XRange_Tag.git - Gitblit

			@@ -30,6 +30,7 @@
			#include "beep.h"
			#include "modbus.h"

			#define USART_INTEGRATE_OUTPUT
			/------------------------------------ Marcos ------------------------------------------/
			/* Inter-ranging delay period, in milliseconds. */
			#define RNG_DELAY_MS 100
			@@ -457,25 +458,6 @@
			}
			NVIC_SystemReset();
			}

			// count_offset=sync_count-current_count-143;
			// current_slottimes=(ancsync_time-10000)/(g_com_map[COM_INTERVAL]*1000);
			// nextpoll_delaytime=tyncpoll_time1000+g_com_map[COM_INTERVAL]1000-((ancsync_time)%(g_com_map[COM_INTERVAL]*1000))-4300;
			// if(abs(ancsync_time-910000)<1000)
			// {
			// nextpoll_delaytime+=10000;
			// }
			// if(nextpoll_delaytime<2000)
			// {
			// nextpoll_delaytime+=g_com_map[COM_INTERVAL]*1000;
			// }
			// lastpoll_count= current_count+(nextpoll_delaytime)/LPTIMER_LSB;
			// if(lastpoll_count>LPTIMER_1S_COUNT)
			// lastpoll_count-=LPTIMER_1S_COUNT;
			// __HAL_LPTIM_COMPARE_SET(&hlptim1, lastpoll_count);
			/////////////////////////////////////////
			// dwt_setdelayedtrxtime(final_tx_time);
			// result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
			}else{
			rec_nearbasepos=FindNearBasePos(rec_nearbaseid);

			@@ -494,13 +476,6 @@
			if(motor_state<(rx_buffer[MOTORSTATE_INDEX]&0xf)&&(rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
			{
			motor_state=rx_buffer[MOTORSTATE_INDEX];
			}
			if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
			{
			para_update = 1;
			tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
			para_len = frame_len-22;
			memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
			}
			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
			@@ -581,32 +556,26 @@
			{
			nearbaseid_list[i]=true_nearbase_idlist[i];
			nearbase_distlist[i]=true_nearbase_distlist[i];
			if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==0xa)
			if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==KEEP_TIMES)
			{
			memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
			memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
			report_num++;
			}
			}
			#ifdef USART_INTEGRATE_OUTPUT
			usart_send[0] = 0x55;
			usart_send[1] = 0xAA;
			usart_send[2] = 4;//正常模式
			usart_send[3] = report_num*6+2;//正常模式
			checksum = Checksum_u16(&usart_send[2],report_num*6+2);
			memcpy(&usart_send[4+report_num*6],&checksum,2);
			USART_puts(usart_send,6+report_num*6);
			#endif

			for(i=0;i<MAX_NEARBASE_NUM;i++)
			{
			nearbase_distlist[i]=0x1ffff;
			}
			if(para_update)
			{
			uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
			pack_msgtype = rec_remotepara[0];
			pack_index = rec_remotepara[1];
			pack_length = rec_remotepara[2];
			if(pack_msgtype==2)
			{
			memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
			//返回一个error状态
			//SendComMap(pack_datalen,pack_index);
			save_com_map_to_flash();
			delay_ms(100);
			NVIC_SystemReset();
			}
			}
			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);