1

yincheng.zhong

2023-05-30 2e872c0c712d5ea0cb9eccb84291fba9c39265a8

 Src/application/dw_app.c

@@ -828,7 +828,30 @@
   recbase_num=0;
//   motor_state=0;

	
//   for(uint8_t i=0;i<nearbase_num+1;i++)
//    {
//        usart_send[0] = 0x55;
//        usart_send[1] = 0xaa;
//        usart_send[2] = 1;//正常模式 
//        usart_send[3] = 17;//数据段长度
//        usart_send[4] = frame_seq_nb;//数据段长度
//        memcpy(&usart_send[5],&dev_id,2);
//        if(i==0)
//        {
//            memcpy(&usart_send[7],&mainbase_id,2);
//        }else{
//            memcpy(&usart_send[7],&nearbaseid_list[i-1],2);			
//        }
//        memcpy(&usart_send[9],&nearbase_distlist[i],4);
//        usart_send[13] = battary;
//        usart_send[14] = button;
//        usart_send[15] = rec_anc_signalpower[i]>>8;
//        usart_send[16] = rec_anc_signalpower[i];
//        checksum = Checksum_u16(&usart_send[2],17);
//        memcpy(&usart_send[19],&checksum,2);
//       
//        USART_puts(usart_send,21);
//    }
   tx_near_msg[BATTARY_IDX] = bat_percent;
   tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
   tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
@@ -852,7 +875,7 @@
   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);   
   dwt_writetxdata(29+8*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(29+8*nearbase_num, 0);//设置超宽带发送数据长度
            current_count=HAL_LPTIM_ReadCounter(&hlptim1);
   current_count=HAL_LPTIM_ReadCounter(&hlptim1);
      
      while(current_count<poll_startcount||current_count>poll_startcount+16384)
      {
@@ -1146,6 +1169,7 @@
                    GetNearMsg();
                }
         }

            if(pos_nochange)
            {
                flag_tagnewpos = 0;