v1.67

zhyinch

2022-04-25 de541772dcb63896580edb34e67dfb88a7e992b8

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -465,10 +465,11 @@
                           dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//将发送数据写入DW1000
                           dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
                        if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
                                IWDG_Feed();
                        if(temp_dist!=0x1ffff)
                           {
                              g_Resttimer=0;
                                        IWDG_Feed();
                                        
                              #ifdef USART_SINGLE_OUTPUT
                              usart_send[2] = 1;//正常模式
                              usart_send[3] = 17;//数据段长度
@@ -517,7 +518,7 @@
                           LED0_BLINK;
//                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
//                           tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
                           if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
                           if(temp_dist!=0x1ffff)
                           {
                              #ifdef USART_SINGLE_OUTPUT
                              usart_send[2] = 1;//正常模式
@@ -883,7 +884,16 @@
         dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
         dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
         
         if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
			
         if(new_tagid)
         {
            tagdist_list[taglist_pos]=0x1ffff;
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
         }else{
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
         }
            
            if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
         {
            motorstate =0;
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
@@ -895,18 +905,11 @@
         }else{
            motorstate =0;
         }
			
         if(new_tagid)
         {
            tagdist_list[taglist_pos]=0x1ffff;
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
         }else{
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
         }
            
            tx_nearresp_msg[GROUP_ID_IDX] = group_id;
         tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
         tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
         tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
         tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|(motorstate&0xf);
         if(remotesend_state)
         {
             memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
@@ -1001,7 +1004,7 @@
                  {
                            g_Tagdist[taglist_pos]=hex_dist/10;   
                        }else{
                            g_Tagdist[taglist_pos]= 1;
                        //    g_Tagdist[taglist_pos]= 1;
                        }
            #ifdef USART_SINGLE_OUTPUT
               usart_send[2] = 1;//正常模式 
@@ -1009,8 +1012,8 @@
               usart_send[4] = frame_seq_nb2;//数据段长度
               memcpy(&usart_send[5],&tag_id_recv,2);
               memcpy(&usart_send[7],&dev_id,2);         
                            if(tagdist_list[taglist_pos]<=0)
                                tagdist_list[taglist_pos]=10;
                    if(tagdist_list[taglist_pos]<=0)
                        tagdist_list[taglist_pos]=0x2ffff;
               memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
               usart_send[13] = battary;
               usart_send[14] = button;
@@ -1025,6 +1028,7 @@
               memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
               anc_report_num++;
            #endif
                    tagstate_list[taglist_pos] = (button<<8)|battary;
               for(i=0;i<taglist_num-1;i++)
               {
                  if( tagdist_list[i]>tagdist_list[i+1]&&tagdist_list[i+1]!=0)
@@ -1153,7 +1157,7 @@
            memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
                memcpy(&rec_ancidlist,&rx_buffer[NEARBASEID_INDEX],2*rec_nearbase_num);
                memcpy(&rec_ancdistlist,&rx_buffer[NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
                memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+nearbase_num*4],2);
                memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*4],2);
            #ifdef USART_ALL_OUTPUT
                    usart_send[2] = 0x0c;//正常模式 
               usart_send[3] = 8+rec_nearbase_num*4;//数据段长度