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 | 73 +++++++++++++++++-------------------
1 files changed, 34 insertions(+), 39 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 cd419ad..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"
@@ -465,22 +465,19 @@
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)
+ IWDG_Feed();
+ if(temp_dist!=0x1ffff)
{
g_Resttimer=0;
- IWDG_Feed();
+
#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;
@@ -517,20 +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;
@@ -908,6 +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)
{
@@ -1027,6 +1021,7 @@
memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
anc_report_num++;
#endif
+ tagstate_list[taglist_pos] = (button<<8)|battary;
for(i=0;i<taglist_num-1;i++)
{
if( tagdist_list[i]>tagdist_list[i+1]&&tagdist_list[i+1]!=0)
@@ -1107,29 +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)
@@ -1155,7 +1150,7 @@
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
--
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