V2.30

zhyinch

2021-09-28 66b13717fce3890b464d0b43eb61b94ea7cdf56e

 源码/核心板/Src/main.c

@@ -63,15 +63,16 @@
      {module_power=MAX_RFPOWER;}
      if(module_power<0)
      {module_power=0;}
      if(g_com_map[MAX_REPORT_ANC_NUM]>10)
      {g_com_map[MAX_REPORT_ANC_NUM]=10;}
      if(g_com_map[MAX_REPORT_ANC_NUM]<1)
      {g_com_map[MAX_REPORT_ANC_NUM]=1;}
//      if(g_com_map[MAX_REPORT_ANC_NUM]>10)
//      {g_com_map[MAX_REPORT_ANC_NUM]=10;}
//      if(g_com_map[MAX_REPORT_ANC_NUM]<1)
//      {g_com_map[MAX_REPORT_ANC_NUM]=1;}
      if(g_com_map[IMU_THRES]>10)
      {g_com_map[IMU_THRES]=10;}
      if(g_com_map[IMU_THRES]<1)
      {g_com_map[IMU_THRES]=1;}
}
u16 decid;
void Program_Init(void)
{   float temp;
   u16 temp2;
@@ -94,14 +95,15 @@
#endif
   OUT485_ENABLE;
   ComMapCheck();
   g_com_map[VERSION] = 0x0212;	
   g_com_map[VERSION] = 0x021e;	
   dev_id = g_com_map[DEV_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;   
   module_power = g_com_map[POWER];
   total_slotnum = 1000/g_com_map[COM_INTERVAL];
   anchor_type = dev_id%3;
    decid = (g_com_map[DEV_ID]/0x1000)*1000+((g_com_map[DEV_ID]%0x1000)/0x100)*100+((g_com_map[DEV_ID]%0x100)/0x10)*10+((g_com_map[DEV_ID]%0x10));
   anchor_type = decid%g_com_map[MAX_REPORT_ANC_NUM];
   

      
@@ -120,11 +122,13 @@
//   printf("DEVICE PAIRID: %d .\r\n",g_com_map[PAIR_ID]);
//   printf("DEVICE ALARM DISTANCE: 1.%d 2.%d 3.%d .\r\n",g_com_map[ALARM_DISTANCE1],g_com_map[ALARM_DISTANCE2],g_com_map[ALARM_DISTANCE3]);

	
    memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
   for(i=0;i<255;i++)
   {
      g_Tagdist[i]=0x1ffff;
        IdleTask();
   }
    
}

/*! ------------------------------------------------------------------------------------------------------------------
@@ -143,20 +147,22 @@
void HeatBeat(void)
{ u16 checksum;
    GetPressAndHeight();
    intheight = Height*100+g_com_map[MAX_REPORT_ANC_NUM];
    intheight = Height*100;//+g_com_map[MAX_REPORT_ANC_NUM];
   if(synclost_count>5)
   {
      hbsend[6] = 0;
   }else{
      hbsend[6] = 1;
   }
    if(intheight!=0)
        intheight+=(int16_t)g_com_map[MAX_REPORT_ANC_NUM];
   memcpy(&hbsend[7],&intheight,4); 
checksum = Checksum_u16(&hbsend[2],12);
memcpy(&hbsend[14],&checksum,2);
UART_PushFrame(hbsend,16);
}
extern u8 g_start_sync_flag,usart_send_flag,anc_report_num;
u16 heartbeat_timer,poll_timer;
u16 heartbeat_timer=58000,poll_timer;
int16_t sync_timer;
extern u8 flag_newsecond, tagpos_rec[50], tagpos_send[50],ancidlist_num;
uint32_t tagpos_binary;
@@ -169,7 +175,13 @@
   UART_CheckSend();
    UART2_CheckReceive();
 
   if(heartbeat_timer>1000)
//    if( memcmp(g_com_map2,g_com_map,COM_MAP_SIZE)!=0)
//    {
//        SendAnchorState(SM_MAPERROR);
//           delay_ms(100);
//         SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //杞浣嶅洖鍒癰ootloader   
//    }
   if(heartbeat_timer>60000)
   {
      heartbeat_timer=0;
      if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
@@ -202,39 +214,7 @@
            anc_report_num=0;      
   }
   #endif
   if(g_com_map[CNT_UPDATE]==1)
   {
   uint32_t result = 0;
      u16 tmp = 0xAAAA;
   __disable_irq();
   result = FLASH_Prepare(0x8004A38, 2);
   if(result)
      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   
   }
         if(g_com_map[CNT_REBOOT]==1)
      {
         g_com_map[CNT_REBOOT]=0;
         g_com_map[MAP_SIGN_INDEX]=0;
         save_com_map_to_flash();
         delay_ms(100);
         SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //杞浣嶅洖鍒癰ootloader   
      }
      if(g_com_map[CNT_RESTART]==1)
      {
         g_com_map[CNT_RESTART]=0;
         save_com_map_to_flash();
         delay_ms(100);
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //杞浣嶅洖鍒癰ootloader   
      }
            if(g_com_map[MAP_SIGN_INDEX]!=0x55AA)
  if(g_com_map[MAP_SIGN_INDEX]!=0x55AA)
      {
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //杞浣嶅洖鍒癰ootloader   
      }
@@ -247,7 +227,7 @@
   Program_Init();
   Dw1000_Init();
    BarInit();
  delay_ms(10);	
    delay_ms(10);	
   Dw1000_App_Init();
    /* Loop forever initiating ranging exchanges. */
   RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
@@ -265,7 +245,7 @@
      Tag_App();
   }
      IdleTask();      
if(g_com_map[DEV_ROLE]==0)
if(g_com_map[DEV_ROLE]!=1)
      Anchor_App();

   }