V2.57

yincheng.zhong

2023-10-12 aff8025d714cd2f3c7be9687d9eff959e1f181d5

 Src/application/dw_app.c

@@ -78,7 +78,7 @@
   DISCPOLL,
   GETNEARMSG,
   NEARPOLL,
    SINGLEPOLL,
  SINGLEPOLL,
}tag_state=STARTPOLL;
static dwt_config_t config = {
   2,               /* Channel number. */
@@ -847,6 +847,7 @@
    
    }
}
u32 last_mindist_slavebaseid;
void NearPoll(void)
{
   
@@ -998,8 +999,8 @@
                           mainbase_dist=temp_dist;
                                    nearbase_distlist[0] = temp_dist;
                                    base_mindist = temp_dist;
                           if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
                              motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
//                           if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
//                              motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
                                    if(frame_len==38)
                                     {
                                         memcpy(&rec_maxrangelen,&rx_buffer[MAXRANGE_DISTANCE],2);
@@ -1094,7 +1095,9 @@
            #ifdef SWITCHBASE_DIST
            if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
            {
               changemainbase_count++;
               if(mindist_slavebaseid==last_mindist_slavebaseid)
               {
                  changemainbase_count++;
               if(changemainbase_count>2)
               {
                        changemainbase_count = 0;
@@ -1102,6 +1105,10 @@
                        tag_state = GETNEARMSG;                    
                        trygetnearmsg_times = 0;
                        GetNearMsg();
               }}
               else{
                  changemainbase_count = 1;
                  last_mindist_slavebaseid = mindist_slavebaseid;
               }
            }else{
               changemainbase_count = 0;