From 0f9a5a119401d9e08cefc4b9cb7f700988a69abe Mon Sep 17 00:00:00 2001 From: zhyinch <zhyinch@gmail.com> Date: 星期六, 04 六月 2022 17:01:05 +0800 Subject: [PATCH] V1.70修改免报距离不生效bug --- 源码/核心板/Src/application/dw_app.c | 58 ++++++++++++++++++++++++++-------------------------------- 1 files changed, 26 insertions(+), 32 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 3589abd..dac4566 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" @@ -344,6 +344,7 @@ tx_nearpoll_msg[BUTTON_IDX] = !READ_KEY0; tx_nearpoll_msg[SEQUENCE_IDX] = frame_seq_nb++; tx_nearpoll_msg[NEARBASENUM_INDEX] = nearbase_num; + memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2); for(i=0;i<nearbase_num;i++) { memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*2+i*2],&nearbase_distlist[i],2);} @@ -437,6 +438,7 @@ } TIM3->CNT=tmp_time; } + if(g_com_map[DEV_ROLE]) current_slotnum=temp_sync_timer1/g_com_map[COM_INTERVAL]; // if(tagslotpos>max_slotpos) // tagslotpos=tagslotpos%(max_slotpos+1); @@ -464,7 +466,7 @@ dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//将发送数据写入DW1000 dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度 memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4); - if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1) + if(temp_dist!=0x1ffff) { g_Resttimer=0; IWDG_Feed(); @@ -472,14 +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; @@ -516,20 +514,16 @@ LED0_BLINK; // memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4); // tagslotpos=GetRandomSlotPos(rec_tagpos_binary); - if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1) + if(temp_dist!=0x1ffff) { #ifdef USART_SINGLE_OUTPUT 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; @@ -891,8 +885,9 @@ }else{ memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4); } - - if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1]||tagdist_list[taglist_pos]==0) + motorstate =0; + + if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1]||tagdist_list[taglist_pos]==0) { motorstate =0; }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2]) @@ -909,22 +904,21 @@ }else{ motorstate =0; } - }else{ - motorstate =0; } - tx_nearresp_msg[GROUP_ID_IDX] = group_id; + tx_nearresp_msg[GROUP_ID_IDX] = group_id; tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase; tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE; - tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate; - if(remotesend_state) - { - memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN); - dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//写入发送数据 - dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度 - }else{ - dwt_writetxdata(22, tx_nearresp_msg, 0);//写入发送数据 - dwt_writetxfctrl(22, 0);//设定发送长度 - } + tx_nearresp_msg[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate; + tx_nearresp_msg[MOTORSTATE_INDEX]&=0x0f; +// if(remotesend_state) +// { +// memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN); +// dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//写入发送数据 +// dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度 +// }else{ + dwt_writetxdata(24, tx_nearresp_msg, 0);//写入发送数据 + dwt_writetxfctrl(24, 0);//设定发送长度 + // } result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送,等待接收 @@ -1016,7 +1010,7 @@ { g_Tagdist[taglist_pos]=hex_dist/10; }else{ - g_Tagdist[taglist_pos]= 999999; + g_Tagdist[taglist_pos]= 0x2ffff; } #ifdef USART_SINGLE_OUTPUT usart_send[2] = 1;//正常模式 @@ -1025,7 +1019,7 @@ memcpy(&usart_send[5],&tag_id_recv,2); memcpy(&usart_send[7],&dev_id,2); if(tagdist_list[taglist_pos]<=0) - tagdist_list[taglist_pos]=999999; + tagdist_list[taglist_pos]=0x2ffff; memcpy(&usart_send[9],&tagdist_list[taglist_pos],4); usart_send[13] = battary; usart_send[14] = button; @@ -1142,7 +1136,7 @@ memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2); memcpy(&rec_ancidlist,&rx_buffer[NEARBASEID_INDEX],2*rec_nearbase_num); memcpy(&rec_ancdistlist,&rx_buffer[NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num); - memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+nearbase_num*4],2); + memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*4],2); #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 -- Gitblit v1.9.3