| | |
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| | | #define FINAL_MSG_FINAL_TX_TS_IDX 18 |
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| | | #define FINAL_MSG_TS_LEN 4 |
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| | | |
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| | | #define STARTPOLL REGPOLL |
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| | | #define SWITCHBASE_DIST |
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| | | //#define SWITCHBASE_ZHUANDIAN |
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| | | #define STARTPOLL REGPOLL//#define SWITCHBASE_DIST |
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| | | #define SWITCHBASE_ZHUANDIAN |
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| | | enum enumtagstate |
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| | | { |
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| | | REGPOLL, |
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| | |
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| | | extern float motor_keeptime; |
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| | | uint8_t changemainbase_count=0,gotosleep_flag; |
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| | | uint32_t frame_len; |
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| | | int32_t salvebase_mindist; |
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| | | void NearPoll(void) |
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| | | { |
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| | | |
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| | | uint32_t temp1,temp2,dw_systime,salvebase_mindist=999999,mindist_slavebaseid; |
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| | | uint32_t temp1,temp2,dw_systime,mindist_slavebaseid; |
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| | | |
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| | | uint32_t final_tx_time; |
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| | | u32 start_poll; |
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| | |
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| | | dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间 |
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| | | dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS); |
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| | | tag_succ_times = 0; |
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| | | |
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| | | salvebase_mindist=999999; |
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| | | if(next_nearbase_num>=MAX_NEARBASE_NUM) |
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| | | { |
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| | | next_nearbase_num = MAX_NEARBASE_NUM-1; |
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| | |
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| | | { |
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| | | if( pack_index == MOTOR_ONTIME_INDEX) |
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| | | { |
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| | | motor_keeptime = rec_remotepara[3]; |
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| | | if(motor_keeptime==0) |
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| | | motor_keeptime = rec_remotepara[3]; |
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| | | }else{ |
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| | | memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length); |
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| | | //返回一个error状态 |
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