| | |
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| | | static uint64_t final_rx_ts; |
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| | | static uint32_t status_reg = 0; |
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| | | extern uint8_t tx_near_msg[80]; |
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| | | static uint8_t motor_state,result; |
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| | | extern uint8_t motor_state; |
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| | | static u8 result; |
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| | | static uint64_t get_tx_timestamp_u64(void) |
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| | | { |
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| | | uint8_t ts_tab[5]; |
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| | |
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| | | *ts += ts_field[i] << (i * 8); |
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| | | } |
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| | | } |
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| | | u8 send_buffer[100]; |
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| | | u8 send_buffer[100],outside_count; |
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| | | #define FZ_NEARBASENUM_INDEX 10 |
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| | | #define FZ_NEARBASEID_INDEX 11 |
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| | | void FZNearPoll(void) |
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| | |
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| | | |
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| | | neartimout_timer = 0; |
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| | | recbase_num=0; |
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| | | start_count=HAL_LPTIM_ReadCounter(&hlptim1); |
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| | | timeout=ceil((float)nearbase_num*SLOT_SCALE)+3; |
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| | | current_count=HAL_LPTIM_ReadCounter(&hlptim1); |
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| | | end_count=start_count+(timeout<<5); |
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| | |
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| | | memcpy(&usart_send[4+report_num*6],&checksum,2); |
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| | | USART_puts(usart_send,6+report_num*6); |
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| | | #endif |
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| | | |
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| | | if(motor_state==2) |
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| | | {outside_count=0; |
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| | | }else{ |
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| | | outside_count++; |
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| | | } |
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| | | for(i=0;i<MAX_NEARBASE_NUM;i++) |
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| | | { |
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| | | nearbase_distlist[i]=0x1ffff; |
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