From 6ffdec7d475d885ecefbc2e9683ed6cedd6686f1 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 20 四月 2022 15:01:57 +0800
Subject: [PATCH] 1
---
源码/核心板/Src/application/dw_app.c | 16 ++++++++--------
1 files changed, 8 insertions(+), 8 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 b6c099b..294cdb1 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"
@@ -497,9 +497,9 @@
dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
//dwt_readdiagnostics(&d1);
- if(tagpos[taglist_pos].tagid==tag_id_recv)
+ if(tagpos[taglist_pos].tagid==tag_id_recv)
{
- memcpy(&tx_nearresp_msg[TAGPOS_INDEX],&tagpos[taglist_pos],16);
+ memcpy(&tx_nearresp_msg[TAGPOS_INDEX],&tagpos[taglist_pos],tagpos[taglist_pos].datalen+3);
tagpossend_flag = 1;
}else{
tagpossend_flag = 0;
@@ -512,7 +512,7 @@
memcpy(&tx_nearresp_msg[ANC_SIGNALPOWER],&signalpower_list[taglist_pos],2);
tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
- tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
+ //tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
waittagconfig_reponse=0;
finalsend = 0;
if(pwtag.remain_time>0)
@@ -543,8 +543,8 @@
if(finalsend == 0)
{
memcpy(&tx_nearresp_msg[MAXRANGE_DISTANCE],&g_com_map[MAXRANGDIST_INDEX],2);
- dwt_writetxdata(28+tagpossend_flag*16, tx_nearresp_msg, 0);//д????????
- dwt_writetxfctrl(28+tagpossend_flag*16, 0);//?趨???????
+ dwt_writetxdata(28+tagpossend_flag*(tagpos[taglist_pos].datalen+3), tx_nearresp_msg, 0);//д????????
+ dwt_writetxfctrl(28+tagpossend_flag*(tagpos[taglist_pos].datalen+3), 0);//?趨???????
}
// if(remotesend_state&&tag_id_recv==configremotetagID)
@@ -871,7 +871,7 @@
}
}
- if(i==MAX_REGTAGNUM)
+ if(i==MAX_REGTAGNUM&&g_com_map[NEARSWITCH_DISTANCE_INDEX] != 0)
{
dwt_readdiagnostics(&d1);
LOS(&d1);
@@ -919,9 +919,9 @@
memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4+4);
memcpy(&rec_taganc_signalpower_list,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6+4],rec_nearbase_num*2+2);
- // if(anc_id_recv == dev_id )
+ if(anc_id_recv == dev_id||g_com_map[OUTPUTALLNEARPOLLMSG] == 1 )
{
- usart_send[2] = 0x0c;//正常模式
+ usart_send[2] = 0x0c;//正常模式
usart_send[3] = 15+8*(rec_nearbase_num+1);//数据段长度
memcpy(&usart_send[4],&tag_id_recv,2);
usart_send[6] = rx_buffer[SEQUENCE_IDX];
--
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