From 7ff7ce16ea9febfd11db4ff61e13d112d4b2ba02 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期六, 06 五月 2023 15:16:41 +0800
Subject: [PATCH] V1.72 测试完成
---
源码/核心板/Src/application/dw_app.c | 63 ++++++++++++++-----------------
1 files changed, 28 insertions(+), 35 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
index 447970a..07e95fe 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
@@ -474,14 +474,10 @@
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
usart_send[4] = frame_seq_nb;//数据段长度
- if(g_com_map[DEV_ROLE])
- {
+
memcpy(&usart_send[5],&dev_id,2);
memcpy(&usart_send[7],&rec_nearbaseid,2);
- }else{
- memcpy(&usart_send[5],&rec_nearbaseid,2);
- memcpy(&usart_send[7],&dev_id,2);
- }
+
memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
usart_send[13] = battary;
usart_send[14] = button;
@@ -524,14 +520,10 @@
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
usart_send[4] = frame_seq_nb;//数据段长度
- if(g_com_map[DEV_ROLE])
- {
+
memcpy(&usart_send[5],&dev_id,2);
memcpy(&usart_send[7],&rec_nearbaseid,2);
- }else{
- memcpy(&usart_send[5],&rec_nearbaseid,2);
- memcpy(&usart_send[7],&dev_id,2);
- }
+
memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
usart_send[13] = battary;
usart_send[14] = button;
@@ -909,6 +901,7 @@
tx_nearresp_msg[GROUP_ID_IDX] = group_id;
tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
+ remotesend_state = 0;
tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|(motorstate&0xf);
if(remotesend_state)
{
@@ -1109,29 +1102,29 @@
// Anchor_RecPoll();
// break;
case SYNC:
- memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
- if(rec_syncid<current_syncid)
- {
- current_syncid=rec_syncid;
- flag_syncbase=0;
- sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
- TIM3->CNT = sync_seq*325%1000+15;
- sync_timer = sync_seq*325/1000;
- synclost_timer=0;
- //SyncPoll(sync_seq,rec_syncid);
- }else if(rec_syncid==current_syncid)
- {
- if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
- {
- flag_syncbase=0;
- sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
- TIM3->CNT = sync_seq*325%1000+5;
- sync_timer = sync_seq*325/1000+995;
- synclost_timer=0;
- //SyncPoll(sync_seq,rec_syncid);
- }
-
- }
+// memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
+// if(rec_syncid<current_syncid)
+// {
+// current_syncid=rec_syncid;
+// flag_syncbase=0;
+// sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
+// TIM3->CNT = sync_seq*325%1000+15;
+// sync_timer = sync_seq*325/1000;
+// synclost_timer=0;
+// //SyncPoll(sync_seq,rec_syncid);
+// }else if(rec_syncid==current_syncid)
+// {
+// if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
+// {
+// flag_syncbase=0;
+// sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
+// TIM3->CNT = sync_seq*325%1000+5;
+// sync_timer = sync_seq*325/1000+995;
+// synclost_timer=0;
+// //SyncPoll(sync_seq,rec_syncid);
+// }
+//
+// }
break;
case NEAR_MSG:
if(anc_id_recv==flag_syncbase)
--
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