| | |
| | | extern uint16_t configremotetagID; |
| | | extern u8 remotetag_paralen; |
| | | u8 finalsend=0; |
| | | |
| | | u8 tagpossend_flag; |
| | | u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base |
| | | { |
| | | |
| | |
| | | dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置åé宿åå¼å¯æ¥æ¶å»¶è¿æ¶é´ |
| | | dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//æ¥æ¶è¶
æ¶æ¶é´ |
| | | //dwt_readdiagnostics(&d1); |
| | | |
| | | if(tagpos[taglist_pos].tagid==tag_id_recv) |
| | | { |
| | | memcpy(&tx_nearresp_msg[TAGPOS_INDEX],&tagpos[taglist_pos],16); |
| | | tagpossend_flag = 1; |
| | | }else{ |
| | | tagpossend_flag = 0; |
| | | } |
| | | |
| | | if(new_tagid) |
| | | { |
| | | tagdist_list[taglist_pos]=0x1ffff; |
| | |
| | | tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate; |
| | | waittagconfig_reponse=0; |
| | | finalsend = 0; |
| | | if(pwtag.remain_time>0) |
| | | if(pwtag.remain_time>0)//è¿ç¨ä¿®æ¹æ ç¾åæ° |
| | | {uint8_t i; |
| | | for(i=0;i<pwtag.groupnum;i++) |
| | | { |
| | |
| | | |
| | | if(finalsend == 0) |
| | | { |
| | | dwt_writetxdata(24, tx_nearresp_msg, 0);//åå
¥åéæ°æ® |
| | | dwt_writetxfctrl(24, 0);//设å®åéé¿åº¦ |
| | | dwt_writetxdata(24+tagpossend_flag*16, tx_nearresp_msg, 0);//åå
¥åéæ°æ® |
| | | dwt_writetxfctrl(24+tagpossend_flag*16, 0);//设å®åéé¿åº¦ |
| | | } |
| | | |
| | | // if(remotesend_state&&tag_id_recv==configremotetagID) |
| | |
| | | |
| | | checksum = Checksum_u16(&usart_send[2],23+8*rec_nearbase_num); |
| | | memcpy(&usart_send[25+8*rec_nearbase_num],&checksum,2); |
| | | // UART_PushFrame(usart_send,27+8*rec_nearbase_num); |
| | | UART_PushFrame(usart_send,27+8*rec_nearbase_num); |
| | | |
| | | ////////////////////////////////////////////////////////////// |
| | | |