From 1ed0e9100899ee15b4f5da46ff5f65db79b1fdf7 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 29 六月 2020 23:23:46 +0800
Subject: [PATCH] 远程改参数测试完成
---
Src/application/dw_app.c | 21 ++++++++++++++++++++-
1 files changed, 20 insertions(+), 1 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 50fba29..77b7804 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -294,6 +294,7 @@
u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum;
u32 rec_tagpos_binary;
int16_t offset=2700;
+u8 motor_state,rec_remotepara_state,rec_remotepara[30];
void NearPoll(void)
{
@@ -331,7 +332,7 @@
flag_getresponse=0;
start_count=HAL_LPTIM_ReadCounter(&hlptim1);
recbase_num=0;
- timeout=ceil((float)nearbase_num*0.6)+20;
+ timeout=ceil((float)nearbase_num*0.6)+2;
end_count=start_count+(timeout<<5);
if(end_count>=32768)
{end_count-=32768;}
@@ -409,6 +410,8 @@
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
nearbase_distlist[rec_nearbasepos]=temp_dist;
+ motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
+ rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
mainbase_lost_count=0;
flag_finalsend=1;
@@ -437,6 +440,17 @@
lastsync_timer=sync_timer;
offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
SetNextPollTime(tyncpoll_time);
+ if(rec_remotepara_state&&rec_remotepara_state!=g_com_map[REMOTEPARA_STATE])
+ {
+ g_com_map[REMOTEPARA_STATE]=rec_remotepara_state;
+ memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],REMOTEPARA_LEN);
+ memcpy(&g_com_map[COM_INTERVAL],&rec_remotepara[0],8);
+ memcpy(&g_com_map[POWER],&rec_remotepara[8],10);
+ save_com_map_to_flash();
+ delay_ms(100);
+ NVIC_SystemReset();
+
+ }
// count_offset=sync_count-current_count-143;
// current_slottimes=(ancsync_time-10000)/(g_com_map[COM_INTERVAL]*1000);
@@ -471,6 +485,11 @@
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
nearbase_distlist[rec_nearbasepos]=temp_dist;
+ if(motor_state<rx_buffer[MOTORSTATE_INDEX]&&rx_buffer[MOTORSTATE_INDEX]!=3)
+ {
+ motor_state=rx_buffer[MOTORSTATE_INDEX];
+ }
+
final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
dwt_writetxdata(28+nearbase_num*4, tx_near_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
--
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