From aff8025d714cd2f3c7be9687d9eff959e1f181d5 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期四, 12 十月 2023 15:00:55 +0800
Subject: [PATCH] V2.57
---
Src/application/dw_app.c | 15 +++++++++++----
1 files changed, 11 insertions(+), 4 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 25cd71a..757ef51 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -78,7 +78,7 @@
DISCPOLL,
GETNEARMSG,
NEARPOLL,
- SINGLEPOLL,
+ SINGLEPOLL,
}tag_state=STARTPOLL;
static dwt_config_t config = {
2, /* Channel number. */
@@ -847,6 +847,7 @@
}
}
+u32 last_mindist_slavebaseid;
void NearPoll(void)
{
@@ -998,8 +999,8 @@
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;
+// if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
+// motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
if(frame_len==38)
{
memcpy(&rec_maxrangelen,&rx_buffer[MAXRANGE_DISTANCE],2);
@@ -1094,7 +1095,9 @@
#ifdef SWITCHBASE_DIST
if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
{
- changemainbase_count++;
+ if(mindist_slavebaseid==last_mindist_slavebaseid)
+ {
+ changemainbase_count++;
if(changemainbase_count>2)
{
changemainbase_count = 0;
@@ -1102,6 +1105,10 @@
tag_state = GETNEARMSG;
trygetnearmsg_times = 0;
GetNearMsg();
+ }}
+ else{
+ changemainbase_count = 1;
+ last_mindist_slavebaseid = mindist_slavebaseid;
}
}else{
changemainbase_count = 0;
--
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