2.47 增加加速计校验

zhyinch

2022-02-10 d2db1680f7b2ef8b120294a79c7309a0b3263393

 Src/application/dw_app.c

@@ -766,7 +766,8 @@
//         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
   }
}

extern float nomove_count;
uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
void NearPoll(void)
{
   
@@ -824,7 +825,7 @@
         }
      }
   dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
   HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
//   HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
//    for(i=0;i<nearbase_num+1;i++)
//    {
//        nearbase_distlist[i] = 0x1ffff;
@@ -985,7 +986,7 @@
            {flag_finalsend = 2;}
         dwt_forcetrxoff();
         dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
         HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
//         HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
         if(mainbase_lost_count==0)
         {
            #ifdef SWITCHBASE_DIST
@@ -1017,7 +1018,7 @@

         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];
@@ -1030,6 +1031,7 @@
               }else{
                        if(pack_index<200)
                        {
                                       nomove_count = 0;
                            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);
@@ -1085,7 +1087,7 @@
      dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
   while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
   { 
      IdleTask();
//      IdleTask();
      
   };
      if(status_reg==0xffffffff)
@@ -1147,8 +1149,6 @@
   //LED0_ON;
   SPIx_CS_GPIO->BRR = SPIx_CS;
   delay_us(700);
   // GetPressAndHeight();
   // intheight = Height*100;
   SPIx_CS_GPIO->BSRR = SPIx_CS;
   id =  dwt_readdevid() ;
       while (DWT_DEVICE_ID != id) 
@@ -1187,6 +1187,8 @@
         break;
      case NEARPOLL:   
         NearPoll();
      //   GetPressAndHeight();
         //intheight = Height*100;
         break;
        case SINGLEPOLL:
            Poll();