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| | | //#define DEBUG_MODE |
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| | | /* |
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| | | * 设置 IWDG çè¶
æ¶æ¶é´ |
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| | | * Tout = prv/40 * rlv (s) |
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| | | * prvå¯ä»¥æ¯[4,8,16,32,64,128,256] |
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| | | * prv:é¢åé¢å¨å¼ï¼åå¼å¦ä¸ï¼ |
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| | | * @arg IWDG_Prescaler_4: IWDG prescaler set to 4 |
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| | | * @arg IWDG_Prescaler_8: IWDG prescaler set to 8 |
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| | | * @arg IWDG_Prescaler_16: IWDG prescaler set to 16 |
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| | | * @arg IWDG_Prescaler_32: IWDG prescaler set to 32 |
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| | | * @arg IWDG_Prescaler_64: IWDG prescaler set to 64 |
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| | | * @arg IWDG_Prescaler_128: IWDG prescaler set to 128 |
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| | | * @arg IWDG_Prescaler_256: IWDG prescaler set to 256 |
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| | | * |
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| | | * ç¬ç«çé¨ç使ç¨LSIä½ä¸ºæ¶éã |
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| | | * LSI çé¢çä¸è¬å¨ 30~60KHZ ä¹é´ï¼æ ¹æ®æ¸©åº¦åå·¥ä½åºåä¼æä¸å®çæ¼ç§»ï¼æ |
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| | | * 们ä¸è¬å 40KHZï¼æ以ç¬ç«çé¨ççå®æ¶æ¶é´å¹¶ä¸å®é常精确ï¼åªéç¨äºå¯¹æ¶é´ç²¾åº¦ |
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| | | * è¦æ±æ¯è¾ä½çåºåã |
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| | | * |
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| | | * rlv:éè£
è½½å¯åå¨çå¼ï¼åå¼èå´ä¸ºï¼0-0XFFF |
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| | | * å½æ°è°ç¨ä¸¾ä¾ï¼ |
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| | | * IWDG_Config(IWDG_Prescaler_64 ,625); // IWDG 1s è¶
æ¶æº¢åº |
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| | |
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| | | memcpy(&hbsend[14],&checksum,2); |
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| | | } |
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| | | uint16_t vel_factor,pos_factor; |
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| | | u16 tyncpoll_time,dist_threshold; |
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| | | u16 tyncpoll_time,dist_threshold,group_id; |
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| | | u16 slottime,max_slotpos; |
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| | | extern u8 module_power; |
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| | | extern u16 total_slotnum; |
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| | |
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| | | g_com_map[COM_INTERVAL]=100; |
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| | | } |
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| | | |
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| | | g_com_map[VERSION] = 0x012b; |
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| | | g_com_map[VERSION] = 0x0133; |
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| | | dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]); |
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| | | if(dist_threshold<300) |
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| | | {dist_threshold = 300;} |
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| | |
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| | | {dist_threshold = 15000;} |
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| | | g_com_map[SW_TYPE] = SW_FANGZHUANG; |
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| | | dev_id = g_com_map[DEV_ID]; |
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| | | group_id=g_com_map[GROUP_ID]; |
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| | | slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3; |
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| | | max_slotpos=g_com_map[COM_INTERVAL]/slottime; |
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| | | tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime; |
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| | |
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| | | if(heartbeat_timer>1000) |
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| | | { |
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| | | heartbeat_timer=0; |
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| | | if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0) |
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| | | if(g_com_map[HEARTBEAT]) |
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| | | HeatBeat(); |
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| | | } |
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| | | if(flag_newsecond) |
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| | |
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| | | if(g_com_map[CNT_REBOOT]==1) |
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| | | { |
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| | | FactorySettings(); |
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| | | delay_ms(100); |
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| | | |
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| | | SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软å¤ä½åå°bootloader |
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| | | } |
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| | | if(g_com_map[CNT_RESTART]==1) |
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