From 4353e7b92b65e9a558adfbbbb75bc9afdfda69b6 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 29 十一月 2024 10:58:28 +0800
Subject: [PATCH] 2.59改为最新的ss定位代码，去掉双击关闭uwb
---
Src/application/dw_ancapp.c | 12 +++++++++---
1 files changed, 9 insertions(+), 3 deletions(-)
diff --git a/Src/application/dw_ancapp.c b/Src/application/dw_ancapp.c
index 2ccb0f6..0409976 100644
--- a/Src/application/dw_ancapp.c
+++ b/Src/application/dw_ancapp.c
@@ -60,7 +60,8 @@
static uint64_t final_rx_ts;
static uint32_t status_reg = 0;
extern uint8_t tx_near_msg[80];
-static uint8_t motor_state,result;
+extern uint8_t motor_state;
+static u8 result;
static uint64_t get_tx_timestamp_u64(void)
{
uint8_t ts_tab[5];
@@ -108,7 +109,7 @@
*ts += ts_field[i] << (i * 8);
}
}
-u8 send_buffer[100];
+u8 send_buffer[100],outside_count;
#define FZ_NEARBASENUM_INDEX 10
#define FZ_NEARBASEID_INDEX 11
void FZNearPoll(void)
@@ -153,6 +154,7 @@
neartimout_timer = 0;
recbase_num=0;
+ start_count=HAL_LPTIM_ReadCounter(&hlptim1);
timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
current_count=HAL_LPTIM_ReadCounter(&hlptim1);
end_count=start_count+(timeout<<5);
@@ -351,7 +353,11 @@
memcpy(&usart_send[4+report_num*6],&checksum,2);
USART_puts(usart_send,6+report_num*6);
#endif
-
+ if(motor_state==2)
+ {outside_count=0;
+ }else{
+ outside_count++;
+ }
for(i=0;i<MAX_NEARBASE_NUM;i++)
{
nearbase_distlist[i]=0x1ffff;
--
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