| | |
| | | temp_sync_timer2=sync_timer; |
| | | memcpy(&temp_sync_timer1,&rx_buffer[ANCTIMEMS],2); |
| | | memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2); |
| | | exsistbase_list[0]=KEEP_TIMES; |
| | | |
| | | |
| | | if(g_com_map[DEV_ROLE]!=0) |
| | | { |
| | |
| | | // tyncpoll_time=(tagslotpos-1)*slottime; |
| | | //////////////////////////// |
| | | rec_nearbasepos=0; |
| | | exsistbase_list[rec_nearbasepos]=KEEP_TIMES; |
| | | |
| | | memcpy(&temp_dist,&rx_buffer[DIST_IDX],4); |
| | | nearbase_distlist[rec_nearbasepos]=temp_dist; |
| | | if(temp_dist!=0x1ffff) |
| | | exsistbase_list[rec_nearbasepos]=KEEP_TIMES; |
| | | |
| | | mainbase_lost_count=0; |
| | | flag_finalsend=1; |
| | |
| | | memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2); |
| | | } |
| | | |
| | | exsistbase_list[rec_nearbasepos]=KEEP_TIMES; |
| | | memcpy(&temp_dist,&rx_buffer[DIST_IDX],4); |
| | | nearbase_distlist[rec_nearbasepos]=temp_dist; |
| | | |
| | | if(temp_dist!=0x1ffff) |
| | | exsistbase_list[rec_nearbasepos]=KEEP_TIMES; |
| | | |
| | | final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts); |
| | | dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//灏嗗彂閫佹暟鎹啓鍏W1000 |
| | |
| | | } |
| | | |
| | | // printf("%d,%d",temp_sync_timer2,temp_sync_timer1); |
| | | #ifdef USART_INTEGRATE_OUTPUT |
| | | usart_send[2] = 4;//姝e父妯″紡 |
| | | usart_send[3] = report_num*6+2;//姝e父妯″紡 |
| | | checksum = Checksum_u16(&usart_send[2],report_num*6+2); |
| | | memcpy(&usart_send[4+report_num*6],&checksum,2); |
| | | UART_PushFrame(usart_send,6+report_num*6); |
| | | #endif |
| | | // #ifdef USART_INTEGRATE_OUTPUT |
| | | // usart_send[2] = 4;//姝e父妯″紡 |
| | | // usart_send[3] = report_num*6+2;//姝e父妯″紡 |
| | | // checksum = Checksum_u16(&usart_send[2],report_num*6+2); |
| | | // memcpy(&usart_send[4+report_num*6],&checksum,2); |
| | | // UART_PushFrame(usart_send,6+report_num*6); |
| | | // #endif |
| | | // if(mainbase_lost_count>5) |
| | | // { |
| | | // //tag_state=DISCPOLL; |
| | |
| | | |
| | | if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1]) |
| | | { |
| | | motorstate =3; |
| | | motorstate =0; |
| | | }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2]) |
| | | { |
| | | motorstate =2; |