From 34ed79bf13ca72335e5bfd0434668fbccf0b1744 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期二, 07 二月 2023 17:15:29 +0800
Subject: [PATCH] 1
---
Src/application/dw_app.c | 29 +++++++++++++++++++----------
1 files changed, 19 insertions(+), 10 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index eb43c67..0bc8c12 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -766,7 +766,9 @@
// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
}
-
+extern float nomove_count;
+uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
+uint8_t motor_flag;
void NearPoll(void)
{
@@ -790,9 +792,15 @@
recbase_num=0;
// motor_state=0;
+ if(motor_keeptime>0)
+ {
+ 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;
@@ -824,7 +832,7 @@
}
}
dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
- HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
+// HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
// for(i=0;i<nearbase_num+1;i++)
// {
// nearbase_distlist[i] = 0x1ffff;
@@ -985,7 +993,7 @@
{flag_finalsend = 2;}
dwt_forcetrxoff();
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
- HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
+// HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
if(mainbase_lost_count==0)
{
#ifdef SWITCHBASE_DIST
@@ -1017,7 +1025,7 @@
if(para_update)
{
- uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
+
pack_msgtype = rec_remotepara[0];
pack_index = rec_remotepara[1];
pack_length = rec_remotepara[2];
@@ -1025,11 +1033,12 @@
{
if( pack_index == MOTOR_ONTIME_INDEX)
{
- if(motor_keeptime==0)
+ // if(motor_keeptime==0)
motor_keeptime = rec_remotepara[3];
}else{
if(pack_index<200)
{
+ nomove_count = 0;
memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
//返回一个error状态
//SendComMap(pack_datalen,pack_index);
@@ -1085,7 +1094,7 @@
dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
{
- IdleTask();
+// IdleTask();
};
if(status_reg==0xffffffff)
@@ -1147,8 +1156,6 @@
//LED0_ON;
SPIx_CS_GPIO->BRR = SPIx_CS;
delay_us(700);
- // GetPressAndHeight();
- // intheight = Height*100;
SPIx_CS_GPIO->BSRR = SPIx_CS;
id = dwt_readdevid() ;
while (DWT_DEVICE_ID != id)
@@ -1158,7 +1165,7 @@
IdleTask();
if(error_times++>20)
{
- printf("DW ID ERROR.\r\n");
+ //printf("DW ID ERROR.\r\n");
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
}
@@ -1187,6 +1194,8 @@
break;
case NEARPOLL:
NearPoll();
+ // GetPressAndHeight();
+ //intheight = Height*100;
break;
case SINGLEPOLL:
Poll();
--
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