From dd0d5d99bb183eeb6074f9bd4ddbff96104bd95d Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期日, 05 七月 2020 23:46:24 +0800
Subject: [PATCH] V1.11防撞9对5测试完成，发给华星
---
Src/application/dw_app.c | 18 ++++++++++--------
1 files changed, 10 insertions(+), 8 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 77b7804..62857f9 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -266,7 +266,7 @@
u8 GetRandomSlotPos(uint32_t emptyslot)
{
u8 i,temp_value;
- temp_value = GetRandomValue();
+ temp_value = HAL_LPTIM_ReadCounter(&hlptim1);//GetRandomValue();
for(i=temp_value%32;i<max_slotpos;i++)
{
if(((emptyslot>>i)&0x1)==0)
@@ -315,6 +315,7 @@
last_nearbase_num=next_nearbase_num;
nearbase_num=next_nearbase_num;
recbase_num=0;
+ motor_state=0;
tx_near_msg[BATTARY_IDX] = Get_Battary();
//tx_near_msg[BUTTON_IDX] = !READ_KEY0;
@@ -332,7 +333,7 @@
flag_getresponse=0;
start_count=HAL_LPTIM_ReadCounter(&hlptim1);
recbase_num=0;
- timeout=ceil((float)nearbase_num*0.6)+2;
+ timeout=ceil((float)nearbase_num*0.4)+2;
end_count=start_count+(timeout<<5);
if(end_count>=32768)
{end_count-=32768;}
@@ -410,7 +411,8 @@
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
nearbase_distlist[rec_nearbasepos]=temp_dist;
- motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
+ 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;
@@ -430,11 +432,11 @@
flag_getresponse=1;
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
- tyncpoll_time=0;
+
//时间同步
ancsync_time=((sync_timer)*1000+tmp_time);
last_slotnum=current_slotnum;
- current_slotnum=round((float)sync_timer/g_com_map[COM_INTERVAL])+1;
+ current_slotnum=((float)sync_timer/g_com_map[COM_INTERVAL])+1;
if(current_slotnum==last_slotnum-1)
{flag_getresponse=1;}
lastsync_timer=sync_timer;
@@ -485,7 +487,7 @@
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
nearbase_distlist[rec_nearbasepos]=temp_dist;
- if(motor_state<rx_buffer[MOTORSTATE_INDEX]&&rx_buffer[MOTORSTATE_INDEX]!=3)
+ if(motor_state<(rx_buffer[MOTORSTATE_INDEX]&0xf)&&(rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
{
motor_state=rx_buffer[MOTORSTATE_INDEX];
}
@@ -523,7 +525,7 @@
// }
tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- // SetNextPollTime(tyncpoll_time);
+ SetNextPollTime(tyncpoll_time);
}
// tyncpoll_time=0;
next_nearbase_num=0;
@@ -623,7 +625,7 @@
tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
//tagslotpos=rx_buffer[TAGSLOTPOS];
memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
- slottime=ceil((nearbase_num+2)*0.3)+1;
+ //slottime=ceil((nearbase_num+2)*0.3)+1;
tyncpoll_time=tagslotpos*slottime;
tag_state=NEARPOLL;
}
--
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