From 4691492f913d0730703f8fcdacd0a02d455d65a1 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期一, 29 一月 2024 10:37:32 +0800
Subject: [PATCH] 国新智能V1.7
---
Src/application/dw_fz_tag.c | 34 ++++++++++++++++------------------
1 files changed, 16 insertions(+), 18 deletions(-)
diff --git a/Src/application/dw_fz_tag.c b/Src/application/dw_fz_tag.c
index d1f25f1..2d5ba81 100644
--- a/Src/application/dw_fz_tag.c
+++ b/Src/application/dw_fz_tag.c
@@ -110,7 +110,7 @@
for(int i=0;i<11;i++)
{
rec_anc_signalpower[i] = exsistbase_list[i];
- if(exsistbase_list[i]>2)
+ if(exsistbase_list[i]==KEEP_TIMES)
{
if(config.chan==2)
{
@@ -157,7 +157,7 @@
static uint8_t last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,tag_succ_times,recbase_num;
static uint32_t rec_tagpos_binary;
static int16_t offset=2700,g_commap_antdelay=0;
-uint8_t motor_state;
+uint8_t motor_state,ancnum,thistime_ancnum;
static uint8_t rec_remotepara_state,rec_remotepara[80],t1;
static uint32_t temp1,temp2,dw_systime;
void NearPoll(void)
@@ -189,6 +189,7 @@
send_buffer[BUTTON_IDX] = 0;
send_buffer[SEQUENCE_IDX] = frame_seq_nb++;
send_buffer[NEARBASENUM_INDEX] = nearbase_num;
+ ancnum = nearbase_num;
memcpy(&send_buffer[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
memcpy(&send_buffer[NEARBASEID_INDEX+nearbase_num*2],&u16_nearbase_distlist,nearbase_num*2);
send_buffer[MESSAGE_TYPE_IDX] = NEAR_POLL;
@@ -208,7 +209,7 @@
mainbase_dist=100000;
mainbase_lost_count++;
start_count=HAL_LPTIM_ReadCounter(&hlptim1);
- timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
+ timeout=ceil((float)nearbase_num*SLOT_SCALE)+8;
end_count=start_count+(timeout<<5);
if(end_count>=32768)
{
@@ -220,21 +221,7 @@
while(current_count<end_count||current_count>end_count+15000)
{
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
- {
- if(flag_finalsend)
- {
- dw_systime=dwt_readsystimestamphi32();
- if(dw_systime>temp1&&dw_systime<temp2)
- {
-
- dwt_forcetrxoff();
- flag_rxon=0;
-// dwt_setdelayedtrxtime(final_tx_time);
-// result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
- flag_finalsend=0;
- break;
- }
- }
+ {
current_count=HAL_LPTIM_ReadCounter(&hlptim1);
if(current_count>=end_count&¤t_count<end_count+15000)
break;
@@ -412,6 +399,17 @@
// {
// nearbase_distlist[i]=0x1ffff;
// }
+ if(recbase_num!=next_nearbase_num)
+ { uint16_t current_count1,lpcount1;
+ current_count1=HAL_LPTIM_ReadCounter(&hlptim1);
+ lpcount1 = current_count1+current_count1%200+3276;//测距丢包就改成10hz
+ if(lpcount1>=32768)
+ {
+ lpcount1 -=32768;
+ }
+ __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount1);
+ }
+ thistime_ancnum = recbase_num;
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
}
--
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