解决uwb测距 3个以上标签出错的bug。

WXK

2023-03-17 6f05c0c8a8e5b4ccabc20cb75b57bd59ef145bcc

 Src/main.c

@@ -33,7 +33,7 @@
#define NSH1 0x0001
#define GP   0x0002
#define FLASH_HARDWARE_VERSION_MAP      (uint32_t)0x08004F00    //硬件版本号和批次信息位置
//#define DEBUG_MODE
#define DEBUG_MODE
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
@@ -115,10 +115,10 @@
float motor_keeptime;
void IdleTask(void)
{u16 current_time;
if(huart1.Instance->ISR&USART_ISR_FE)
   {
   SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
   }	
//if(huart1.Instance->ISR&USART_ISR_FE)
//   {
//   SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
//   }	
   if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
   {
           
@@ -218,7 +218,7 @@
   hardware_pici = STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+2);
   hardware_type = STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+4);
   //deca_sleep(1000);
   g_com_map[VERSION] = (1<<8)|47;
   g_com_map[VERSION] = (1<<8)|49;
    
    #ifdef DEBUG_MODE
//    g_com_map[GROUP_ID]=21;
@@ -269,8 +269,7 @@
   printf("标签ID: %d .\r\n",dev_id);
   printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
   printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
	

   memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
//   printf("DEVICE PAIRID: %d .\r\n",g_com_map[PAIR_ID]);
//   printf("DEVICE ALARM DISTANCE: 1.%d 2.%d 3.%d .\r\n",g_com_map[ALARM_DISTANCE1],g_com_map[ALARM_DISTANCE2],g_com_map[ALARM_DISTANCE3]);

@@ -428,7 +427,7 @@
      }
         if(m_bEUARTTxEn==0&&waitusart_timer==0)
         {
             if(memcmp(g_com_map2,g_com_map,COM_MAP_SIZE)!=0)
             if(memcmp(g_com_map2,g_com_map,200)!=0)
             {
                SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
             }