From baf8b42fca25208021259fde69eabdd2fc31cefa Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期六, 25 三月 2023 18:38:23 +0800
Subject: [PATCH] 阶段性调试1
---
Src/application/dw_app.c | 34 +++++++++++++++++++++-------------
1 files changed, 21 insertions(+), 13 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 757921b..aa689a3 100644
--- a/Src/application/dw_app.c
+++ b/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();
}
--
Gitblit v1.9.3