zhyinch
2021-04-27 5bdc868b2ef673bbce5e0abbc2a7bf8f7f8fa55e
源码/核心板/Src/main.c
@@ -94,7 +94,7 @@
#endif
   OUT485_ENABLE;
   ComMapCheck();
   g_com_map[VERSION] = 0x0210;
   g_com_map[VERSION] = 0x0211;
   dev_id = g_com_map[DEV_ID];
   slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
   max_slotpos=g_com_map[COM_INTERVAL]/slottime;
@@ -136,15 +136,21 @@
 *
 * @return none
 */
extern float GetPressAndHeight(void);
extern u16 synclost_count;
extern float Height;
int32_t intheight;
void HeatBeat(void)
{ u16 checksum;
    GetPressAndHeight();
    intheight = Height*100+g_com_map[MAX_REPORT_ANC_NUM];
   if(synclost_count>5)
   {
      hbsend[6] = 0;
   }else{
      hbsend[6] = 1;
   }
   memcpy(&hbsend[7],&intheight,4);
checksum = Checksum_u16(&hbsend[2],12);
memcpy(&hbsend[14],&checksum,2);
UART_PushFrame(hbsend,16);
@@ -169,19 +175,19 @@
      if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
      HeatBeat();
   }
   if(flag_newsecond)
   {
     flag_newsecond=0;
      tagpos_binary=0;
      memcpy(ancidlist_send,ancidlist_rec,ancidlist_num*2);
      ancidlist_num=0;
      for(u8 i=0;i<max_slotpos;i++)
      {
         if(tagpos_rec[i])
            tagpos_binary|=1<<i;
         tagpos_rec[i] = 0;
      }
   }
//   if(flag_newsecond)
//   {
//     flag_newsecond=0;
//      tagpos_binary=0;
//      memcpy(ancidlist_send,ancidlist_rec,ancidlist_num*2);
//      ancidlist_num=0;
//      for(u8 i=0;i<max_slotpos;i++)
//      {
//         if(tagpos_rec[i])
//            tagpos_binary|=1<<i;
//         tagpos_rec[i] = 0;
//      }
//   }
   if(target_time>1000)
   {target_time-=1000;}
   #ifdef USART_INTEGRATE_OUTPUT
@@ -240,6 +246,7 @@
   Device_Init();
   Program_Init();
   Dw1000_Init();
    BarInit();
  delay_ms(10);   
   Dw1000_App_Init();
    /* Loop forever initiating ranging exchanges. */