| 源码/核心板/MDK-ARM/Project.uvguix.zhyin | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| 源码/核心板/MDK-ARM/Project.uvoptx | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| 源码/核心板/Src/application/dw_app.c | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| 源码/核心板/Src/application/dw_app.h | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| 源码/核心板/Src/main.c | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 |
Ô´Âë/ºËÐÄ°å/MDK-ARM/Project.uvguix.zhyin
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</Buttons> <OriginalItems> <Len>898</Len> @@ -3603,12 +3603,12 @@ <ActiveMDIGroup>0</ActiveMDIGroup> <MDIGroup> <Size>100</Size> <ActiveTab>2</ActiveTab> <ActiveTab>0</ActiveTab> <Doc> <Name>..\Src\main.c</Name> <ColumnNumber>0</ColumnNumber> <TopLine>130</TopLine> <CurrentLine>146</CurrentLine> <ColumnNumber>31</ColumnNumber> <TopLine>129</TopLine> <CurrentLine>145</CurrentLine> <Folding>1</Folding> <ContractedFolders></ContractedFolders> <PaneID>0</PaneID> @@ -3624,18 +3624,18 @@ </Doc> <Doc> <Name>..\Src\application\dw_app.c</Name> <ColumnNumber>0</ColumnNumber> <TopLine>1</TopLine> <CurrentLine>3</CurrentLine> <ColumnNumber>2</ColumnNumber> <TopLine>130</TopLine> <CurrentLine>140</CurrentLine> <Folding>1</Folding> <ContractedFolders></ContractedFolders> <PaneID>0</PaneID> </Doc> <Doc> <Name>..\Src\application\dw_app.h</Name> <ColumnNumber>0</ColumnNumber> <TopLine>75</TopLine> <CurrentLine>84</CurrentLine> <ColumnNumber>35</ColumnNumber> <TopLine>84</TopLine> <CurrentLine>95</CurrentLine> <Folding>1</Folding> <ContractedFolders></ContractedFolders> <PaneID>0</PaneID> Ô´Âë/ºËÐÄ°å/MDK-ARM/Project.uvoptx
@@ -125,7 +125,7 @@ <SetRegEntry> <Number>0</Number> <Key>DLGUARM</Key> <Name></Name> <Name>d</Name> </SetRegEntry> <SetRegEntry> <Number>0</Number> Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c
@@ -11,14 +11,14 @@ static dwt_config_t config = { 2, /* Channel number. */ DWT_PRF_64M, /* Pulse repetition frequency. */ DWT_PLEN_128, /* Preamble length. */ DWT_PLEN_1024, /* Preamble length. */ DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */ 9, /* TX preamble code. Used in TX only. */ 9, /* RX preamble code. Used in RX only. */ 1, /* Use non-standard SFD (Boolean) */ DWT_BR_6M8, /* Data rate. */ DWT_PHRMODE_STD, /* PHY header mode. */ (129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */ (1025 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */ }; static uint8_t tx_poll_msg[20] = {0}; static uint8_t tx_sync_msg[14] = {0}; @@ -116,6 +116,14 @@ } } } void SetNLOSNTMSettings(void) { uint8_t temp; temp = 7; dwt_writetodevice(LDE_IF_ID,LDE_CFG1_OFFSET,1,&temp); dwt_write16bitoffsetreg(LDE_IF_ID,LDE_CFG2_OFFSET,3); // NTM = dwt_read32bitoffsetreg(LDE_IF_ID,LDE_CFG1_OFFSET) & LDE_CFG1_NSTDEV_MASK; } extern int16_t g_commap_antdelay; void Dw1000_Init(void) { @@ -129,7 +137,7 @@ /* Configure DW1000. See NOTE 6 below. */ dwt_configure(&config);//é ç½®DW1000 SetNLOSNTMSettings(); /* Apply default antenna delay value. See NOTE 1 below. */ dwt_setrxantennadelay(RX_ANT_DLY); //设置æ¥æ¶å¤©çº¿å»¶è¿ @@ -139,6 +147,7 @@ * As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */ //设置æ¥æ¶è¶ æ¶æ¶é´ } extern u16 group_id; void Dw1000_App_Init(void) { @@ -856,27 +865,39 @@ // min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B)); return min_power; } static void resp_msg_set_ts(uint8_t *ts_field, const uint64_t ts) { int i; for (i = 0; i < 4; i++) { ts_field[i] = (ts >> (i * 8)) & 0xFF; } } u16 smallcar_idlist[10]={0x4052,0x4032,0x4055,0x4034,0x4016,0x4010,0x4036,0x4027,0x4024,0x4047}; extern u16 dist_threshold; u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0; int32_t filter_dist,filter_speed; u8 newmeasure,recpoll_len; u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base uint8_t temp_nearbaspos; uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos) //0 mainbase 1 first near_base { u8 motorstate; tmp_time=TIM3->CNT; uint8_t motorstate; // tmp_time=TIM3->CNT; temp_nearbaspos = ancrec_nearbasepos; memcpy(&tx_nearresp_msg[ANCTIMEMS],&sync_timer,2); memcpy(&tx_nearresp_msg[ANCTIMEUS],&tmp_time,2); memcpy(&tx_nearresp_msg[TAGSLOTPOS],&taglist_pos,2); memcpy(&tx_nearresp_msg[TAG_ID_IDX],&tag_id_recv,2); memcpy(&tx_nearresp_msg[RESP_MSG_ANC_DISTOFFSET],&g_com_map[DIST_OFFSET],2); poll_rx_ts = get_rx_timestamp_u64();//è·å¾Pollå æ¥æ¶æ¶é´T2 resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计ç®Responseåéæ¶é´T3ã dwt_setdelayedtrxtime(resp_tx_time);//设置Responseåéæ¶é´T3 dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置åéå®æåå¼å¯æ¥æ¶å»¶è¿æ¶é´ dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//æ¥æ¶è¶ æ¶æ¶é´ dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//æ¥æ¶è¶ æ¶æ¶é´ã resp_tx_ts = (((uint64_t)(resp_tx_time & 0xFFFFFFFEUL)) << 8) + TX_ANT_DLY; resp_msg_set_ts(&tx_nearresp_msg[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts); resp_msg_set_ts(&tx_nearresp_msg[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts); if(new_tagid) { tagdist_list[taglist_pos]=0x1ffff; @@ -884,144 +905,64 @@ }else{ memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4); } if(tag_id_recv>>12!=9) { if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1]) motorstate =0; if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1]||tagdist_list[taglist_pos]<0) { motorstate =0; }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2]) } else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2]) { motorstate =2; if(1)//flag_tag_distsmooth[taglist_pos]) {motorstate =2; }else{ motorstate =0; } }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3]) { motorstate =1; }else{ motorstate =0; } }else{ if(tagdist_list[taglist_pos]<g_com_map[RELAY2_DISTANCE1]) { motorstate =0; }else if(tagdist_list[taglist_pos]<g_com_map[RELAY2_DISTANCE2]) { motorstate =2; }else if(tagdist_list[taglist_pos]<g_com_map[RELAY2_DISTANCE3]) { motorstate =1; if(1)//flag_tag_distsmooth[taglist_pos]) {motorstate =1; }else{ motorstate =0; } } tx_nearresp_msg[GROUP_ID_IDX] = group_id; tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase; tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE; remotesend_state = 0; tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|(motorstate&0xf); if(remotesend_state) { memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN); dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//åå ¥åéæ°æ® dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设å®åéé¿åº¦ }else{ dwt_writetxdata(22, tx_nearresp_msg, 0);//åå ¥åéæ°æ® dwt_writetxfctrl(22, 0);//设å®åéé¿åº¦ } result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延è¿åéï¼çå¾ æ¥æ¶ tx_nearresp_msg[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate; tx_nearresp_msg[MOTORSTATE_INDEX]&=0x0f; // if(remotesend_state) // { // memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN); // dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//åå ¥åéæ°æ® // dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设å®åéé¿åº¦ // }else{ dwt_writetxdata(38, tx_nearresp_msg, 0);//åå ¥åéæ°æ® dwt_writetxfctrl(38, 0);//设å®åéé¿åº¦ // } result = dwt_starttx(DWT_START_TX_DELAYED );//延è¿åéï¼çå¾ æ¥æ¶ if(result==0) { while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///ä¸ææ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæè åºç°é误 while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS ))&&!g_start_sync_flag)///ä¸ææ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæè åºç°é误 { }; }else{ // if(g_com_map[MODBUS_ID1]==1) // { // #ifdef DBGMSG_OUTPUT // dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg); // SendDbgMsg(dbgmsg,dbgmsg_len); // #endif // } result++; } if (status_reg & SYS_STATUS_RXFCG)//æ¥æ¶æå if(!seize_anchor) { dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//æ¸ æ¥æ å¿ä½ frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//æ°æ®é¿åº¦ dwt_readrxdata(rx_buffer, frame_len, 0);//读åæ¥æ¶æ°æ® if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2)) //æ¢å anchor 失败 { return 1; } if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)&&group_id==rx_buffer[GROUP_ID_IDX]) //å¤ææ¯å¦ä¸ºFinalå { uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts; uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32; double Ra, Rb, Da, Db; int64_t tof_dtu; u8 si; resp_tx_ts = get_tx_timestamp_u64();//è·å¾responseåéæ¶é´T3 final_rx_ts = get_rx_timestamp_u64();//è·å¾finalæ¥æ¶æ¶é´T6 final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//ä»æ¥æ¶æ°æ®ä¸è¯»åT1ï¼T4ï¼T5 final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+ancrec_nearbasepos*4], &resp_rx_ts); final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts); poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使ç¨32ä½æ°æ®è®¡ç® resp_tx_ts_32 = (uint32_t)resp_tx_ts; final_rx_ts_32 = (uint32_t)final_rx_ts; Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1 Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3 Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4 Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2 tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//计ç®å ¬å¼ tof = tof_dtu * DWT_TIME_UNITS; distance = tof * SPEED_OF_LIGHT;//è·ç¦»=å é*é£è¡æ¶é´ dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //è·ç¦»åå»ç«æ£ç³»æ° dist_cm = dist_no_bias * 1000; //dis 为åä½ä¸ºcmçè·ç¦» dwt_readdiagnostics(&d1); LOS(&d1); /*--------------------------以ä¸ä¸ºéæµè·é»è¾------------------------*/ //dist_cm=33000; getrange_success = 1; LED0_BLINK; //æ¯æåä¸æ¬¡é讯åéªçä¸æ¬¡ dis_after_filter=dist_cm; hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10; if(recpoll_len==rec_nearbase_num*4+15) { hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10-rec_antdelay*10; } g_flag_Taggetdist[taglist_pos]=0; if(hex_dist>-100000&&hex_dist<2000000) { if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3) {u8 i=0; g_Resttimer=0; IWDG_Feed(); #ifdef TDFILTER NewTrackingDiffUpdate(taglist_pos, (float)hex_dist); filter_dist = pos_predict[taglist_pos]/10; filter_speed = vel_predict[taglist_pos]/10; newmeasure = 1; #else filter_dist=hex_dist/10; #endif misdist_num[taglist_pos]=0; tagdist_list[taglist_pos] = filter_dist; his_dist[taglist_pos]=hex_dist; if(hex_dist>0) { g_Tagdist[taglist_pos]=hex_dist/10; }else{ // g_Tagdist[taglist_pos]= 1; } #ifdef USART_SINGLE_OUTPUT usart_send[2] = 1;//æ£å¸¸æ¨¡å¼ usart_send[3] = 17;//æ°æ®æ®µé¿åº¦ usart_send[4] = frame_seq_nb2;//æ°æ®æ®µé¿åº¦ memcpy(&usart_send[5],&tag_id_recv,2); memcpy(&usart_send[7],&dev_id,2); if(tagdist_list[taglist_pos]<=0) tagdist_list[taglist_pos]=0x2ffff; memcpy(&usart_send[9],&tagdist_list[taglist_pos],4); usart_send[13] = battary; usart_send[14] = button; @@ -1029,59 +970,19 @@ usart_send[16] = rx_power; checksum = Checksum_u16(&usart_send[2],17); memcpy(&usart_send[19],&checksum,2); if(g_com_map[MODBUS_MODE]!=1) UART_PushFrame(usart_send,21); #else memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2); memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4); anc_report_num++; #endif tagstate_list[taglist_pos] = (button<<8)|battary; for(i=0;i<taglist_num-1;i++) { if( tagdist_list[i]>tagdist_list[i+1]&&tagdist_list[i+1]!=0) { int32_t tempdist; u16 tempid,tempstate; tempdist = tagdist_list[i]; tempid = tagid_list[i]; tempstate = tagstate_list[i]; } tagdist_list[i] = tagdist_list[i+1]; tagid_list[i] = tagid_list[i+1]; tagstate_list[i] = tagstate_list[i+1]; tagdist_list[i+1] = tempdist; tagid_list[i+1] = tempid; tagstate_list[i+1] = tempstate; } } for(i=0;i<taglist_num;i++) { Modbus_HoldReg[i*4] = tagid_list[i]; Modbus_HoldReg[i*4+1] = tagstate_list[i]; memcpy(&Modbus_HoldReg[i*4+2],&tagdist_list[i],4); } }else{ // printf("%d",hex_dist); misdist_num[taglist_pos]++; } } } }else{ //printf("%x/n",status_reg); dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR); } } uint32_t current_syncid=0xffffffff,synclost_timer; extern u8 flag_syncbase; u8 tagpos_rec[50],tagpos_send[50],ancidlist_num; u16 ancidlist_rec[20],ancidlist_send[20],rec_ancidlist[20],rec_ancdistlist[20]; extern uint8_t flag_syncbase; uint8_t tagpos_rec[50],tagpos_send[50],ancidlist_num; uint16_t ancidlist_rec[20],ancidlist_send[20],rec_ancidlist[20],rec_ancdistlist[20]; void Anchor_App(void) { u8 send_len,i; u16 tempid; uint8_t send_len,i; uint16_t tempid; uint32_t rec_syncid; dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG); @@ -1097,7 +998,7 @@ }; //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET); if (status_reg & SYS_STATUS_RXFCG)//æåæ¥æ¶ { u16 tag_recv_interval; { uint16_t tag_recv_interval; float temp_tagpos; @@ -1117,29 +1018,29 @@ // Anchor_RecPoll(); // break; case SYNC: // memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4); // if(rec_syncid<current_syncid) // { // current_syncid=rec_syncid; // flag_syncbase=0; // sync_seq=rx_buffer[SYNC_SEQ_IDX]+1; memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4); if(rec_syncid<current_syncid) { current_syncid=rec_syncid; flag_syncbase=0; sync_seq=rx_buffer[SYNC_SEQ_IDX]+1; // TIM3->CNT = sync_seq*325%1000+15; // sync_timer = sync_seq*325/1000; // synclost_timer=0; // //SyncPoll(sync_seq,rec_syncid); // }else if(rec_syncid==current_syncid) // { // if(rx_buffer[SYNC_SEQ_IDX]<sync_seq) // { // flag_syncbase=0; // sync_seq=rx_buffer[SYNC_SEQ_IDX]+1; sync_timer = sync_seq*325/1000; synclost_timer=0; //SyncPoll(sync_seq,rec_syncid); }else if(rec_syncid==current_syncid) { if(rx_buffer[SYNC_SEQ_IDX]<sync_seq) { flag_syncbase=0; sync_seq=rx_buffer[SYNC_SEQ_IDX]+1; // TIM3->CNT = sync_seq*325%1000+5; // sync_timer = sync_seq*325/1000+995; // synclost_timer=0; // //SyncPoll(sync_seq,rec_syncid); // } // // } sync_timer = sync_seq*325/1000+995; synclost_timer=0; //SyncPoll(sync_seq,rec_syncid); } } break; case NEAR_MSG: if(anc_id_recv==flag_syncbase) @@ -1166,6 +1067,7 @@ memcpy(&rec_ancidlist,&rx_buffer[NEARBASEID_INDEX],2*rec_nearbase_num); memcpy(&rec_ancdistlist,&rx_buffer[NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num); memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*4],2); g_Resttimer = 0; #ifdef USART_ALL_OUTPUT usart_send[2] = 0x0c;//æ£å¸¸æ¨¡å¼ usart_send[3] = 8+rec_nearbase_num*4;//æ°æ®æ®µé¿åº¦ @@ -1194,7 +1096,7 @@ } tagofflinetime[taglist_pos]=0; temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime); tagpos_rec[(u8)temp_tagpos]=1; tagpos_rec[(uint8_t)temp_tagpos]=1; if(rec_nearbase_num>ancidlist_num) @@ -1209,6 +1111,11 @@ if(tempid==dev_id) { seize_anchor=0; //éæ¢å ãå·²åå¨åè¡¨ä¸ if(rec_ancdistlist[i]!=0) { g_Tagdist[taglist_pos] = rec_ancdistlist[i]; tagdist_list[taglist_pos] = rec_ancdistlist[i]; } Anchor_RecNearPoll(i); break; } @@ -1222,9 +1129,17 @@ break; } } }else{ // if(g_com_map[MODBUS_ID1]==1) // { // #ifdef DBGMSG_OUTPUT // dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg); // SendDbgMsg(dbgmsg,dbgmsg_len); // #endif // } dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR); } dwt_forcetrxoff(); dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR); } }
@@ -61,9 +61,9 @@ #define DELAY_BETWEEN_TWO_FRAME_UUS 400 #define POLL_RX_TO_RESP_TX_DLY_UUS 470 #define POLL_RX_TO_RESP_TX_DLY_UUS 1470 /* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */ #define RESP_TX_TO_FINAL_RX_DLY_UUS 200 #define RESP_TX_TO_FINAL_RX_DLY_UUS 10 /* Receive final timeout. See NOTE 5 below. */ #define FINAL_RX_TIMEOUT_UUS 4300 @@ -92,7 +92,9 @@ #define MAINBASE_INDEX 18 #define MOTORSTATE_INDEX 19 #define REMOTEPARA_INDEX 20 #define RESP_MSG_POLL_RX_TS_IDX 26 #define RESP_MSG_RESP_TX_TS_IDX 30 #define RESP_MSG_ANC_DISTOFFSET 34 #define TAGSLOTPOS 7 //Final #define FINAL_MSG_POLL_TX_TS_IDX 10 Ô´Âë/ºËÐÄ°å/Src/main.c
@@ -142,7 +142,7 @@ OUT485_ENABLE; ComMapCheck(); g_com_map[VERSION] = 1<<8|2; g_com_map[VERSION] = 1<<8|3; 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)
