From 398a9412436a844e443a31eb0e55d5cd108eac5f Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 04 六月 2021 09:58:23 +0800
Subject: [PATCH] 测试临近切换模式
---
Src/application/dw_app.c | 31 +++++++++++++++++--------------
1 files changed, 17 insertions(+), 14 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 3742b7d..1511b31 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -70,7 +70,8 @@
#define FINAL_MSG_TS_LEN 4
#define STARTPOLL REGPOLL//#define SWITCHBASE_DIST
-#define SWITCHBASE_ZHUANDIAN
+//#define SWITCHBASE_ZHUANDIAN
+#define SWITCHBASE_DIST
enum enumtagstate
{
REGPOLL,
@@ -78,7 +79,7 @@
GETNEARMSG,
NEARPOLL,
SINGLEPOLL,
-}tag_state=SINGLEPOLL;
+}tag_state=STARTPOLL;
static dwt_config_t config = {
2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
@@ -246,7 +247,7 @@
u16 ancid_list[TAG_NUM_IN_SYS];
u8 nearbase_num;
u16 mainbase_id;
-int32_t mainbase_dist;
+int32_t mainbase_dist,base_mindist;
uint8_t trygetnearmsg_times;
u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
u8 FindNearBasePos(u16 baseid)
@@ -627,7 +628,7 @@
{
u32 start_poll,frame_len;
-mainbase_id = 0x9724;
+//mainbase_id = 0x9724;
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
@@ -789,6 +790,7 @@
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
mainbase_dist=temp_dist;
nearbase_distlist[0] = temp_dist;
+ base_mindist = temp_dist;
if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
@@ -834,12 +836,13 @@
mindist_slavebaseid = rec_nearbaseid;
}
#ifdef SWITCHBASE_ZHUANDIAN
- if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]!=0&&temp_dist>0)
- {
- mainbase_id = rec_nearbaseid;
- tag_state = GETNEARMSG;
- }
- #endif
+ if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]!=0&&temp_dist>0)
+ {
+ mainbase_id = rec_nearbaseid;
+ tag_state = GETNEARMSG;
+ }
+ #endif
+
}
}
}else{
@@ -905,10 +908,10 @@
}
for(i=0;i<nearbase_num;i++)
{
- if(nearbaseid_list[i]!=nearbaseid_list2[i])
- {
- tag_state = GETNEARMSG;
- }
+ if(nearbaseid_list[i]!=nearbaseid_list2[i])
+ {
+ tag_state = GETNEARMSG;
+ }
}
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
--
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