From f27624585858707f761f893d3b4020319c6a3e85 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 18 十二月 2020 16:56:36 +0800
Subject: [PATCH] V2.16 手动时间片，时钟同步精度提高到0.1ms
---
Src/main.c | 49 ++++++++++++++++++++++++++-----------------------
1 files changed, 26 insertions(+), 23 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 2ad2b87..2afbd19 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -29,7 +29,7 @@
#include "global_param.h"
#include "TrackingDiff.h"
#include "dw_app.h"
-#define DEBUG_MODE
+//#define DEBUG_MODE
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -135,8 +135,7 @@
MOTOR_ON;
}else{
MOTOR_OFF;
- }
-
+ }
break;
case 2:
MOTOR_ON;
@@ -210,21 +209,25 @@
u16 current_slotnum;
extern int32_t offsettimeus;
-//#define FIXSLOT
-#define FIXSLOTPOS 0
+#define FIXSLOT
+#define FIXSLOTPOS 2
u16 slotpos_intoatl;
uint16_t bigslot_num;
uint8_t fix_slotpos =FIXSLOTPOS;
int32_t lpcount,lptime,target_time;
+extern u16 tagslotpos;
void SetNextPollTime(u16 slotpos)
{
#ifdef FIXSLOT
+// fix_slotpos =FIXSLOTPOS;
+ fix_slotpos = g_com_map[ALARM_DISTANCE1];
slotpos = fix_slotpos;
+ tagslotpos = fix_slotpos;
#endif
- if(current_slotnum>=tag_frequency)
- current_slotnum-=tag_frequency;
+ while(current_slotnum>=tag_frequency)
+ { current_slotnum-=tag_frequency;}
slotpos_intoatl = current_slotnum*bigslot_num+slotpos;
if(current_slotnum==19)
@@ -233,7 +236,7 @@
//if(target_time<90000)
{
- lptime=target_time-offsettimeus-10000;
+ lptime=target_time-offsettimeus+1200;
lpcount = lptime/LPTIMER_LSB;
if(lpcount>LPTIMER_1S_COUNT)
lpcount-=LPTIMER_1S_COUNT;
@@ -252,19 +255,19 @@
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();
//deca_sleep(1000);
- g_com_map[VERSION] = 0x020b;
+ g_com_map[VERSION] = 0x0210;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
- g_com_map[DEV_ID]=0x11;
+ // g_com_map[DEV_ID]=0x11;
// g_com_map[COM_INTERVAL]=100;
// g_com_map[MAX_REPORT_ANC_NUM]=1;
// g_com_map[NOMOVESLEEP_TIME]=10;
- // g_com_map[IMU_ENABLE]=0;
+ g_com_map[IMU_ENABLE]=0;
//g_com_map[COM_INTERVAL]=50;
#endif
//g_com_map[NOMOVESLEEP_TIME]=10;
-// g_com_map[IMU_ENABLE]=0;
-// g_com_map[COM_INTERVAL]=50;
+ g_com_map[IMU_ENABLE]=0;
+ g_com_map[COM_INTERVAL]=1000;
active_flag = g_com_map[ACTIVE_INDEX];
if(active_flag==0)
{ g_com_map[COM_INTERVAL]=1000;
@@ -668,16 +671,16 @@
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
-// GPIO_InitStruct.Pin = GPIO_PIN_9;
-// GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-// GPIO_InitStruct.Pull = GPIO_PULLUP;
-// GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
-// GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
-// HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-// if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
-// {
-// Error_Handler();
-// }
+ GPIO_InitStruct.Pin = GPIO_PIN_9;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStruct.Pull = GPIO_PULLUP;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+ GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+ if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
+ {
+ Error_Handler();
+ }
Usart1InitVariables();
/* USER CODE END USART1_Init 2 */
--
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