| | |
| | | usart_send[2] = 1;//æ£å¸¸æ¨¡å¼ |
| | | usart_send[3] = 17;//æ°æ®æ®µé¿åº¦ |
| | | usart_send[4] = frame_seq_nb;//æ°æ®æ®µé¿åº¦ |
| | | if(g_com_map[DEV_ROLE]) |
| | | { |
| | | |
| | | memcpy(&usart_send[5],&dev_id,2); |
| | | memcpy(&usart_send[7],&rec_nearbaseid,2); |
| | | }else{ |
| | | memcpy(&usart_send[5],&rec_nearbaseid,2); |
| | | memcpy(&usart_send[7],&dev_id,2); |
| | | } |
| | | |
| | | memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4); |
| | | usart_send[13] = battary; |
| | | usart_send[14] = button; |
| | |
| | | usart_send[2] = 1;//æ£å¸¸æ¨¡å¼ |
| | | usart_send[3] = 17;//æ°æ®æ®µé¿åº¦ |
| | | usart_send[4] = frame_seq_nb;//æ°æ®æ®µé¿åº¦ |
| | | if(g_com_map[DEV_ROLE]) |
| | | { |
| | | |
| | | memcpy(&usart_send[5],&dev_id,2); |
| | | memcpy(&usart_send[7],&rec_nearbaseid,2); |
| | | }else{ |
| | | memcpy(&usart_send[5],&rec_nearbaseid,2); |
| | | memcpy(&usart_send[7],&dev_id,2); |
| | | } |
| | | |
| | | memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4); |
| | | usart_send[13] = battary; |
| | | usart_send[14] = button; |
| | |
| | | // Anchor_RecPoll(); |
| | | // break; |
| | | case SYNC: |
| | | memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4); |
| | | if(rec_syncid<current_syncid) |
| | | { |
| | | current_syncid=rec_syncid; |
| | | flag_syncbase=0; |
| | | sync_seq=rx_buffer[SYNC_SEQ_IDX]+1; |
| | | TIM3->CNT = sync_seq*325%1000+15; |
| | | sync_timer = sync_seq*325/1000; |
| | | synclost_timer=0; |
| | | //SyncPoll(sync_seq,rec_syncid); |
| | | }else if(rec_syncid==current_syncid) |
| | | { |
| | | if(rx_buffer[SYNC_SEQ_IDX]<sync_seq) |
| | | { |
| | | flag_syncbase=0; |
| | | sync_seq=rx_buffer[SYNC_SEQ_IDX]+1; |
| | | TIM3->CNT = sync_seq*325%1000+5; |
| | | sync_timer = sync_seq*325/1000+995; |
| | | synclost_timer=0; |
| | | //SyncPoll(sync_seq,rec_syncid); |
| | | } |
| | | |
| | | } |
| | | // memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4); |
| | | // if(rec_syncid<current_syncid) |
| | | // { |
| | | // current_syncid=rec_syncid; |
| | | // flag_syncbase=0; |
| | | // sync_seq=rx_buffer[SYNC_SEQ_IDX]+1; |
| | | // TIM3->CNT = sync_seq*325%1000+15; |
| | | // sync_timer = sync_seq*325/1000; |
| | | // synclost_timer=0; |
| | | // //SyncPoll(sync_seq,rec_syncid); |
| | | // }else if(rec_syncid==current_syncid) |
| | | // { |
| | | // if(rx_buffer[SYNC_SEQ_IDX]<sync_seq) |
| | | // { |
| | | // flag_syncbase=0; |
| | | // sync_seq=rx_buffer[SYNC_SEQ_IDX]+1; |
| | | // TIM3->CNT = sync_seq*325%1000+5; |
| | | // sync_timer = sync_seq*325/1000+995; |
| | | // synclost_timer=0; |
| | | // //SyncPoll(sync_seq,rec_syncid); |
| | | // } |
| | | // |
| | | // } |
| | | break; |
| | | case NEAR_MSG: |
| | | if(anc_id_recv==flag_syncbase) |