增加时间同步功能，和ID最小的基站同步，同步代码和定位相同

yincheng.zhong

2023-09-25 62c98aa748df7e6393958c7250afc8c3b5c69807

 Src/main.c

@@ -141,7 +141,8 @@
    

   switch(motor_state)
      {case 0:
        {
        case 0:
         if(hardware_type==NSH1)
         {MOTOR_OFF;
         }else if(hardware_type==GP)
@@ -251,27 +252,6 @@
u16 total_slotnum,current_slotnum;
extern int32_t offsettimeus;

void SetNextPollTime(u16 time)
{
  int32_t lpcount,lptime,target_time;

   if(current_slotnum>=total_slotnum)
      current_slotnum-=total_slotnum;
	
   target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time)*1000;
   //if(target_time<90000)
   {
      lptime=target_time-offsettimeus;
      lpcount = lptime/LPTIMER_LSB;
   if(lpcount>LPTIMER_1S_COUNT)
      lpcount-=LPTIMER_1S_COUNT;
   if(lpcount<0)
   {
   lpcount+=LPTIMER_1S_COUNT;
   }
   __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
}
}

void HardWareTypeDiffConfig(void)
{
@@ -296,6 +276,7 @@
         break;
      }
}
uint16_t bigslot_num;
int16_t g_commap_antdelay;
u8 active_flag,nomovesleeptime;
void Program_Init(void)
@@ -322,6 +303,7 @@
   slot_startcount=tyncpoll_time*1000/LPTIMER_LSB;
   lastpoll_time=tyncpoll_time;
    tag_frequency = 1000/g_com_map[COM_INTERVAL];
    bigslot_num = TOTAL_SLOTNUM/tag_frequency;
   total_slotnum = 1000/g_com_map[COM_INTERVAL];
    nomovesleeptime = g_com_map[NOMOVESLEEP_TIME];
   if(active_flag==0)
@@ -332,18 +314,22 @@
#ifdef DEBUG_MODE
//   g_com_map[DEV_ROLE]=1;
//      g_com_map[DEV_ID]=1;
   g_com_map[COM_INTERVAL]=100;
  //  g_com_map[COM_INTERVAL]=100;
//   g_com_map[MAX_REPORT_ANC_NUM]=1;
   g_com_map[NOMOVESLEEP_TIME]=10;
 //   g_com_map[NOMOVESLEEP_TIME]=10;
#endif
      if(g_com_map[COM_INTERVAL]==0)
   {
     g_com_map[COM_INTERVAL]=100;
   }
    if(module_power>67)
      {module_power=67;}
    {
        module_power=67;
    }
      if(module_power<0)
      {module_power=0;}
    {
        module_power=0;
    }
    if(g_com_map[ANT_LENGTH]>10000)
    {
        g_com_map[ANT_LENGTH] = 0;
@@ -937,7 +923,7 @@
   i++;
   g_start_send_flag=1;
   current_slotnum++;
   SetNextPollTime(tyncpoll_time);
//   SetNextPollTime(tyncpoll_time);
   nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
    if(motor_keeptime>0)
   {