From d66187e82c8715a36aa5c790ed0e01bb0e656081 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期三, 11 十月 2023 11:40:19 +0800
Subject: [PATCH] V2.56 修改震动逻辑
---
Src/application/dw_app.c | 38 +++++++++++++++++++++-----------------
1 files changed, 21 insertions(+), 17 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 058b0cc..55c93da 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -81,7 +81,7 @@
SINGLEPOLL,
}tag_state=STARTPOLL;
static dwt_config_t config = {
- 2, /* Channel number. */
+ 5, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
DWT_PLEN_128, /* Preamble length. */
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
@@ -118,7 +118,7 @@
LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
-
+void GetNearMsg(void);
static uint64_t get_tx_timestamp_u64(void)
{
uint8_t ts_tab[5];
@@ -610,8 +610,9 @@
if(minddist!=0x1ffff&&minddist!=0)
{
trygetnearmsg_times = 0;
- tag_state = GETNEARMSG;
+ tag_state = GETNEARMSG;
mainbase_id = mindist_ancid;
+ GetNearMsg();
}
if(getsync_flag==0)
@@ -997,8 +998,8 @@
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);
@@ -1055,18 +1056,18 @@
}
nearbase_distlist[rec_nearbasepos+1]=temp_dist; // nearbase_distlist[1]对应 rec_nearbaseid[0]的距离
final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
- if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]==1&&temp_dist>0)
+ if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]!=0&&(nearbase_switchdistlist[rec_nearbasepos]==1||temp_dist<nearbase_switchdistlist[rec_nearbasepos]))
{
salvebase_mindist = temp_dist;
mindist_slavebaseid = rec_nearbaseid;
}
#ifdef SWITCHBASE_ZHUANDIAN
- if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]>1&&temp_dist>0)
- {
- mainbase_id = rec_nearbaseid;
- tag_state = GETNEARMSG;
- trygetnearmsg_times = 0;
- }
+// if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]>1&&temp_dist>0)
+// {
+// mainbase_id = rec_nearbaseid;
+// tag_state = GETNEARMSG;
+// trygetnearmsg_times = 0;
+// }
#endif
}
@@ -1094,12 +1095,13 @@
if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
{
changemainbase_count++;
- if(changemainbase_count>5)
+ if(changemainbase_count>2)
{
- changemainbase_count = 0;
- mainbase_id = mindist_slavebaseid;
- tag_state = GETNEARMSG;
- trygetnearmsg_times = 0;
+ changemainbase_count = 0;
+ mainbase_id = mindist_slavebaseid;
+ tag_state = GETNEARMSG;
+ trygetnearmsg_times = 0;
+ GetNearMsg();
}
}else{
changemainbase_count = 0;
@@ -1109,6 +1111,7 @@
{
mainbase_lost_count = 0;
tag_state = DISCPOLL;
+ DiscPoll();
}
if(mainbase_lost_count!=0)
{
@@ -1169,6 +1172,7 @@
if(nearbaseid_list[i]!=nearbaseid_list2[i])
{
tag_state = GETNEARMSG;
+ GetNearMsg();
trygetnearmsg_times = 0;
nearbaseid_list0[i]=1;
}
--
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