map表检查

zhyinch

2021-08-25 6e7d484264afa951a0491cb4a868580a2f0b647b

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -10,15 +10,18 @@
#include "serial_at_cmd_app.h"
#include "global_param.h"
#include "ADC.h"


#include "modbus.h"
#include "deca_device_api.h"
#include "Flash.h"
//#define DEBUG_MODE
void Device_Init(void)
{
   RCC_Configuration();
   //SystemInit();
   NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
   Nvic_Init();
   Systick_Init();
//   Systick_Init();
   TIM3_Int_Init();
   Led_Init();
   Beep_Init();
   DW_GPIO_Init();
@@ -42,13 +45,64 @@
   checksum = Checksum_u16(&hbsend[2],12);
   memcpy(&hbsend[14],&checksum,2);
}
u16 tyncpoll_time;
TrackingDiffClass *pUWBDistanceTrackingDiff;
u8 group_id,sync_mainbase=0,synclost_timer=0;
uint16_t vel_factor,pos_factor;

extern u8 module_power;
u16 slottime,max_slotnum,current_slotpos,dist_threshold;
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;

#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;
   g_com_map[FILTER_COEFFICIENT]=12;
#endif
      //pUWBDistanceTrackingDiff = NewTrackingDiffClass(2, 4, 0.03);
      dev_id = g_com_map[DEV_ID];
      group_id=g_com_map[GROUP_ID];
      vel_factor=g_com_map[FILTER_COEFFICIENT];
      pos_factor=g_com_map[FILTER_COEFFICIENT];
      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;}
      if(dev_id==0)
         sync_mainbase=1;
      module_power = g_com_map[POWER];
      if(module_power>67)
      {
         module_power=67;
      }
      g_com_map[VERSION] = 0x012e;	
        g_com_map[SW_TYPE] =    SW_MODBUS;
   temp=(float)g_com_map[MAX_REPORT_ANC_NUM]*4/3;	
   temp2=g_com_map[MAX_REPORT_ANC_NUM]*4/3;
   if(temp2<temp)
   {
      temp2++;
   }
   slottime=temp2;
   max_slotnum=g_com_map[COM_INTERVAL]/temp2;
   current_slotpos=g_com_map[DEV_ID];
   tyncpoll_time=(current_slotpos%max_slotnum)*slottime;
   if(g_com_map[DEV_ROLE])
   {
   printf("标签ID: %d .\r\n",dev_id);
@@ -60,10 +114,11 @@
   printf("基站类型: %c .\r\n",anchor_type+0x41);
   printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
   }
   OUT485_DISABLE;
//   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]=0xffff;
@@ -88,51 +143,30 @@
void IdleTask(void)
{
   g_start_sync_flag=0;
         UART_CheckReceive();
      UART_CheckSend();
   UART_CheckReceive();
   UART_CheckSend();
    if( memcmp(g_com_map2,g_com_map,COM_MAP_SIZE)!=0)
    {
        SendAnchorState(SM_MAPERROR);
           delay_ms(100);
         SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
    }
      if(g_com_map[MAP_SIGN_INDEX]!=0x55AA)
      {
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
      }
   if(heartbeat_timer>1000)
   {
      heartbeat_timer=0;
      if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
      HeatBeat();
   }
   if(poll_timer>=g_com_map[COM_INTERVAL]-tag_delaytime)
   {
      poll_timer=0;
      if(g_com_map[ANC_POLL]||g_com_map[DEV_ROLE])
      {
         if(g_com_map[DEV_ROLE]==0)
         {int8_t correction_time;
            correction_time=tag_timer-g_com_map[DEV_ID]*3;
            tag_delaytime=correction_time;
                     if(tag_delaytime>g_com_map[COM_INTERVAL]/2)
                     {
                     tag_delaytime=tag_delaytime-g_com_map[COM_INTERVAL];
                     }
         }
      g_start_send_flag=1;
      }
		
   }
   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("进入升级模式\r\n");
      //   STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
      //   Delay_ms(100);
         SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
   }

   }
uint16_t temp;
float dw_vbat;
int main(void)
{
 
   Device_Init();
   Program_Init();
   Dw1000_Init();
@@ -142,17 +176,29 @@
   RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
   usart_send[0]=0x55;
   usart_send[1]=0xAA;
   Modbus_RegMap();
   while(1)
   {
      IdleTask();		
    if(g_com_map[0] != 0x55AA)
   {
        while(1)
        IdleTask();	
    }
   if(g_start_send_flag)
   {
      g_start_send_flag = 0;		
      g_start_send_flag = 0;	
      temp=dwt_readtempvbat(1);
      dw_vbat=(float)((temp&0xff)-173)/173+3.3;	
      if(dw_vbat>2.8)		
      Tag_App();
   }
	
   }//else{
   IdleTask();	
//   }
//	
if(g_com_map[DEV_ROLE]==0)
      Anchor_App();

		
   }
}