From 4bdcef16fd860b674793c435288ed3afb50ddabe Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期六, 03 六月 2023 11:38:07 +0800
Subject: [PATCH] V2.17 Z增加参数保护，有bug
---
Src/application/dw_app.c | 33 +++++++++++++++++++++++++++++----
1 files changed, 29 insertions(+), 4 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 74ca7f5..f4189f1 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -828,7 +828,30 @@
recbase_num=0;
// motor_state=0;
-
+// for(uint8_t i=0;i<nearbase_num+1;i++)
+// {
+// usart_send[0] = 0x55;
+// usart_send[1] = 0xaa;
+// 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
+// memcpy(&usart_send[5],&dev_id,2);
+// if(i==0)
+// {
+// memcpy(&usart_send[7],&mainbase_id,2);
+// }else{
+// memcpy(&usart_send[7],&nearbaseid_list[i-1],2);
+// }
+// memcpy(&usart_send[9],&nearbase_distlist[i],4);
+// usart_send[13] = battary;
+// usart_send[14] = button;
+// usart_send[15] = rec_anc_signalpower[i]>>8;
+// usart_send[16] = rec_anc_signalpower[i];
+// checksum = Checksum_u16(&usart_send[2],17);
+// memcpy(&usart_send[19],&checksum,2);
+//
+// USART_puts(usart_send,21);
+// }
tx_near_msg[BATTARY_IDX] = bat_percent;
tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
@@ -852,7 +875,7 @@
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
dwt_writetxdata(29+8*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
dwt_writetxfctrl(29+8*nearbase_num, 0);//设置超宽带发送数据长度
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
while(current_count<poll_startcount||current_count>poll_startcount+16384)
{
@@ -1102,7 +1125,7 @@
pack_msgtype = rec_remotepara[0];
pack_index = rec_remotepara[1];
pack_length = rec_remotepara[2];
- if(pack_msgtype==2)
+ if(pack_msgtype==2&&(pack_index!=DEV_ID))
{
if( pack_index == MOTOR_ONTIME_INDEX)
{
@@ -1112,6 +1135,7 @@
if(pack_index<200)
{
memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
+ memcpy((uint8_t*)&g_com_map2 + pack_index, &rec_remotepara[3], pack_length);
//返回一个error状态
//SendComMap(pack_datalen,pack_index);
save_com_map_to_flash();
@@ -1146,6 +1170,7 @@
GetNearMsg();
}
}
+
if(pos_nochange)
{
flag_tagnewpos = 0;
@@ -1303,7 +1328,7 @@
// Poll();
break;
}
- FZNearPoll();
+ // FZNearPoll();
dwt_forcetrxoff();
// userkey_state = !GET_USERKEY;
dwt_entersleep();
--
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