From 0533236e453d9368d6f66341cafa2a8f2fe81dc3 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期日, 14 三月 2021 13:18:19 +0800
Subject: [PATCH] V2.23 尝试修复红灯常亮BUG
---
Src/application/dw_app.c | 33 +++++++++++++++++++++++----------
1 files changed, 23 insertions(+), 10 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 0725258..abca4ba 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -646,6 +646,7 @@
uint32_t final_tx_time;
u32 start_poll;
u8 i,j,getsync_flag=0,timeout;
+ USART_putc(current_slotnum);
dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
tag_succ_times = 0;
@@ -765,7 +766,7 @@
}
ancsync_time=((sync_timer)*1000+tmp_time);
last_slotnum=current_slotnum;
- current_slotnum=((float)(sync_timer*10)/(SLOTTIME_MS*bigslot_num))+1;
+ current_slotnum=((float)(sync_timer*10 - tagslotpos*SLOTTIME_MS)/(SLOTTIME_MS*bigslot_num))+1;
if(current_slotnum==last_slotnum-1)
{flag_getresponse=1;}
lastsync_timer=sync_timer;
@@ -808,6 +809,8 @@
}
// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
}
+ if(flag_finalsend!=1)
+ {flag_finalsend = 2;}
dwt_forcetrxoff();
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
@@ -839,16 +842,20 @@
pack_length = rec_remotepara[2];
if(pack_msgtype==2)
{
- if( pack_index == MOTOR_ONTIME_INDEX&&motor_keeptime==0)
+ if( pack_index == MOTOR_ONTIME_INDEX)
{
- motor_keeptime = rec_remotepara[3];
+ if(motor_keeptime==0)
+ motor_keeptime = rec_remotepara[3];
}else{
- memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
- //返回一个error状态
- //SendComMap(pack_datalen,pack_index);
- save_com_map_to_flash();
- delay_ms(100);
- NVIC_SystemReset();
+ if(pack_index<200)
+ {
+ memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
+ //返回一个error状态
+ //SendComMap(pack_datalen,pack_index);
+ save_com_map_to_flash();
+ delay_ms(100);
+ NVIC_SystemReset();
+ }
}
}
}
@@ -944,7 +951,7 @@
}
}
}
-u32 id;
+u32 id,error_times=0;
void Tag_App(void)//发送模式(TAG标签)
{
@@ -957,7 +964,13 @@
{
// Dw1000_Init();
id = dwt_readdevid() ;
+ IdleTask();
+ if(error_times++>20)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
}
+ error_times = 0;
switch(tag_state)
{
case REGPOLL:
--
Gitblit v1.9.3