V1.57

zhyinch

2021-09-22 451d480321fd775084c0faf5d1877ed83f21d59b

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -2,6 +2,7 @@
#include "Rcc_Nvic_Systick.h"
#include "Usart.h"
#include "Spi.h"
#include "Flash.h"
#include "led.h"
#include "beep.h"
#include "dw_driver.h"
@@ -72,11 +73,34 @@
   checksum = Checksum_u16(&hbsend[2],12);
   memcpy(&hbsend[14],&checksum,2);
}

uint16_t vel_factor,pos_factor;
u16 tyncpoll_time,dist_threshold,group_id;
u16 slottime,max_slotpos;
extern u8 module_power;
extern u16 total_slotnum;
void ComMapCheck(void)
{

    if(g_com_map[ANT_LENGTH]>10000)
    {
        g_com_map[ANT_LENGTH] = 0;
    }
    if(g_com_map[WAR_JDQ_TIME]>1000||g_com_map[WAR_JDQ_TIME]<0)
    {
        g_com_map[WAR_JDQ_TIME] = 1;
    }
       if(g_com_map[COM_INTERVAL]==0)
   {
     g_com_map[COM_INTERVAL]=100;
   }
    if(dist_threshold<300)
      {dist_threshold = 300;}
      if(dist_threshold>15000)
      {dist_threshold = 15000;}
}
u16 JDQ_time;
int16_t g_commap_antdelay;
void Program_Init(void)
{   float temp;
   u16 temp2;
@@ -95,18 +119,37 @@
   g_com_map[ANC_FLAG]=1;
      save_com_map_to_flash();
#endif
   OUT485_ENABLE;
   if(g_com_map[COM_INTERVAL]==0)
   {
     g_com_map[COM_INTERVAL]=100;
   }
    
    g_com_map[COM_INTERVAL]=100;
      g_com_map[MAX_REPORT_ANC_NUM]=10;
      g_com_map[GROUP_ID]=0;
      g_com_map[DIST_OFFSET]=-116;

   g_com_map[VERSION] = 0x0132;
dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]);
      if(dist_threshold<300)
      {dist_threshold = 300;}
      if(dist_threshold>15000)
      {dist_threshold = 15000;}
         g_com_map[DEV_ROLE] =0x0;  //基站
	
      g_com_map[ANC_POLL]=1;
      g_com_map[ALARM_DEV] = 0;
      g_com_map[ALARM_DISTANCE1] = 0;   //默认报警距离50cm
      g_com_map[ALARM_DISTANCE2] = 900;   //默认报警距离50cm
      g_com_map[ALARM_DISTANCE3] = 1400;   //默认报警距离50cm
         g_com_map[RELAY2_DISTANCE1] = 0;   //默认报警距离50cm
      g_com_map[RELAY2_DISTANCE2] = 900;   //默认报警距离50cm
      g_com_map[RELAY2_DISTANCE3] = 1400;   //默认报警距离50cm
        g_com_map[WAR_JDQ_TIME] = 1; //1秒
      g_com_map[POWER]=30;
        g_com_map[SPEEDFILTER_THRES]=10000;
      g_com_map[FILTER_COEFFICIENT]=40;
        g_com_map[ANT_LENGTH]=0;
        g_com_map[NOMOVESLEEP_TIME]=728;
      
        
   OUT485_ENABLE;
   ComMapCheck();	
   g_com_map[VERSION] = 0x0139;
    FLASH_Read(FLASH_HARDWARE_FLAG, (uint8_t*)&g_com_map[HARDWAREFLAG_INDEX], 16);
    dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]);
    g_commap_antdelay = g_com_map[ANT_LENGTH];
    JDQ_time = g_com_map[WAR_JDQ_TIME]*10;
   g_com_map[SW_TYPE] =    SW_FANGZHUANG;
   dev_id = g_com_map[DEV_ID];
        group_id=g_com_map[GROUP_ID];
@@ -142,7 +185,7 @@
   
   for(i=0;i<255;i++)
   {
      g_Tagdist[i]=0xffff;
      g_Tagdist[i]=0x1ffff;
   }
}

@@ -266,7 +309,7 @@
int main(void)
{
 
   Device_Init();
    Device_Init();
   //StartUpTest();
   Program_Init();
   Dw1000_Init();