Revert "Revert "V1.34 增加滤波 防撞1对10发货""

zhyinch

2020-11-07 8aca4882a9626eaf1c75d973b91d2b09b1758b72

 源码/核心板/Src/main.c

@@ -44,6 +44,7 @@
   checksum = Checksum_u16(&hbsend[2],12);
   memcpy(&hbsend[14],&checksum,2);
}
uint16_t vel_factor,pos_factor;
u16 tyncpoll_time;
u16 slottime,max_slotpos;
extern u8 module_power;
@@ -67,13 +68,19 @@
      save_com_map_to_flash();
#endif
   OUT485_ENABLE;
   g_com_map[VERSION] = 0x011A;	
   if(g_com_map[COM_INTERVAL]==0)
   {
     g_com_map[COM_INTERVAL]=100;
   }
   g_com_map[VERSION] = 0x0121;	
   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];
         vel_factor=g_com_map[FILTER_COEFFICIENT];
      pos_factor=g_com_map[FILTER_COEFFICIENT];
      if(module_power>67)
      {
         module_power=67;
@@ -115,6 +122,17 @@
{ 
UART_PushFrame(hbsend,16);
}
uint16_t temp;
float dw_vbat;
void StartUpTest(void)
{
   temp=dwt_readtempvbat(1);
   dw_vbat=(float)((temp&0xff)-173)/173+3.3;	
   if(dw_vbat<2.8)
   {
      SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //杞浣嶅洖鍒癰ootloader   
   }	
}
extern u8 g_start_sync_flag,usart_send_flag,anc_report_num;
u16 heartbeat_timer,poll_timer;
int16_t sync_timer;
@@ -127,6 +145,7 @@
      
         UART_CheckReceive();
      UART_CheckSend();
	
   if(heartbeat_timer>1000)
   {
      heartbeat_timer=0;
@@ -135,6 +154,16 @@
   }
   if(flag_newsecond)
   {
      uint32_t temp23;
         temp23 =  dwt_read32bitreg(CHAN_CTRL_ID) ;
         if(temp23!=0x4A480022)
         {
            temp23 =  dwt_read32bitreg(CHAN_CTRL_ID) ;
               if(temp23!=0x4A480022)
               {
                  NVIC_SystemReset();
               }
            }
     flag_newsecond=0;
      tagpos_binary=0;
      memcpy(ancidlist_send,ancidlist_rec,ancidlist_num*2);
@@ -146,13 +175,13 @@
         tagpos_rec[i] = 0;
      }
   }
   if(target_time>1000)
   if(target_time>=1000)
   {target_time-=1000;}
   #ifdef USART_INTEGRATE_OUTPUT
   if(g_com_map[DEV_ROLE]==0&&usart_send_flag)
   {u16 checksum;
            usart_send_flag=0;
            usart_send_anc[2] = 4;//姝ｅ父妯″紡
            usart_send_anc[2] = 5;//姝ｅ父妯″紡
            usart_send_anc[3] = anc_report_num*6+2;//姝ｅ父妯″紡
            checksum = Checksum_u16(&usart_send_anc[2],anc_report_num*6+2);
            memcpy(&usart_send_anc[4+anc_report_num*6],&checksum,2);
@@ -192,7 +221,7 @@
         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||g_com_map[COM_INTERVAL]==0)
      {
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //杞浣嶅洖鍒癰ootloader   
      }
@@ -202,6 +231,7 @@
{
 
   Device_Init();
   //StartUpTest();
   Program_Init();
   Dw1000_Init();
  delay_ms(10);