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 | 28 +++++++++++++++++++++-------
1 files changed, 21 insertions(+), 7 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index a290b8a..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)|7;
-
+ 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;
@@ -453,6 +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;
@@ -930,15 +932,19 @@
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)
{
- tagdist_list[r]=0;
- tagid_list[r]=0;
+ 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;
- tagdisterror_list[r]=0;
+ }
}
}
}
@@ -947,12 +953,20 @@
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();
+//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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