From 9e4167eeef5b1841936266300ec20443d372c5da Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 18 三月 2022 16:28:38 +0800
Subject: [PATCH] 初次完成

---
 源码/核心板/MDK-ARM/Project.uvoptx |  209 ++++++++++++++++++++++++++++++++--------------------
 1 files changed, 128 insertions(+), 81 deletions(-)

diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
index d87284d..7d18364 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
@@ -103,7 +103,7 @@
         <bEvRecOn>1</bEvRecOn>
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
-        <nTsel>12</nTsel>
+        <nTsel>4</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -114,7 +114,7 @@
         <tDlgDll></tDlgDll>
         <tDlgPa></tDlgPa>
         <tIfile></tIfile>
-        <pMon>BIN\CMSIS_AGDI.dll</pMon>
+        <pMon>Segger\JL2CM3.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
         <SetRegEntry>
@@ -125,7 +125,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
-          <Name></Name>
+          <Name>d</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -163,117 +163,152 @@
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>nearbase_num</ItemText>
+          <ItemText>g_com_map</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
           <WinNumber>1</WinNumber>
-          <ItemText>true_nearbase_idlist</ItemText>
+          <ItemText>tyncpoll_time,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>2</count>
           <WinNumber>1</WinNumber>
-          <ItemText>exsistbase_list</ItemText>
+          <ItemText>true_nearbase_distlist</ItemText>
         </Ww>
         <Ww>
           <count>3</count>
           <WinNumber>1</WinNumber>
-          <ItemText>last_nearbase_num</ItemText>
+          <ItemText>true_nearbase_idlist</ItemText>
         </Ww>
         <Ww>
           <count>4</count>
           <WinNumber>1</WinNumber>
-          <ItemText>next_nearbase_num</ItemText>
+          <ItemText>true_exsistbase_list</ItemText>
         </Ww>
         <Ww>
           <count>5</count>
           <WinNumber>1</WinNumber>
-          <ItemText>nearbaseid_list</ItemText>
+          <ItemText>status_reg</ItemText>
         </Ww>
         <Ww>
           <count>6</count>
           <WinNumber>1</WinNumber>
-          <ItemText>true_nearbase_distlist,0x0A</ItemText>
+          <ItemText>dw1000local</ItemText>
         </Ww>
         <Ww>
           <count>7</count>
           <WinNumber>1</WinNumber>
-          <ItemText>true_nearbase_idlist</ItemText>
+          <ItemText>rx_buffer</ItemText>
         </Ww>
         <Ww>
           <count>8</count>
           <WinNumber>1</WinNumber>
-          <ItemText>status_reg</ItemText>
+          <ItemText>pwtag</ItemText>
         </Ww>
         <Ww>
           <count>9</count>
           <WinNumber>1</WinNumber>
-          <ItemText>tagdist_list</ItemText>
+          <ItemText>mUsartReceivePack</ItemText>
         </Ww>
         <Ww>
           <count>10</count>
           <WinNumber>1</WinNumber>
-          <ItemText>tagid_list</ItemText>
+          <ItemText>g_com_map</ItemText>
         </Ww>
         <Ww>
           <count>11</count>
           <WinNumber>1</WinNumber>
-          <ItemText>QUIT_SLOT_TIME</ItemText>
+          <ItemText>g_Resttimer,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>12</count>
           <WinNumber>1</WinNumber>
-          <ItemText>taglist_num</ItemText>
+          <ItemText>rx_buffer[MESSAGE_TYPE_IDX]</ItemText>
         </Ww>
         <Ww>
           <count>13</count>
           <WinNumber>1</WinNumber>
-          <ItemText>synclost_timer,0x0A</ItemText>
+          <ItemText>rx_buffer</ItemText>
         </Ww>
         <Ww>
           <count>14</count>
           <WinNumber>1</WinNumber>
-          <ItemText>tyncpoll_time,0x0A</ItemText>
+          <ItemText>g_start_send_flag</ItemText>
         </Ww>
         <Ww>
           <count>15</count>
           <WinNumber>1</WinNumber>
-          <ItemText>sync_timer,0x0A</ItemText>
+          <ItemText>hex_dist,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>16</count>
           <WinNumber>1</WinNumber>
-          <ItemText>true_nearbase_idlist[j]</ItemText>
+          <ItemText>rlv,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>17</count>
           <WinNumber>1</WinNumber>
-          <ItemText>nearbase_distlist</ItemText>
+          <ItemText>g_com_map[0X78]</ItemText>
         </Ww>
         <Ww>
           <count>18</count>
           <WinNumber>1</WinNumber>
-          <ItemText>rx_buffer</ItemText>
+          <ItemText>g_com_map[0X79]</ItemText>
         </Ww>
         <Ww>
           <count>19</count>
           <WinNumber>1</WinNumber>
-          <ItemText>min_dist,0x0A</ItemText>
+          <ItemText>g_com_map</ItemText>
         </Ww>
         <Ww>
           <count>20</count>
           <WinNumber>1</WinNumber>
-          <ItemText>hex_dist,0x0A</ItemText>
+          <ItemText>min_dist,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>21</count>
           <WinNumber>1</WinNumber>
-          <ItemText>sync_timer,0x0A</ItemText>
+          <ItemText>beep_state</ItemText>
         </Ww>
         <Ww>
           <count>22</count>
           <WinNumber>1</WinNumber>
-          <ItemText>synclost_timer,0x0A</ItemText>
+          <ItemText>min_dist,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>23</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>beep_state2</ItemText>
+        </Ww>
+        <Ww>
+          <count>24</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>g_com_map</ItemText>
+        </Ww>
+        <Ww>
+          <count>25</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>pack_index</ItemText>
+        </Ww>
+        <Ww>
+          <count>26</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>min_dist2,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>27</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>motorstate</ItemText>
+        </Ww>
+        <Ww>
+          <count>28</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dist_threshold,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>29</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>usart_send,0x0A</ItemText>
         </Ww>
       </WatchWindow1>
       <MemoryWindow1>
@@ -288,7 +323,7 @@
         <Mm>
           <WinNumber>2</WinNumber>
           <SubType>0</SubType>
-          <ItemText>punish_pattern</ItemText>
+          <ItemText>&amp;pack_index</ItemText>
           <AccSizeX>0</AccSizeX>
         </Mm>
       </MemoryWindow2>
@@ -357,18 +392,6 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\Src\application\dw_app.c</PathWithFileName>
-      <FilenameWithoutPath>dw_app.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>1</GroupNumber>
-      <FileNumber>2</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
       <PathWithFileName>..\Src\application\serial_at_cmd_app.c</PathWithFileName>
       <FilenameWithoutPath>serial_at_cmd_app.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
@@ -376,7 +399,7 @@
     </File>
     <File>
       <GroupNumber>1</GroupNumber>
-      <FileNumber>3</FileNumber>
+      <FileNumber>2</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -388,13 +411,25 @@
     </File>
     <File>
       <GroupNumber>1</GroupNumber>
-      <FileNumber>4</FileNumber>
+      <FileNumber>3</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>..\Src\application\global_param.c</PathWithFileName>
       <FilenameWithoutPath>global_param.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>1</GroupNumber>
+      <FileNumber>4</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Src\application\dw_app.c</PathWithFileName>
+      <FilenameWithoutPath>dw_app.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -450,17 +485,29 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>3</GroupNumber>
+      <FileNumber>8</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Src\algorithm\TrackingDiff.c</PathWithFileName>
+      <FilenameWithoutPath>TrackingDiff.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>
     <GroupName>decadriver</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>8</FileNumber>
+      <FileNumber>9</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -472,7 +519,7 @@
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>9</FileNumber>
+      <FileNumber>10</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -484,7 +531,7 @@
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>10</FileNumber>
+      <FileNumber>11</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -498,13 +545,13 @@
 
   <Group>
     <GroupName>ExternalDevices</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>11</FileNumber>
+      <FileNumber>12</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -516,7 +563,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>12</FileNumber>
+      <FileNumber>13</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -528,7 +575,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>13</FileNumber>
+      <FileNumber>14</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -548,7 +595,7 @@
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     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>14</FileNumber>
+      <FileNumber>15</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -560,7 +607,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>15</FileNumber>
+      <FileNumber>16</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -572,7 +619,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>16</FileNumber>
+      <FileNumber>17</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -584,7 +631,7 @@
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     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>17</FileNumber>
+      <FileNumber>18</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -596,7 +643,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>18</FileNumber>
+      <FileNumber>19</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -608,7 +655,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>19</FileNumber>
+      <FileNumber>20</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -628,7 +675,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>20</FileNumber>
+      <FileNumber>21</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -640,7 +687,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>21</FileNumber>
+      <FileNumber>22</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -652,7 +699,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>22</FileNumber>
+      <FileNumber>23</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -664,7 +711,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>23</FileNumber>
+      <FileNumber>24</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -676,7 +723,7 @@
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     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>24</FileNumber>
+      <FileNumber>25</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -688,7 +735,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>25</FileNumber>
+      <FileNumber>26</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -700,7 +747,7 @@
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     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>26</FileNumber>
+      <FileNumber>27</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -712,7 +759,7 @@
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     <File>
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-      <FileNumber>27</FileNumber>
+      <FileNumber>28</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -724,7 +771,7 @@
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     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>28</FileNumber>
+      <FileNumber>29</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -736,7 +783,7 @@
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     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>29</FileNumber>
+      <FileNumber>30</FileNumber>
       <FileType>1</FileType>
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       <tvExpOptDlg>0</tvExpOptDlg>
@@ -748,7 +795,7 @@
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     <File>
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-      <FileNumber>30</FileNumber>
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       <FileType>1</FileType>
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@@ -760,7 +807,7 @@
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     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>31</FileNumber>
+      <FileNumber>32</FileNumber>
       <FileType>1</FileType>
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@@ -772,7 +819,7 @@
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+      <FileNumber>33</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -784,7 +831,7 @@
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     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>33</FileNumber>
+      <FileNumber>34</FileNumber>
       <FileType>1</FileType>
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@@ -796,7 +843,7 @@
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-      <FileNumber>34</FileNumber>
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@@ -808,7 +855,7 @@
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@@ -820,7 +867,7 @@
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     <File>
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@@ -832,7 +879,7 @@
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@@ -844,7 +891,7 @@
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@@ -856,7 +903,7 @@
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@@ -868,7 +915,7 @@
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@@ -880,7 +927,7 @@
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@@ -892,7 +939,7 @@
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@@ -912,7 +959,7 @@
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@@ -924,7 +971,7 @@
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@@ -936,7 +983,7 @@
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     <File>
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       <tvExp>0</tvExp>
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--
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