| | |
|---|
| | | #include "beep.h" |
|---|
| | | #include "modbus.h" |
|---|
| | | |
|---|
| | | #define USART_INTEGRATE_OUTPUT |
|---|
| | | //#define USART_INTEGRATE_OUTPUT |
|---|
| | | /*------------------------------------ Marcos ------------------------------------------*/ |
|---|
| | | /* Inter-ranging delay period, in milliseconds. */ |
|---|
| | | #define RNG_DELAY_MS 100 |
|---|
| | |
|---|
| | | flag_getresponse=0; |
|---|
| | | start_count=HAL_LPTIM_ReadCounter(&hlptim1); |
|---|
| | | recbase_num=0; |
|---|
| | | timeout=ceil((float)nearbase_num*SLOT_SCALE)+3; |
|---|
| | | timeout=nearbase_num*SLOT_SCALE+4; |
|---|
| | | end_count=start_count+(timeout<<5); |
|---|
| | | if(end_count>=32768) |
|---|
| | | {end_count-=32768;} |
|---|
| | |
|---|
| | | if(mainbase_lost_count>tag_frequency*BASELOST_STOPMOTOR_TIME) |
|---|
| | | {motor_state=0; } |
|---|
| | | dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR); |
|---|
| | | nearbase_num=recbase_num; |
|---|
| | | j=0; |
|---|
| | | if(mainbase_lost_count>1) |
|---|
| | | { |
|---|
| | | last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16); |
|---|
| | | } |
|---|
| | | nearbase_num=recbase_num; |
|---|
| | | // tyncpoll_time=0; |
|---|
| | | next_nearbase_num=0; |
|---|
| | | j = 0; |
|---|
| | | for(i=0;i<last_nearbase_num+get_newbase;i++) |
|---|
| | | { |
|---|
| | | if(exsistbase_list[i]>0) |
|---|
| | |
|---|
| | | exsistbase_list[i]--; |
|---|
| | | } |
|---|
| | | } |
|---|
| | | |
|---|
| | | if(recbase_num<3) |
|---|
| | | {next_nearbase_num=next_nearbase_num;} |
|---|
| | | last_nearbase_num = next_nearbase_num; |
|---|
| | | if(mainbase_lost_count>1&&exsistbase_list[0] != 0) |
|---|
| | | { |
|---|
| | | last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16); |
|---|
| | | } |
|---|
| | | last_nearbase_num = next_nearbase_num; |
|---|
| | | for(i=0;i<last_nearbase_num-1;i++) |
|---|
| | | { |
|---|
| | | for(j=0;j<last_nearbase_num-1;j++) |
|---|
| | |
|---|
| | | //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET); |
|---|
| | | break; |
|---|
| | | } |
|---|
| | | bat_percent=Get_Battary_UWB(); |
|---|
| | | dwt_entersleep(); |
|---|
| | | bat_percent=Get_VDDVlotage(); |
|---|
| | | } |
|---|
