From cddfe6d9a5cfc1457c4a866aa6311832768f2077 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 08 四月 2021 14:51:14 +0800
Subject: [PATCH] 1
---
Src/application/dw_app.c | 41 +++++++++++++++++++++++++++--------------
1 files changed, 27 insertions(+), 14 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 81eaa1e..abca4ba 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -69,9 +69,8 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
-#define STARTPOLL REGPOLL
-#define SWITCHBASE_DIST
-//#define SWITCHBASE_ZHUANDIAN
+#define STARTPOLL REGPOLL//#define SWITCHBASE_DIST
+#define SWITCHBASE_ZHUANDIAN
enum enumtagstate
{
REGPOLL,
@@ -638,18 +637,20 @@
extern float motor_keeptime;
uint8_t changemainbase_count=0,gotosleep_flag;
uint32_t frame_len;
+int32_t salvebase_mindist;
void NearPoll(void)
{
- uint32_t temp1,temp2,dw_systime,salvebase_mindist=999999,mindist_slavebaseid;
+ uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;
uint32_t final_tx_time;
u32 start_poll;
u8 i,j,getsync_flag=0,timeout;
+ USART_putc(current_slotnum);
dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
tag_succ_times = 0;
-
+ salvebase_mindist=999999;
if(next_nearbase_num>=MAX_NEARBASE_NUM)
{
next_nearbase_num = MAX_NEARBASE_NUM-1;
@@ -765,7 +766,7 @@
}
ancsync_time=((sync_timer)*1000+tmp_time);
last_slotnum=current_slotnum;
- current_slotnum=((float)(sync_timer*10)/(SLOTTIME_MS*bigslot_num))+1;
+ current_slotnum=((float)(sync_timer*10 - tagslotpos*SLOTTIME_MS)/(SLOTTIME_MS*bigslot_num))+1;
if(current_slotnum==last_slotnum-1)
{flag_getresponse=1;}
lastsync_timer=sync_timer;
@@ -808,6 +809,8 @@
}
// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
}
+ if(flag_finalsend!=1)
+ {flag_finalsend = 2;}
dwt_forcetrxoff();
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
@@ -841,14 +844,18 @@
{
if( pack_index == MOTOR_ONTIME_INDEX)
{
- motor_keeptime = rec_remotepara[3];
+ if(motor_keeptime==0)
+ motor_keeptime = rec_remotepara[3];
}else{
- memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
- //返回一个error状态
- //SendComMap(pack_datalen,pack_index);
- save_com_map_to_flash();
- delay_ms(100);
- NVIC_SystemReset();
+ if(pack_index<200)
+ {
+ memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
+ //返回一个error状态
+ //SendComMap(pack_datalen,pack_index);
+ save_com_map_to_flash();
+ delay_ms(100);
+ NVIC_SystemReset();
+ }
}
}
}
@@ -944,7 +951,7 @@
}
}
}
-u32 id;
+u32 id,error_times=0;
void Tag_App(void)//发送模式(TAG标签)
{
@@ -957,7 +964,13 @@
{
// Dw1000_Init();
id = dwt_readdevid() ;
+ IdleTask();
+ if(error_times++>20)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
}
+ error_times = 0;
switch(tag_state)
{
case REGPOLL:
--
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