V2.53 增加震动状态上传和震动实时响应功能

zhyinch

2022-08-13 310754a3de9ee12cbabc4b46ab2c144c62fa8d7e

 Src/application/dw_app.c

@@ -573,7 +573,7 @@
                memcpy(&mindist_ancid,&rx_buffer[ANCHOR_ID_IDX],2);
                
            }
            send_buffer[MESSAGE_TYPE_IDX] = FINAL;	
            send_buffer[MESSAGE_TYPE_IDX] = DISCOVERFINAL;	
         /* Compute final message transmission time. See NOTE 9 below. */
         final_tx_time = (resp_rx_ts + (600 * UUS_TO_DWT_TIME)) >> 8;//计算final包发送时间，T5=T4+Treply2
         dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -796,6 +796,7 @@
               //HexToAsciiSendUDP(usart_send,27+8*nearbase_num);
}
uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
uint8_t motor_flag;
void NearPoll(void)
{
   
@@ -820,9 +821,15 @@

   recbase_num=0;
//   motor_state=0;
    if(motor_state!=0&&motor_state!=3)
    {
        motor_flag = 1;
    }else{
        motor_flag = 0;
    }
   
   tx_near_msg[BATTARY_IDX] = bat_percent;
   tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2;
   tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
   tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
  tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
   tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
@@ -1063,7 +1070,7 @@
            {
               if( pack_index == MOTOR_ONTIME_INDEX)
               {
                        if(motor_keeptime==0)
                       // if(motor_keeptime==0)
                            motor_keeptime = rec_remotepara[3];
               }else{
                        if(pack_index<200)
@@ -1097,7 +1104,7 @@
                           nearbaseid_list0[i]=1;
                }
         }
            SendHuiZongData();
        //    SendHuiZongData();
   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);