From 8b4b676312f925f4335b9d3ebdfe498cba2c8495 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 07 四月 2021 09:44:24 +0800
Subject: [PATCH] V1.20 增加震动使能控制

---
 Src/application/dw_app.c |   28 +++++++++++++++++-----------
 1 files changed, 17 insertions(+), 11 deletions(-)

diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 271fdc8..05052a3 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -54,7 +54,7 @@
 
 #define DELAY_BETWEEN_TWO_FRAME_UUS 400
 
-#define POLL_RX_TO_RESP_TX_DLY_UUS 420
+#define POLL_RX_TO_RESP_TX_DLY_UUS 470
 /* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
 #define RESP_TX_TO_FINAL_RX_DLY_UUS 200
 /* Receive final timeout. See NOTE 5 below. */
@@ -315,7 +315,7 @@
 	last_nearbase_num=next_nearbase_num;
 	nearbase_num=next_nearbase_num;
 	recbase_num=0;
-	motor_state=0;
+//	motor_state=0;
 	
 	tx_near_msg[BATTARY_IDX] = bat_percent;
 	tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
@@ -335,7 +335,7 @@
 	flag_getresponse=0;
 	start_count=HAL_LPTIM_ReadCounter(&hlptim1);
 	recbase_num=0;
-	timeout=ceil((float)nearbase_num*0.4)+2;
+	timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
 	end_count=start_count+(timeout<<5);
 	if(end_count>=32768)
 	{end_count-=32768;}
@@ -429,13 +429,7 @@
 									final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
 									final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
 									tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
-									if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
-									{
-										para_update = 1;
-										tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
-										para_len = frame_len-22;
-										memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
-									}
+
 									
 									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
@@ -452,7 +446,17 @@
 									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);
@@ -516,6 +520,8 @@
 						}			
 					//	dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
 			}
+			if(mainbase_lost_count>tag_frequency*BASELOST_STOPMOTOR_TIME)
+			{motor_state=0; }
 dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
 			nearbase_num=recbase_num;
 		j=0;

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