From 03c3a1878df2cb6a72fdffa393c9e453f6e1b6ac Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 03 十一月 2023 16:40:00 +0800
Subject: [PATCH] 版本v2.11,修改防撞基站剔除机制。
---
Src/main.c | 61 +++++++++++++++++++++++++-----
1 files changed, 50 insertions(+), 11 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 276f3c4..1f917c9 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -31,7 +31,7 @@
#define NSH1 0x0001
#define GP 0x0002
-//#define DEBUG_MODE
+#define DEBUG_MODE
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -94,6 +94,7 @@
extern float nomove_count;
float motor_keeptime;
uint8_t imu_enable,motor_enable;
+uint8_t chongqi_num;
u16 GetLPTime(void)
{
u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -234,8 +235,8 @@
hardware_pici= STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+2);
hardware_type= STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+4);
//deca_sleep(1000);
- g_com_map[VERSION] = (2<<8)|5;
-
+ g_com_map[VERSION] = (2<<8)|11;
+// g_com_map[COM_INTERVAL]=200;
// g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
@@ -271,13 +272,13 @@
current_time=GetLPTime();
nomovesleep_time = g_com_map[NOMOVESLEEP_TIME];
interval = g_com_map[COM_INTERVAL];
- if(active_flag==0)
- {
- interval=1000;
- imu_enable=1;
- nomovesleep_time = 10;
- motor_enable=0;
- }
+// if(active_flag==0)
+// {
+// interval=1000;
+// imu_enable=1;
+// nomovesleep_time = 10;
+// motor_enable=0;
+// }
tag_frequency = 1000/interval;
if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK) //system time is 1010ms 1 puls=30.518us
{
@@ -354,6 +355,8 @@
{
//SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
+uint8_t i;
+uint8_t uwb_tx[300]={0,};
/* USER CODE END 0 */
/**
@@ -410,7 +413,10 @@
{
Error_Handler();
}
-
+ for(i=0;i<255;i++)
+ {
+ uwb_tx[i]=i;
+ }
// HAL_Delay(2000);
// mcu_sleep();
@@ -448,6 +454,7 @@
// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
// }
// LED_TR_BLINK;
+ chongqi_num=0;
__disable_irq();
if(bat_percent>15)
{ LED_TB_ON;
@@ -918,16 +925,48 @@
extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag;
float key_keeptime;
extern float motor_ontime,button_delay;
+uint32_t tagdisterror_list[TAG_NUM_IN_SYS];
+extern uint16_t taglist_num;
+extern int32_t tagdist_list[TAG_NUM_IN_SYS];
+extern uint16_t tagid_list[TAG_NUM_IN_SYS];
+void Up_tagdisterror_list_Poll()
+{
+ static uint8_t r=0;
+ static uint8_t t=0;
+ for(r=0;r<taglist_num;r++)
+ {
+ tagdisterror_list[r]++;
+ if(tagdisterror_list[r]>10)
+ {
+ for(t=r;t<taglist_num;t++)
+ {
+ tagdist_list[t]=tagdist_list[t+1];
+ tagid_list[t]=tagid_list[t+1];
+ tagdisterror_list[t]=tagdisterror_list[t+1];
+ taglist_num=taglist_num-1;
+ }
+ }
+ }
+}
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
SystemClock_Config();
g_start_send_flag=1;
+ chongqi_num++;
+ if(chongqi_num>20)
+ {NVIC_SystemReset();}
// current_slotnum++;
// SetNextPollTime(tagslotpos);
if(button_delay<1)
button_delay+=1/(float)tag_frequency;
nomove_count+=1/(float)tag_frequency;
+//Up_tagdisterror_list_Poll();
+// memset(tagdist_list,0,taglist_num);
+// memset(tagid_list,0,taglist_num);
+// taglist_num=0;
+ TagListUpdate();
+ bubble_sort(tagdist_list,taglist_num);
if(motor_keeptime>0)
{
motor_keeptime-=1/(float)tag_frequency;
--
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