| | |
|---|
| | | checksum = Checksum_u16(&hbsend[2],12); |
|---|
| | | memcpy(&hbsend[14],&checksum,2); |
|---|
| | | } |
|---|
| | | u16 tyncpoll_time; |
|---|
| | | uint16_t vel_factor,pos_factor; |
|---|
| | | u16 tyncpoll_time,dist_threshold; |
|---|
| | | u16 slottime,max_slotpos; |
|---|
| | | extern u8 module_power; |
|---|
| | | extern u16 total_slotnum; |
|---|
| | |
|---|
| | | { |
|---|
| | | g_com_map[COM_INTERVAL]=100; |
|---|
| | | } |
|---|
| | | g_com_map[VERSION] = 0x011d; |
|---|
| | | |
|---|
| | | g_com_map[VERSION] = 0x012a; |
|---|
| | | dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]); |
|---|
| | | if(dist_threshold<300) |
|---|
| | | {dist_threshold = 300;} |
|---|
| | | if(dist_threshold>15000) |
|---|
| | | {dist_threshold = 15000;} |
|---|
| | | g_com_map[SW_TYPE] = SW_FANGZHUANG; |
|---|
| | | 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; |
|---|
| | | tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime; |
|---|
| | | module_power = g_com_map[POWER]; |
|---|
| | | total_slotnum = 1000/g_com_map[COM_INTERVAL]; |
|---|
| | | vel_factor=g_com_map[FILTER_COEFFICIENT]; |
|---|
| | | pos_factor=g_com_map[FILTER_COEFFICIENT]; |
|---|
| | | |
|---|
| | | if(module_power>67) |
|---|
| | | { |
|---|
| | | module_power=67; |
|---|
| | |
|---|
| | | tagpos_rec[i] = 0; |
|---|
| | | } |
|---|
| | | } |
|---|
| | | if(target_time>1000) |
|---|
| | | if(target_time>=1000) |
|---|
| | | {target_time-=1000;} |
|---|
| | | #ifdef USART_INTEGRATE_OUTPUT |
|---|
| | | if(g_com_map[DEV_ROLE]==0&&usart_send_flag) |
|---|
