修改can模块的通讯速率500k

zhangbo

2025-07-29 ec51312d1b175c9eebe7a92e1cc15e4d0d120e64

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -46,7 +46,7 @@
   RCC_Configuration();
   //SystemInit();
   NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
	
   Nvic_Init();
//   Systick_Init();
   TIM3_Int_Init();
   Led_Init();
@@ -55,9 +55,8 @@
   Uart1_Init();
   Spi_Init();
   ADC_Configuration();
   //IWDG_Config(IWDG_Prescaler_128 ,4095);   //10s
   Nvic_Init();
  IWDG_Feed();
   IWDG_Config(IWDG_Prescaler_128 ,4095);   //10s
    IWDG_Feed();
   GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
}
u8 anchor_type;
@@ -95,12 +94,7 @@
   {
     g_com_map[COM_INTERVAL]=100;
   }
    if(dist_threshold<300)
      {dist_threshold = 300;}
      if(dist_threshold>15000)
      {dist_threshold = 15000;}
}
extern u8 needanchorrx;  
u16 JDQ_time;
int16_t g_commap_antdelay;
void Program_Init(void)
@@ -148,9 +142,13 @@
        
   OUT485_ENABLE;
   ComMapCheck();   
   g_com_map[VERSION] = 1<<8|61;
   g_com_map[VERSION] = 1<<8|68;
    FLASH_Read(FLASH_HARDWARE_FLAG, (uint8_t*)&g_com_map[HARDWAREFLAG_INDEX], 16);
    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;}
    g_commap_antdelay = g_com_map[ANT_LENGTH];
    JDQ_time = g_com_map[WAR_JDQ_TIME]*10;
   g_com_map[SW_TYPE] =    SW_FANGZHUANG;
@@ -171,12 +169,11 @@
   
   if(g_com_map[DEV_ROLE])
   {
      needanchorrx = 0;
   printf("标签ID: %d .\r\n",dev_id);
   printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
   printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
   }else{
   needanchorrx = 1;
	
   anchor_type = dev_id%g_com_map[MAX_REPORT_ANC_NUM];
   printf("基站ID: %x .\r\n",dev_id);
   printf("基站类型: %c .\r\n",anchor_type+0x41);
@@ -227,8 +224,8 @@
void IdleTask(void)
{
      
         UART_CheckReceive();
   //   UART_CheckSend();
        UART_CheckReceive();
      UART_CheckSend();
   
   if(heartbeat_timer>1000)
   {
@@ -248,7 +245,7 @@
//                  NVIC_SystemReset();
//               }
//            }
     flag_newsecond=0;
       flag_newsecond=0;
      tagpos_binary=0;
      memcpy(ancidlist_send,ancidlist_rec,ancidlist_num*2);
      ancidlist_num=0;
@@ -307,12 +304,37 @@
      {
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
      }
		
      g_com_map[RELAY1_STATE_INDEX] = READ_RELAY1;
        g_com_map[RELAY1_STATE_INDEX] = READ_RELAY1;
      g_com_map[RELAY2_STATE_INDEX] = READ_RELAY2;

   }

uint8_t at_cmd[3]={0x2B,0x2B,0x2B};
uint8_t at_cmd1[2]={0x41,0x54};
char at_cmd2[20]={"AT+CAN=500,70,NDTF\r\n"};  //AT+CAN?\r\n
char at_cmd3[9]={"AT+CAN?\r\n"}; 
char at_cmd4[9]={"AT+EXAT\r\n"}; 
void send_to_ECAN()
{
//  UART_PushFrame(at_cmd,3);
//    
//  UART_PushFrame(at_cmd1,2);
////  delay_ms(1); 
//  UART_PushFrame((uint8_t*)at_cmd2,20);
////  delay_ms(1);   
//  UART_PushFrame((uint8_t*)at_cmd3,9);
////  delay_ms(1);   
//  UART_PushFrame((uint8_t*)at_cmd4,9);
 printf("+++");
 delay_ms(20);  
 printf("AT"); 
 delay_ms(20);    
 printf("AT+CAN=500,0,NDTF\r\n"); 
 delay_ms(1);
 printf("AT+CAN?\r\n");
 delay_ms(1);
 printf("AT+EXAT\r\n");    
}
    
int main(void)
{
 
@@ -328,23 +350,20 @@
   usart_send[1]=0xAA;
   usart_send_anc[0]=0x55;
   usart_send_anc[1]=0xAA;
   dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
   dwt_rxenable(0);//打开接收
    send_to_ECAN();
   while(1)
   {
//   g_start_sync_flag=0;
      
   g_start_sync_flag=0;
   if(g_start_send_flag)
   {
      g_start_send_flag = 0;      
      Tag_App();
      //needanchorrx = 1;
   }
      IdleTask();      
//if(g_com_map[DEV_ROLE]==0)
//    {needanchorrx = 0;
//         Anchor_App();
//       // Anchor_Start();
//    }
if(g_com_map[DEV_ROLE]==0)
      Anchor_App();

   }
}