每成功一次通讯则闪烁一次
               dis_after_filter=dist_cm;
               hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
               hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
               g_flag_Taggetdist[taglist_pos]=0;
               if(hex_dist>-1000&&hex_dist<200000)
               if(hex_dist>-10000&&hex_dist<2000000)
               {
               if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
               if(abs(hex_dist-his_dist[taglist_pos])<15000||misdist_num[taglist_pos]>3)
               {
                  int32_t filter_dist;
                  #ifdef TDFILTER
                  NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
                  filter_dist=pos_predict[taglist_pos]/10;
                  #else
                  filter_dist=hex_dist/10;
                  #endif
                  misdist_num[taglist_pos]=0;
               tagdist_list[taglist_pos] = hex_dist;	
               tagdist_list[taglist_pos] = filter_dist;	
               his_dist[taglist_pos]=hex_dist;   
                  g_Tagdist[taglist_pos]=hex_dist;	
                  g_Tagdist[taglist_pos]=filter_dist;	
            #ifndef USART_INTEGRATE_OUTPUT
               usart_send[2] = 1;//正常模式 
               usart_send[3] = 17;//数据段长度
@@ -1001,8 +1010,7 @@
//            if (anchor_type == rx_buffer[ANC_TYPE_IDX])
//            Anchor_RecPoll();
//            break;
         case SYNC:		
            g_Resttimer=0;				
         case SYNC:					
            memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
            if(rec_syncid<current_syncid)
            {
@@ -1043,8 +1051,7 @@
            }
            break;
      
         case NEAR_POLL:		
            g_Resttimer=0;				
         case NEAR_POLL:						
            memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
            taglist_pos=CmpTagInList(tag_id_recv);
            if(taglist_pos==taglist_num)