阶段性调试1

WXK

2023-03-25 baf8b42fca25208021259fde69eabdd2fc31cefa

 Src/application/dw_app.c

@@ -825,12 +825,7 @@

   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|motor_flag<<5;
@@ -968,8 +963,7 @@
                           mainbase_dist=temp_dist;
                                    nearbase_distlist[0] = temp_dist;
                                    base_mindist = temp_dist;
                           if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
                              motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;

                                    if(frame_len==28)
                                     {
                                         memcpy(&rec_maxrangelen,&rx_buffer[MAXRANGE_DISTANCE],2);
@@ -1233,17 +1227,17 @@
                        }
                     }
}
extern void FZNearPoll(void);
u32 id,error_times=0;

u8 ttt = 1;
extern float Height;
void Tag_App(void)//发送模式(TAG标签)
void UWBWkWp(void)
{
   static uint8_t diccount = 0;
   //LED0_ON;
   SPIx_CS_GPIO->BRR = SPIx_CS;
   delay_us(700);
   SPIx_CS_GPIO->BSRR = SPIx_CS;
   id =  dwt_readdevid() ;
    
       while (DWT_DEVICE_ID != id) 
    {
      //   Dw1000_Init();
@@ -1256,6 +1250,16 @@
        }
    }
    error_times = 0;
}
void Tag_App(void)//发送模式(TAG标签)
{
   static uint8_t diccount = 0,diccount2;
   //LED0_ON;
    UWBWkWp();
            if(0)
        {
             FZNearPoll();
        }else{
   switch(tag_state)
   {
      case REGPOLL:
@@ -1299,7 +1303,11 @@
        case SINGLEPOLL:
          //  Poll();
            break;
   }
   }}
        
 FZNearPoll();

    dwt_forcetrxoff();
     userkey_state = !GET_USERKEY;
   dwt_entersleep();
}