测试标签远程读取参数功能正常，写入参数还不行

yincheng.zhong

2023-02-01 40bbf9d0543ea590085134160fb98aef8190eb59

 Src/application/dw_app.c

@@ -305,7 +305,7 @@
   uint32_t frame_len;
   uint32_t final_tx_time;
   u32 start_poll;
   u8 i,j,getsync_flag=0,timeout;
   u8 i,j,getsync_flag=0,timeout,flag_ancreadpara=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(10000);      
   tag_succ_times = 0;
@@ -358,6 +358,16 @@
                        
                        dwt_forcetrxoff();
                        flag_rxon=0;
                                if(flag_ancreadpara)
                                {
                                    u16 calCRC;
                                  tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_PRAAREPLY;  
                                  memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX],g_com_map,SENDANCPARA_LEN);
                                  calCRC = CRC_Compute((uint8_t*)g_com_map,SENDANCPARA_LEN);
                                  memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX+SENDANCPARA_LEN],&calCRC,2);
                                  dwt_writetxdata(14+SENDANCPARA_LEN, tx_near_msg, 0);//将发送数据写入DW1000
                                  dwt_writetxfctrl(14+SENDANCPARA_LEN, 0);//设定发送数据长度
                                }
                        dwt_setdelayedtrxtime(final_tx_time);
                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送   
                        flag_finalsend=0;
@@ -385,11 +395,15 @@
                        resp_rx_ts = get_rx_timestamp_u64();                              //获得RESPONSE接收时间T4   
                        recbase_num++;
                        memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
                                rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
                                if(rec_remotepara_state==1)
                                rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;
                                if(rec_remotepara_state != 0)
                                {   
                                    para_update = 1;
                                    memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
                                    para_update = rec_remotepara_state;
                                    memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],7);
                                    if(para_update==2)
                                    {
                                        flag_ancreadpara = 1;                                     
                                    }
                                }
                        if(last_nearbase_num==0)
                        {
@@ -485,7 +499,8 @@
                           {
                                 motor_state=rx_buffer[MOTORSTATE_INDEX];
                           }
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);								
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);		
               
                           dwt_writetxdata(28+nearbase_num*4, tx_near_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
                        
@@ -575,7 +590,7 @@
         }
   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
if(para_update)
if(para_update==1)
    {   
        uint16_t calCRC;
        calCRC = CRC_Compute(rec_remotepara,5);