From f953be595ef8c2d17c533405e26093b2049f469a Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期二, 25 十月 2022 16:36:41 +0800
Subject: [PATCH] 1.修改定位通讯标志位，不会和其他系统干扰。 2.2.需要配合定位基站V2.111使用
---
Src/application/dw_app.c | 238 ++++++++++++++++++++++++++++++++++++----------------------
1 files changed, 147 insertions(+), 91 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index babb107..6edc2bf 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -47,7 +47,7 @@
#define POLL_TX_TO_RESP_RX_DLY_UUS 10
/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
* frame length of approximately 2.66 ms with above configuration. */
-#define RESP_RX_TO_FINAL_TX_DLY_UUS 510
+#define RESP_RX_TO_FINAL_TX_DLY_UUS 1000
/* Receive response timeout. See NOTE 5 below. */
#define RESP_RX_TIMEOUT_UUS 4000
@@ -83,7 +83,7 @@
static dwt_config_t config = {
2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
- DWT_PLEN_64, /* Preamble length. */
+ DWT_PLEN_128, /* Preamble length. */
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
9, /* TX preamble code. Used in TX only. */
9, /* RX preamble code. Used in RX only. */
@@ -473,7 +473,7 @@
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
-#define SINGLEPOLL_BASENUM 15
+#define SINGLEPOLL_BASENUM 5
uint16_t singlepoll_baseid[20]={0x8166,0x9804,0x9689,0x9686,0x8279,0x9815,0x9803,0x9814,0x9687,0x9774,0x8278,0x9743,0x9688,0x9771,0x8277};
int32_t singlepoll_basedist[20];
@@ -483,39 +483,43 @@
uint32_t frame_len;
int32_t salvebase_mindist;
int16_t intheight;
-void Poll(void)
+static uint8_t send_buffer[200];
+void DiscPoll(void)
{
uint32_t frame_len;
uint32_t final_tx_time;
u32 start_poll;
- int32_t mindist=999999,minid=-1,temp_dist;
+ int32_t minddist=0x1ffff,minid=-1,temp_dist;
u8 i,j,getsync_flag=0;
+ u16 mindist_ancid,random_delay_tim,tempval;
+
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
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
- tag_succ_times = 0;
frame_seq_nb++;
- intheight+=g_com_map[HEIGHTOFFEST_INDEX];
- for(singlepoll_i=0;singlepoll_i<SINGLEPOLL_BASENUM;singlepoll_i++)
+ for(uint8_t singlepoll_i=0;singlepoll_i<10;singlepoll_i++)
{
- /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
- nearbase_num = SINGLEPOLL_BASENUM;
-
- tx_near_msg[BATTARY_IDX] = bat_percent;
- tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2;
- tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
- tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb)>>8;
- tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
- memcpy(&tx_near_msg[NEARBASEID_INDEX],&singlepoll_baseid,nearbase_num*2);
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&singlepoll_basedist,nearbase_num*4+4);
-
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6],&intheight,2);
- tx_near_msg[MESSAGE_TYPE_IDX] = SPOLL;
-
- tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
- tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
+
- memcpy(&tx_near_msg[ANCHOR_ID_IDX],&singlepoll_baseid[singlepoll_i],2);
- dwt_writetxdata(28+6*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
+ nearbase_num = 0;
+
+ // send_buffer[BATTARY_IDX] = bat_percent;
+ //send_buffer[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1|gotosleep_flag<<2;
+ send_buffer[SEQUENCE_IDX] = frame_seq_nb;
+ send_buffer[SEQUENCEH_IDX] = (frame_seq_nb)>>8;
+ send_buffer[NEARBASENUM_INDEX] = nearbase_num;
+
+// memcpy(&send_buffer[NEARBASEID_INDEX],&singlepoll_baseid,nearbase_num*2);
+// memcpy(&send_buffer[NEARBASEID_INDEX+nearbase_num*2],&singlepoll_basedist,nearbase_num*4+4);
+// intheight+=g_com_map[HEIGHTOFFEST_INDEX];
+ // memcpy(&send_buffer[NEARBASEID_INDEX+nearbase_num*6],&intheight,2);
+ send_buffer[MESSAGE_TYPE_IDX] = DISCOVERPOLL;
+// singlepoll_basedist[singlepoll_i]= 0x1ffff;
+ send_buffer[NEARP_TAGFREQ_INDEX] = tag_frequency;
+ send_buffer[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
+ send_buffer[ANCHOR_ID_IDX] = singlepoll_i;
+ memcpy(&send_buffer[TAG_ID_IDX],&dev_id,2);
+ dwt_writetxdata(28+6*nearbase_num, send_buffer, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
dwt_writetxfctrl(28+6*nearbase_num, 0);//设置超宽带发送数据长度
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
@@ -533,63 +537,55 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
- if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&singlepoll_baseid[singlepoll_i],2)) //判断接收到的数据是否是response数据
+
+ if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
{
poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
if(getsync_flag==0)
{
getsync_flag=1;
- memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
- memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
+ memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
+// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
- tmp_time=tmp_time+450;
- if(tmp_time>999)
- {
- tmp_time-=999;
- sync_timer++;
- if(sync_timer>=1010)
- {sync_timer=0;}
- }
- ancsync_time=((sync_timer)*1000+tmp_time);
-// last_slotnum=current_slotnum;
-// temptimer = sync_timer-10;
-// if(temptimer<0)
-// {temptimer+=1000;}
-// //current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;
-// if(current_slotnum==last_slotnum-1)
-// {flag_getresponse=1;}
-// lastsync_timer=sync_timer;
- //offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
-// SetNextPollTime(tagslotpos);
+ tmp_time=tmp_time+450;
+ if(tmp_time>999)
+ {
+ tmp_time-=999;
+ sync_timer++;
+ if(sync_timer>=1010)
+ {sync_timer=0;}
+ }
+
+ //offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
+// SetNextPollTime(tagslotpos);
}
-
+ memcpy(&send_buffer[NEARBASEID_INDEX+singlepoll_i*2],&rx_buffer[ANCHOR_ID_IDX],2);
memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4);
- memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
- singlepoll_basedist[singlepoll_i] = temp_dist;
+ memcpy(&send_buffer[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
+ // singlepoll_basedist[singlepoll_i] = temp_dist;
+ // memcpy(&singlepoll_baseid[singlepoll_i], &rx_buffer[ANCHOR_ID_IDX], 2);
+
+ if(temp_dist<minddist)
+ {
+ minddist = temp_dist;
+ memcpy(&mindist_ancid,&rx_buffer[ANCHOR_ID_IDX],2);
+
+ }
+ send_buffer[MESSAGE_TYPE_IDX] = DISCOVERFINAL;
/* Compute final message transmission time. See NOTE 9 below. */
- final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计算final包发送时间，T5=T4+Treply2
+ final_tx_time = (resp_rx_ts + (600 * UUS_TO_DWT_TIME)) >> 8;//计算final包发送时间，T5=T4+Treply2
dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
- final_msg_set_ts(&tx_final_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
- final_msg_set_ts(&tx_final_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
- final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
- dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//将发送数据写入DW1000
- dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度
+ final_msg_set_ts(&send_buffer[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
+ final_msg_set_ts(&send_buffer[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
+ final_msg_set_ts(&send_buffer[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
+ dwt_writetxdata(25,send_buffer, 0);//将发送数据写入DW1000
+ dwt_writetxfctrl(25, 0);//设定发送数据长度
result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
- tag_succ_times++;
- LED0_BLINK;
-
-
-// if(temp_dist<mindist&&temp_dist!=0)
-// {
-// memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
-// tag_state=GETNEARMSG;
-// trygetnearmsg_times=10*tag_frequency;
-// mindist=temp_dist;
-// }
+
if(result==0)
{while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
{ };
@@ -610,16 +606,23 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
random_delay_tim = DFT_RAND_DLY_TIM_MS;
}
+ // delay_ms(1);
}
+ if(minddist!=0x1ffff&&minddist!=0)
+ {
+ trygetnearmsg_times = 0;
+ tag_state = GETNEARMSG;
+ mainbase_id = mindist_ancid;
+ }
if(getsync_flag==0)
{
// tagslotpos--;
- if(tagslotpos==0||tagslotpos>max_slotpos)
- {
- tagslotpos=max_slotpos;
- }
- tyncpoll_time=(tagslotpos-1)*slottime;
+// if(tagslotpos==0||tagslotpos>max_slotpos)
+// {
+// tagslotpos=max_slotpos;
+// }
+// tyncpoll_time=(tagslotpos-1)*slottime;
}
// mainbase_id=minid;
// mainbase_id = 0x4;
@@ -718,7 +721,7 @@
//mainbase_id = 0x9818;
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
- tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
+ tx_near_msg[MESSAGE_TYPE_IDX] = POS_MSG;
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
@@ -749,7 +752,7 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
- if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
+ if (rx_buffer[MESSAGE_TYPE_IDX] == POS_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
{
nearbase_num=rx_buffer[NEARBASENUM_INDEX];
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
@@ -766,20 +769,48 @@
// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
}
+void SendHuiZongData(void)
+{
+ usart_send[2] = 0x0c;//正常模式
+ usart_send[3] = 15+8*(nearbase_num+1);//数据段长度
+ memcpy(&usart_send[4],&dev_id,2);
+ usart_send[6] = frame_seq_nb;
+ usart_send[7] = frame_seq_nb>>8;
+ usart_send[8] = bat_percent;
+ usart_send[9] = tx_near_msg[BUTTON_IDX];
+ memcpy(&usart_send[10],&intheight,2);
+ usart_send[12] = tag_frequency;
+ usart_send[13] = tagslotpos;
+ usart_send[14] = 0;
+ usart_send[15] = 0;
+ usart_send[16] = nearbase_num+1;
+ memcpy(&usart_send[17],&mainbase_id,2);
+ memcpy(&usart_send[19],&nearbaseid_list,2*nearbase_num);
+ memcpy(&usart_send[19+nearbase_num*2],&nearbase_distlist,4*nearbase_num+4);
+ memcpy(&usart_send[19+nearbase_num*6+4],&rec_anc_signalpower,2*nearbase_num+2);
+
+ checksum = Checksum_u16(&usart_send[2],23+8*nearbase_num);
+ memcpy(&usart_send[25+8*nearbase_num],&checksum,2);
+ USART_puts(usart_send,27+8*nearbase_num);
+ //HexToAsciiSendUDP(usart_send,27+8*nearbase_num);
+}
+uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
+uint8_t motor_flag;
void NearPoll(void)
{
uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;
-
+ static u8 notenoughdist_count=0;
uint32_t final_tx_time;
u32 start_poll;
- u8 i,j,getsync_flag=0,timeout;
+ u8 i,j,getsync_flag=0,timeout,get_newdist;
// USART_putc(current_slotnum);
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
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
tag_succ_times = 0;
salvebase_mindist=999999;
+ get_newdist = 0;
if(next_nearbase_num>=MAX_NEARBASE_NUM)
{
next_nearbase_num = MAX_NEARBASE_NUM-1;
@@ -790,9 +821,15 @@
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;
+ 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;
@@ -805,7 +842,7 @@
intheight+=g_com_map[HEIGHTOFFEST_INDEX];
memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
- tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
+ tx_near_msg[MESSAGE_TYPE_IDX] = POS_POLL;
tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
@@ -865,7 +902,7 @@
dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
dwt_rxenable(0);//打开接收
//HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
- if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
+ if (rx_buffer[MESSAGE_TYPE_IDX] == POS_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
{ u16 rec_nearbaseid,rec_nearbasepos;
poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
@@ -883,7 +920,7 @@
final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+nearbase_num*4], resp_rx_ts);
final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
- tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
+ tx_near_msg[MESSAGE_TYPE_IDX]=POS_FINAL;
rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
{
@@ -899,6 +936,10 @@
userkey_state = !GET_USERKEY;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+ if(temp_dist!=nearbase_distlist[0])
+ {
+ get_newdist++;
+ }
mainbase_dist=temp_dist;
nearbase_distlist[0] = temp_dist;
base_mindist = temp_dist;
@@ -951,6 +992,10 @@
if(frame_len==28)
memcpy(&rec_anc_signalpower[rec_nearbasepos+1],&rx_buffer[ANC_SIGNALPOWER],2);
memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);
+ if(temp_dist!=nearbase_distlist[rec_nearbasepos+1])
+ {
+ get_newdist++;
+ }
nearbase_distlist[rec_nearbasepos+1]=temp_dist; // nearbase_distlist[1]对应 rec_nearbaseid[0]的距离
final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]==1)
@@ -963,7 +1008,7 @@
{
mainbase_id = rec_nearbaseid;
tag_state = GETNEARMSG;
- trygetnearmsg_times = 0;
+ trygetnearmsg_times = 0;
}
#endif
@@ -1004,7 +1049,7 @@
#endif
}else if(mainbase_lost_count>5*tag_frequency)
{
- tag_state = STARTPOLL;
+ // tag_state = DISCPOLL;
}
if(mainbase_lost_count!=0)
{
@@ -1017,7 +1062,7 @@
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];
@@ -1025,7 +1070,7 @@
{
if( pack_index == MOTOR_ONTIME_INDEX)
{
- if(motor_keeptime==0)
+ // if(motor_keeptime==0)
motor_keeptime = rec_remotepara[3];
}else{
if(pack_index<200)
@@ -1040,6 +1085,16 @@
}
}
}
+ if(get_newdist>2)
+ {
+ notenoughdist_count = 0;
+ }else{
+ if(notenoughdist_count++>3)
+ {
+ notenoughdist_count = 0;
+ // tag_state = DISCPOLL;
+ }
+ }
for(i=0;i<nearbase_num;i++)
{
if(nearbaseid_list[i]!=nearbaseid_list2[i])
@@ -1049,6 +1104,7 @@
nearbaseid_list0[i]=1;
}
}
+ // SendHuiZongData();
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
@@ -1134,7 +1190,7 @@
memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
if(tagslotpos!=255)
- tag_state = NEARPOLL;
+ tag_state = DISCPOLL;
}
}
}
@@ -1147,8 +1203,6 @@
//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)
@@ -1172,7 +1226,7 @@
break;
case DISCPOLL:
LED_LG_ON;
- Poll();
+ DiscPoll();
LED_LG_OFF;
break;
case GETNEARMSG:
@@ -1187,9 +1241,11 @@
break;
case NEARPOLL:
NearPoll();
+ //GetPressAndHeight();
+ //intheight = Height*100;
break;
case SINGLEPOLL:
- Poll();
+ // Poll();
break;
}
userkey_state = !GET_USERKEY;
--
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