V1.53 修改继电器控制BUG

zhyinch

2021-08-25 458f6d4d74b74367125e16c2cb593252769fa7d6

 源码/核心板/Src/main.c

@@ -72,11 +72,25 @@
   checksum = Checksum_u16(&hbsend[2],12);
   memcpy(&hbsend[14],&checksum,2);
}

uint16_t vel_factor,pos_factor;
u16 tyncpoll_time,dist_threshold;
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[WAR_JDQ_TIME]>1000||g_com_map[WAR_JDQ_TIME]<0)
    {
        g_com_map[WAR_JDQ_TIME] = 1;
    }
    if(dist_threshold<300)
      {dist_threshold = 300;}
      if(dist_threshold>15000)
      {dist_threshold = 15000;}
}
u16 JDQ_time;
void Program_Init(void)
{   float temp;
   u16 temp2;
@@ -100,15 +114,13 @@
   {
     g_com_map[COM_INTERVAL]=100;
   }

   g_com_map[VERSION] = 0x012f;
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;}
    JDQ_time = g_com_map[WAR_JDQ_TIME]*10;
   g_com_map[VERSION] = 0x0135;
    dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]);
   ComMapCheck();	
   g_com_map[SW_TYPE] =    SW_FANGZHUANG;
   dev_id = g_com_map[DEV_ID];
        group_id=g_com_map[GROUP_ID];
   slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
   max_slotpos=g_com_map[COM_INTERVAL]/slottime;
   tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;   
@@ -185,7 +197,7 @@
   if(heartbeat_timer>1000)
   {
      heartbeat_timer=0;
      if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
      if(g_com_map[HEARTBEAT])
      HeatBeat();
   }
   if(flag_newsecond)
@@ -265,7 +277,7 @@
int main(void)
{
 
   Device_Init();
    Device_Init();
   //StartUpTest();
   Program_Init();
   Dw1000_Init();