| | |
| | | }else{ |
| | | motorstate =0; |
| | | } |
| | | tx_nearresp_msg[MOTORSTATE_INDEX]=motorstate; |
| | | |
| | | if(new_tagid) |
| | | { |
| | | tagdist_list[taglist_pos]=0x1ffff; |
| | |
| | | } |
| | | tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase; |
| | | tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE; |
| | | |
| | | tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate; |
| | | if(remotesend_state) |
| | | { |
| | | memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN); |
| | | dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//åå
¥åéæ°æ® |
| | | dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设å®åéé¿åº¦ |
| | | }else{ |
| | | dwt_writetxdata(22, tx_nearresp_msg, 0);//åå
¥åéæ°æ® |
| | | dwt_writetxfctrl(22, 0);//设å®åéé¿åº¦ |
| | | } |
| | | result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//å»¶è¿åéï¼çå¾
æ¥æ¶ |
| | | |
| | | battary = rx_buffer[BATTARY_IDX]; |