WXK
2023-08-08 faec15f04af4bdb99bfe8e17d85fae1e2cfdb381
Src/application/dw_ds_anc.c
@@ -146,7 +146,7 @@
   }
   return i;
}
uint8_t uwb_rec_userdata[2];
uint8_t uwb_rec_userdata[16];
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos) //0 mainbase  1 first near_base
{
   uint8_t motorstate;
@@ -321,7 +321,7 @@
                    usart_send[0]=0x55;
                    usart_send[1]=0xAA;    
               usart_send[2] = 1;//正常模式 
               usart_send[3] = 17;//数据段长度
               usart_send[3] = 17+14;//数据段长度
               usart_send[4] = frame_seq_nb2;//数据段长度
               memcpy(&usart_send[5],&tag_id_recv,2);
               memcpy(&usart_send[7],&dev_id,2);         
@@ -332,10 +332,10 @@
               usart_send[14] = button;
               usart_send[15] = firstpath_power;
               usart_send[16] = rx_power;                   
                    memcpy(&usart_send[17],&uwb_rec_userdata,2);
               checksum = Checksum_u16(&usart_send[2],17);
               memcpy(&usart_send[19],&checksum,2);
                    USART_puts(usart_send,21);
                    memcpy(&usart_send[17],&uwb_rec_userdata,16);
               checksum = Checksum_u16(&usart_send[2],31);
               memcpy(&usart_send[33],&checksum,2);
                    USART_puts(usart_send,35);
               }else{
                         if(g_com_map[MODBUS_ID1]==1)
                         {
@@ -386,7 +386,6 @@
      memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
      //将收到的tag_id分别写入各次通讯的包中,为多标签通讯服务,防止一次通讯中接收到不同ID标签的数据
      memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
        memcpy(&uwb_rec_userdata,&rx_buffer[POLL_USERDATA_IDX],2);
       if(group_id== rx_buffer[GROUP_ID_IDX])
       {
      switch(rx_buffer[MESSAGE_TYPE_IDX])
@@ -400,6 +399,7 @@
                memcpy(&rec_ancidlist,&rx_buffer[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
                memcpy(&rec_ancdistlist,&rx_buffer[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
                memcpy(&rec_antdelay,&rx_buffer[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
                memcpy(&uwb_rec_userdata,&rx_buffer[POLL_USERDATA_IDX],16);
            #ifdef USART_ALL_OUTPUT
                    usart_send[2] = 0x0c;//正常模式 
               usart_send[3] = 8+rec_nearbase_num*4;//数据段长度