XRange_Tag.git - Gitblit

			@@ -29,8 +29,9 @@
			#include <stdio.h>
			#include "beep.h"
			#include "modbus.h"
			#include "CRC.h"

			#define USART_INTEGRATE_OUTPUT
			//#define USART_INTEGRATE_OUTPUT
			/------------------------------------ Marcos ------------------------------------------/
			/* Inter-ranging delay period, in milliseconds. */
			#define RNG_DELAY_MS 100
			@@ -76,9 +77,9 @@
			DISCPOLL,
			GETNEARMSG,
			NEARPOLL,
			}tag_state=GETNEARMSG;
			}tag_state=NEARPOLL;
			static dwt_config_t config = {
			2, /* Channel number. */
			5, /* Channel number. */
			DWT_PRF_64M, /* Pulse repetition frequency. */
			DWT_PLEN_128, /* Preamble length. */
			DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
			@@ -296,6 +297,7 @@
			u32 rec_tagpos_binary;
			int16_t offset=2700;
			u8 motor_state,rec_remotepara_state,rec_remotepara[80];
			extern u16 last_lpcount;
			void NearPoll(void)
			{

			@@ -305,7 +307,7 @@
			u32 start_poll;
			u8 i,j,getsync_flag=0,timeout;
			dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间
			dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
			dwt_setrxtimeout(10000);
			tag_succ_times = 0;
			//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
			if(next_nearbase_num>=MAX_NEARBASE_NUM)
			@@ -336,7 +338,7 @@
			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;}
			@@ -383,6 +385,12 @@
			resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
			recbase_num++;
			memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
			rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
			if(rec_remotepara_state==1)
			{
			para_update = 1;
			memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
			}
			if(last_nearbase_num==0)
			{
			get_newbase=1;
			@@ -416,7 +424,7 @@
			nearbase_distlist[rec_nearbasepos]=temp_dist;
			if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
			motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
			rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;


			mainbase_lost_count=0;
			flag_finalsend=1;
			@@ -446,18 +454,18 @@
			{flag_getresponse=1;}
			lastsync_timer=sync_timer;
			offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
			SetNextPollTime(tyncpoll_time);
			if(rec_remotepara_state==1)
			{
			memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],REMOTEPARA_LEN);
			memcpy(&g_com_map[COM_INTERVAL],&rec_remotepara[0],8);
			memcpy(&g_com_map[POWER],&rec_remotepara[8],10);
			if(g_com_map[COM_INTERVAL]>0&&g_com_map[COM_INTERVAL]<1000&&g_com_map[POWER]<67&&g_com_map[POWER]>0)
			{save_com_map_to_flash();
			delay_ms(100);
			}
			NVIC_SystemReset();
			}
			// SetNextPollTime(tyncpoll_time);
			// if(rec_remotepara_state==1)
			// {
			// memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],REMOTEPARA_LEN);
			// memcpy(&g_com_map[COM_INTERVAL],&rec_remotepara[0],8);
			// memcpy(&g_com_map[POWER],&rec_remotepara[8],10);
			// if(g_com_map[COM_INTERVAL]>0&&g_com_map[COM_INTERVAL]<1000&&g_com_map[POWER]<67&&g_com_map[POWER]>0)
			// {save_com_map_to_flash();
			// delay_ms(100);
			// }
			// NVIC_SystemReset();
			// }
			}else{
			rec_nearbasepos=FindNearBasePos(rec_nearbaseid);

			@@ -498,23 +506,10 @@
			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(exsistbase_list[0]==0)
			{
			// u8 temp_adc,random_value;
			// random_value=0;
			// for(i=0;i<8;i++)
			// {
			// temp_adc=Get_ADC_Value();
			// random_value=random_value\|((temp_adc&0x01)<<i);
			// }
			tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
			tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
			SetNextPollTime(tyncpoll_time);
			}
			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)
			@@ -526,10 +521,11 @@
			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++)
			@@ -578,8 +574,36 @@
			nearbase_distlist[i]=0x1ffff;
			}
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR\| SYS_STATUS_TXFRS \|SYS_STATUS_RXFCG);
			HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);

			//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
			if(para_update)
			{
			uint16_t calCRC;
			calCRC = CRC_Compute(rec_remotepara,5);
			if(memcmp(&calCRC,&rec_remotepara[5],2)==0)
			{ uint8_t pack_msgtype,pack_index,pack_length;
			pack_msgtype = rec_remotepara[0];
			pack_index = rec_remotepara[1];
			pack_length = rec_remotepara[2];
			if(pack_msgtype==2)
			{
			if( pack_index == 1)//MOTOR_ONTIME_INDEX)
			{

			// motor_keeptime = rec_remotepara[3];
			}else{
			if(pack_index<200)
			{
			memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
			//返回一个error状态
			//SendComMap(pack_datalen,pack_index);
			save_com_map_to_flash();
			delay_ms(100);
			NVIC_SystemReset();
			}
			}
			}
			}
			}
			}
			u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
			void GetNearMsg(void)
			@@ -659,4 +683,5 @@
			break;
			}
			dwt_entersleep();
			bat_percent=Get_VDDVlotage();
			}