XRange_Tag.git - Gitblit

			@@ -69,7 +69,9 @@
			#define FINAL_MSG_FINAL_TX_TS_IDX 18
			#define FINAL_MSG_TS_LEN 4

			#define STARTPOLL DISCPOLL
			#define STARTPOLL REGPOLL
			#define SWITCHBASE_DIST
			//#define SWITCHBASE_ZHUANDIAN
			enum enumtagstate
			{
			REGPOLL,
			@@ -632,12 +634,13 @@
			}
			}
			extern u8 userkey_state;
			extern float motor_keeptime;
			uint8_t changemainbase_count=0,gotosleep_flag;
			uint32_t frame_len;
			void NearPoll(void)
			{

			uint32_t temp1,temp2,dw_systime;
			uint32_t temp1,temp2,dw_systime,salvebase_mindist=999999,mindist_slavebaseid;

			uint32_t final_tx_time;
			u32 start_poll;
			@@ -650,7 +653,7 @@
			{
			next_nearbase_num = MAX_NEARBASE_NUM-1;
			}
			HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
			// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);

			recbase_num=0;
			// motor_state=0;
			@@ -777,12 +780,18 @@
			memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);
			nearbase_distlist[rec_nearbasepos]=temp_dist;
			final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
			// if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]!=0&&temp_dist>0)
			// {
			// mainbase_id = rec_nearbaseid;
			// tag_state = GETNEARMSG;
			// }

			if(temp_dist<salvebase_mindist)
			{
			salvebase_mindist = temp_dist;
			mindist_slavebaseid = rec_nearbaseid;
			}
			#ifdef SWITCHBASE_ZHUANDIAN
			if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]!=0&&temp_dist>0)
			{
			mainbase_id = rec_nearbaseid;
			tag_state = GETNEARMSG;
			}
			#endif
			}
			}
			}else{
			@@ -798,89 +807,27 @@
			}
			dwt_forcetrxoff();
			dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG\| SYS_STATUS_ALL_RX_ERR);
			j=0;
			if(exsistbase_list[0]==0)
			{
			SetNextPollTime(tagslotpos);
			}
			// tyncpoll_time=0;
			next_nearbase_num=0;
			for(i=0;i<nearbase_num;i++)
			{
			if(exsistbase_list[i]>0)
			{
			next_nearbase_num++;
			true_exsistbase_list[j]=exsistbase_list[i];
			true_nearbase_idlist[j]=nearbaseid_list[i];
			true_nearbase_distlist[j++]=nearbase_distlist[i];
			exsistbase_list[i]--;
			}
			}

			if(recbase_num<3)
			{next_nearbase_num=next_nearbase_num;}
			last_nearbase_num = next_nearbase_num;
			for(i=0;i<last_nearbase_num-1;i++)
			if(mainbase_lost_count==0)
			{
			for(j=0;j<last_nearbase_num-1;j++)
			{
			if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
			{
			u32 temp_dist,temp_id,temp_exsis;
			temp_dist=true_nearbase_distlist[j];
			temp_id = true_nearbase_idlist[j];
			temp_exsis=true_exsistbase_list[i];
			true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
			true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
			true_exsistbase_list[j]=true_exsistbase_list[j+1];

			true_nearbase_distlist[j+1]=temp_dist;
			true_nearbase_idlist[j+1]=temp_id;
			true_exsistbase_list[j+1]=temp_exsis;
			}
			}
			}

			if(true_nearbase_distlist[0]<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST&&true_exsistbase_list[0])
			#ifdef SWITCHBASE_DIST
			if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
			{
			changemainbase_count++;
			if(changemainbase_count>tag_frequency*2)
			{
			mainbase_id = mindist_slavebaseid;
			tag_state = GETNEARMSG;
			}
			}else{
			changemainbase_count = 0;
			}
			if(changemainbase_count>2*tag_frequency)
			{
			mainbase_id = true_nearbase_idlist[0];
			tag_state = GETNEARMSG;
			}
			if(mainbase_lost_count>10*tag_frequency)
			#endif
			}else if(mainbase_lost_count>10*tag_frequency)
			{
			tag_state = STARTPOLL;
			}
			// for (i=0;i<nearbase_num;i++)
			// {
			// if(nearbaseid_list[i]==0)
			// {
			// tag_state = GETNEARMSG;
			// }
			//
			// }
			//串口输出距离
			// report_num=0;
			// for (i=0;i<last_nearbase_num;i++)
			// {
			// nearbaseid_list[i]=true_nearbase_idlist[i];
			// nearbase_distlist[i]=true_nearbase_distlist[i];
			// if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==0xa)
			// {
			// memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
			// memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
			// report_num++;
			// }
			// }
			// for(i=0;i<MAX_NEARBASE_NUM;i++)
			// {
			// nearbase_distlist[i]=0x1ffff;
			// }

			if(para_update)
			{
			uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
			@@ -889,6 +836,10 @@
			pack_length = rec_remotepara[2];
			if(pack_msgtype==2)
			{
			if( pack_index == 0x10)
			{
			motor_keeptime = rec_remotepara[3];
			}else{
			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);
			@@ -897,8 +848,9 @@
			NVIC_SystemReset();
			}
			}
			}
			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);

			}
			extern uint8_t module_power,imu_enable,motor_enable;