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| | | #include "beep.h" |
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| | | #include "modbus.h" |
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| | | |
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| | | #define USART_INTEGRATE_OUTPUT |
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| | | //#define USART_INTEGRATE_OUTPUT |
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| | | /*------------------------------------ Marcos ------------------------------------------*/ |
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| | | /* Inter-ranging delay period, in milliseconds. */ |
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| | | #define RNG_DELAY_MS 100 |
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| | |
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| | | u32 rec_tagpos_binary; |
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| | | int16_t offset=2700; |
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| | | u8 motor_state,rec_remotepara_state,rec_remotepara[80]; |
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| | | extern u16 last_lpcount; |
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| | | void NearPoll(void) |
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| | | { |
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| | | |
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| | |
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| | | flag_getresponse=0; |
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| | | start_count=HAL_LPTIM_ReadCounter(&hlptim1); |
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| | | recbase_num=0; |
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| | | timeout=ceil((float)nearbase_num*SLOT_SCALE)+3; |
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| | | timeout=nearbase_num*SLOT_SCALE+4; |
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| | | end_count=start_count+(timeout<<5); |
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| | | if(end_count>=32768) |
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| | | {end_count-=32768;} |
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| | |
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| | | {flag_getresponse=1;} |
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| | | lastsync_timer=sync_timer; |
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| | | offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset; |
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| | | SetNextPollTime(tyncpoll_time); |
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| | | // SetNextPollTime(tyncpoll_time); |
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| | | // if(rec_remotepara_state==1) |
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| | | // { |
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| | | // memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],REMOTEPARA_LEN); |
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| | |
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| | | if(mainbase_lost_count>tag_frequency*BASELOST_STOPMOTOR_TIME) |
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| | | {motor_state=0; } |
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| | | dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR); |
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| | | nearbase_num=recbase_num; |
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| | | j=0; |
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| | | if(exsistbase_list[0]==0) |
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| | | { |
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| | | // u8 temp_adc,random_value; |
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| | | // random_value=0; |
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| | | // for(i=0;i<8;i++) |
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| | | // { |
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| | | // temp_adc=Get_ADC_Value(); |
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| | | // random_value=random_value|((temp_adc&0x01)<<i); |
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| | | // } |
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| | | tagslotpos=GetRandomSlotPos(rec_tagpos_binary); |
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| | | tyncpoll_time = (tagslotpos--%max_slotpos)*slottime; |
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| | | SetNextPollTime(tyncpoll_time); |
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| | | } |
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| | | nearbase_num=recbase_num; |
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| | | // tyncpoll_time=0; |
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| | | next_nearbase_num=0; |
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| | | j = 0; |
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| | | for(i=0;i<last_nearbase_num+get_newbase;i++) |
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| | | { |
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| | | if(exsistbase_list[i]>0) |
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| | |
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| | | exsistbase_list[i]--; |
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| | | } |
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| | | } |
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| | | |
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| | | if(recbase_num<3) |
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| | | {next_nearbase_num=next_nearbase_num;} |
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| | | last_nearbase_num = next_nearbase_num; |
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| | | if(mainbase_lost_count>1&&exsistbase_list[0] != 0) |
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| | | { |
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| | | last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16); |
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| | | } |
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| | | last_nearbase_num = next_nearbase_num; |
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| | | for(i=0;i<last_nearbase_num-1;i++) |
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| | | { |
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| | | for(j=0;j<last_nearbase_num-1;j++) |
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| | |
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| | | break; |
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| | | } |
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| | | dwt_entersleep(); |
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| | | bat_percent=Get_VDDVlotage(); |
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| | | } |
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