From 4410c6d09af90006414d442a9b1a9043f5596ed4 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 24 二月 2022 16:19:14 +0800
Subject: [PATCH] V1.67
---
源码/核心板/Src/application/dw_app.c | 34 +++++++++++++++-------------------
1 files changed, 15 insertions(+), 19 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..2adae81 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"
@@ -891,11 +891,8 @@
}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;
- }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
+ motorstate =0;
+ if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
{
if(flag_tag_distsmooth[taglist_pos])
{motorstate =2;
@@ -909,22 +906,21 @@
}else{
motorstate =0;
}
- }else{
- motorstate =0;
}
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 +1012,7 @@
{
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 +1021,7 @@
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;
--
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