V2.21 修复刷新频率不正确BUG

zhyinch

2021-02-25 73e460929836ec70336e8d6ba9523d2fb9af460e

 Src/application/dw_app.c

@@ -69,9 +69,8 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4

#define STARTPOLL  REGPOLL
#define SWITCHBASE_DIST
//#define SWITCHBASE_ZHUANDIAN
#define STARTPOLL  REGPOLL//#define SWITCHBASE_DIST
#define SWITCHBASE_ZHUANDIAN
enum enumtagstate
{
   REGPOLL,
@@ -647,6 +646,7 @@
   uint32_t final_tx_time;
   u32 start_poll;
   u8 i,j,getsync_flag=0,timeout;
    USART_putc(current_slotnum);
    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;
@@ -766,7 +766,7 @@
                           }
                           ancsync_time=((sync_timer)*1000+tmp_time);   
                           last_slotnum=current_slotnum;
                           current_slotnum=((float)(sync_timer*10)/(SLOTTIME_MS*bigslot_num))+1;
                           current_slotnum=((float)(sync_timer*10 - tagslotpos*SLOTTIME_MS)/(SLOTTIME_MS*bigslot_num))+1;
                           if(current_slotnum==last_slotnum-1)
                           {flag_getresponse=1;}
                           lastsync_timer=sync_timer;
@@ -809,6 +809,8 @@
                  }         
               //   dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
         }
            if(flag_finalsend!=1)
            {flag_finalsend = 2;}
         dwt_forcetrxoff();
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);

@@ -840,9 +842,10 @@
            pack_length = rec_remotepara[2];
            if(pack_msgtype==2)
            {
               if( pack_index == MOTOR_ONTIME_INDEX&&motor_keeptime==0)
               if( pack_index == MOTOR_ONTIME_INDEX)
               {
               motor_keeptime = rec_remotepara[3];
                        if(motor_keeptime==0)
                            motor_keeptime = rec_remotepara[3];
               }else{
                  memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
               //返回一个error状态