zhyinch
2019-12-18 3db912651e297c662fcd190b79d2ca90a34a8f66
源码/核心板/Src/main.c
@@ -11,6 +11,7 @@
#include "global_param.h"
#include "ADC.h"
//#define DEBUG_MODE
void Device_Init(void)
{
@@ -44,19 +45,38 @@
   memcpy(&hbsend[14],&checksum,2);
}
u16 tyncpoll_time;
TrackingDiffClass *pUWBDistanceTrackingDiff;
void Program_Init(void)
{uint16_t i;
   float temp;
   u16 temp2;
   Usart1ParseDataCallback = UsartParseDataHandler;
   parameter_init();
   //deca_sleep(1000);
   HeartBeatInit();
   dev_id = g_com_map[DEV_ID];
//   g_com_map[DEV_ROLE]=1;
//      g_com_map[DEV_ID]=1;
//   g_com_map[COM_INTERVAL]=10;
   OUT485_ENABLE;
   g_com_map[VERSION] = 0x0104;
   tyncpoll_time=g_com_map[DEV_ID]*g_com_map[MAX_REPORT_ANC_NUM]*4/3;
#ifdef DEBUG_MODE
   g_com_map[COM_INTERVAL]=50;
   g_com_map[MAX_REPORT_ANC_NUM]=3;
   g_com_map[DEV_ID]=1;
   g_com_map[ANC_POLL]=0;
   g_com_map[ALARM_DISTANCE1]=100;
#endif
      pUWBDistanceTrackingDiff = NewTrackingDiffClass(2, 4, 0.03);
      dev_id = g_com_map[DEV_ID];
      g_com_map[VERSION] = 0x010d;
   temp=(float)g_com_map[MAX_REPORT_ANC_NUM]*4/3;
   temp2=g_com_map[DEV_ID]*g_com_map[MAX_REPORT_ANC_NUM]*4/3;
   if(temp2<temp)
   {
      temp2++;
   }
      tyncpoll_time=g_com_map[DEV_ID]*(temp2);
   if(g_com_map[DEV_ROLE])
   {
   printf("鏍囩ID: %d .\r\n",dev_id);
@@ -117,6 +137,9 @@
      result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2); 
   __enable_irq();
      printf("杩涘叆鍗囩骇妯″紡\r\n");
   g_com_map[CNT_UPDATE]=0;
   save_com_map_to_flash();
   delay_ms(100);
      //   STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
      //   Delay_ms(100);
         SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //杞浣嶅洖鍒癰ootloader   
@@ -138,15 +161,18 @@
   Modbus_RegMap();
   while(1)
   {
      IdleTask();
   if(g_start_send_flag)
   {
      g_start_send_flag = 0;      
      Tag_App();
   }
   }//else{
   IdleTask();
//   }
//
if(g_com_map[DEV_ROLE]==0)
      Anchor_App();
   }
}