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

@@ -44,8 +44,11 @@
   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;
extern u16 total_slotnum;
void Program_Init(void)
{   float temp;
   u16 temp2;
@@ -65,12 +68,23 @@
      save_com_map_to_flash();
#endif
   OUT485_ENABLE;
   g_com_map[VERSION] = 0x010a;	
   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]/3)+1;
   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;
      }
   
   if(g_com_map[DEV_ROLE])
   {
@@ -108,30 +122,73 @@
{ 
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,sync_timer;
u16 heartbeat_timer,poll_timer;
int16_t sync_timer;
extern u8 flag_newsecond, tagpos_rec[50], tagpos_send[50],ancidlist_num;
uint32_t tagpos_binary;
extern u16 ancidlist_rec[20],ancidlist_send[20];
extern u16 target_time;
void IdleTask(void)
{
   g_start_sync_flag=0;
		
         UART_CheckReceive();
      UART_CheckSend();
	
   if(heartbeat_timer>1000)
   {
      heartbeat_timer=0;
      if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
      HeatBeat();
   }

   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);
      ancidlist_num=0;
      for(u8 i=0;i<max_slotpos;i++)
      {
         if(tagpos_rec[i])
            tagpos_binary|=1<<i;
         tagpos_rec[i] = 0;
      }
   }
   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[2] = 4;//姝ｅ父妯″紡
            usart_send[3] = anc_report_num*6+2;//姝ｅ父妯″紡
            checksum = Checksum_u16(&usart_send[2],anc_report_num*6+2);
            memcpy(&usart_send[4+anc_report_num*6],&checksum,2);
            UART_PushFrame(usart_send,6+anc_report_num*6);
            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);
            UART_PushFrame(usart_send_anc,6+anc_report_num*6);
            anc_report_num=0;      
   }
   #endif
   if(g_com_map[CNT_UPDATE]==1)
   {
   uint32_t result = 0;
@@ -149,12 +206,32 @@
      //   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||g_com_map[COM_INTERVAL]==0)
      {
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //杞浣嶅洖鍒癰ootloader   
      }

   }
int main(void)
{
 
   Device_Init();
   //StartUpTest();
   Program_Init();
   Dw1000_Init();
  delay_ms(10);   
@@ -163,10 +240,12 @@
   RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
   usart_send[0]=0x55;
   usart_send[1]=0xAA;
	
   usart_send_anc[0]=0x55;
   usart_send_anc[1]=0xAA;

   while(1)
   {
	
   g_start_sync_flag=0;
   if(g_start_send_flag)
   {
      g_start_send_flag = 0;      
@@ -175,6 +254,7 @@
      IdleTask();      
if(g_com_map[DEV_ROLE]==0)
      Anchor_App();

   }
}