修改can模块的通讯速率500k

zhangbo

2025-07-29 ec51312d1b175c9eebe7a92e1cc15e4d0d120e64

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -2,6 +2,7 @@
#include "Rcc_Nvic_Systick.h"
#include "Usart.h"
#include "Spi.h"
#include "Flash.h"
#include "led.h"
#include "beep.h"
#include "dw_driver.h"
@@ -72,11 +73,30 @@
   checksum = Checksum_u16(&hbsend[2],12);
   memcpy(&hbsend[14],&checksum,2);
}

uint16_t vel_factor,pos_factor;
u16 tyncpoll_time,dist_threshold;
u16 tyncpoll_time,dist_threshold,group_id;
u16 slottime,max_slotpos;
extern u8 module_power;
extern u16 total_slotnum;
void ComMapCheck(void)
{

    if(g_com_map[ANT_LENGTH]>10000)
    {
        g_com_map[ANT_LENGTH] = 0;
    }
    if(g_com_map[WAR_JDQ_TIME]>1000||g_com_map[WAR_JDQ_TIME]<0)
    {
        g_com_map[WAR_JDQ_TIME] = 1;
    }
       if(g_com_map[COM_INTERVAL]==0)
   {
     g_com_map[COM_INTERVAL]=100;
   }
}
u16 JDQ_time;
int16_t g_commap_antdelay;
void Program_Init(void)
{   float temp;
   u16 temp2;
@@ -85,6 +105,7 @@
   parameter_init();
   //deca_sleep(1000);
   HeartBeatInit();
   Modbus_RegMap();
#ifdef DEBUG_MODE
//   g_com_map[DEV_ROLE]=1;
//      g_com_map[DEV_ID]=1;
@@ -95,20 +116,44 @@
   g_com_map[ANC_FLAG]=1;
      save_com_map_to_flash();
#endif
   OUT485_ENABLE;
   if(g_com_map[COM_INTERVAL]==0)
   {
     g_com_map[COM_INTERVAL]=100;
   }
//    
//    g_com_map[COM_INTERVAL]=100;
//      g_com_map[MAX_REPORT_ANC_NUM]=10;
//      g_com_map[GROUP_ID]=0;
//      g_com_map[DIST_OFFSET]=-116;

   g_com_map[VERSION] = 0x012c;
dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]);
      if(dist_threshold<300)
//         g_com_map[DEV_ROLE] =0x0;  //基站
//	
//      g_com_map[ANC_POLL]=1;
//      g_com_map[ALARM_DEV] = 0;
//      g_com_map[ALARM_DISTANCE1] = 0;   //默认报警距离50cm
//      g_com_map[ALARM_DISTANCE2] = 900;   //默认报警距离50cm
//      g_com_map[ALARM_DISTANCE3] = 1400;   //默认报警距离50cm
//         g_com_map[RELAY2_DISTANCE1] = 0;   //默认报警距离50cm
//      g_com_map[RELAY2_DISTANCE2] = 900;   //默认报警距离50cm
//      g_com_map[RELAY2_DISTANCE3] = 1400;   //默认报警距离50cm
//        g_com_map[WAR_JDQ_TIME] = 1; //1秒
//      g_com_map[POWER]=30;
//        g_com_map[SPEEDFILTER_THRES]=10000;
//      g_com_map[FILTER_COEFFICIENT]=40;
//        g_com_map[ANT_LENGTH]=0;
//        g_com_map[NOMOVESLEEP_TIME]=728;
      
        
   OUT485_ENABLE;
   ComMapCheck();	
   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;
   dev_id = g_com_map[DEV_ID];
        group_id=g_com_map[GROUP_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;   
@@ -122,18 +167,18 @@
         module_power=67;
      }
   
//   if(g_com_map[DEV_ROLE])
//   {
//   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{
//	
//   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);
//   printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
//   }
   if(g_com_map[DEV_ROLE])
   {
   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{
	
   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);
   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]);
@@ -141,7 +186,7 @@
   
   for(i=0;i<255;i++)
   {
      g_Tagdist[i]=0xffff;
      g_Tagdist[i]=0x1ffff;
   }
}

@@ -179,13 +224,13 @@
void IdleTask(void)
{
      
         UART_CheckReceive();
        UART_CheckReceive();
      UART_CheckSend();
   
   if(heartbeat_timer>1000)
   {
      heartbeat_timer=0;
      if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
      if(g_com_map[HEARTBEAT])
      HeatBeat();
   }
   if(flag_newsecond)
@@ -200,7 +245,7 @@
//                  NVIC_SystemReset();
//               }
//            }
     flag_newsecond=0;
       flag_newsecond=0;
      tagpos_binary=0;
      memcpy(ancidlist_send,ancidlist_rec,ancidlist_num*2);
      ancidlist_num=0;
@@ -259,13 +304,41 @@
      {
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
      }
        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)
{
 
   Device_Init();
    Device_Init();
   //StartUpTest();
   Program_Init();
   Dw1000_Init();
@@ -277,9 +350,10 @@
   usart_send[1]=0xAA;
   usart_send_anc[0]=0x55;
   usart_send_anc[1]=0xAA;

    send_to_ECAN();
   while(1)
   {
      
   g_start_sync_flag=0;
   if(g_start_send_flag)
   {