From 95f736655c46ec4974e89c7f0ca6a542cdbf3532 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 26 四月 2022 17:15:25 +0800
Subject: [PATCH] V1.73
---
源码/核心板/Src/main.c | 90 +++++++++++++++++++++++++++++---------------
1 files changed, 59 insertions(+), 31 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
index c093b2d..9b243e9 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
@@ -143,7 +143,7 @@
OUT485_ENABLE;
- g_com_map[VERSION] = (1<<8)|(72);
+ g_com_map[VERSION] = (1<<8)|(73);
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]);
g_commap_antdelay = g_com_map[ANT_LENGTH];
@@ -158,7 +158,7 @@
total_slotnum = 1000/g_com_map[COM_INTERVAL];
vel_factor=g_com_map[FILTER_COEFFICIENT];
pos_factor=g_com_map[FILTER_COEFFICIENT];
-ComMapCheck();
+ ComMapCheck();
if(module_power>67)
{
module_power=67;
@@ -195,12 +195,48 @@
*
* @return none
*/
+u8 noerror_flag,juststart_flag=1,justsleftest_flag=1,uwbchip_flag,mcu_flag,rf_flag,voltage_flag;
+uint16_t temp;
+float dw_vbat;
+void VoltageTest(void)
+{
+ temp=dwt_readtempvbat(1);
+ dw_vbat=(float)((temp&0xff)-173)/173+3.3;
+ if(dw_vbat<2.8||dw_vbat>3.6)
+ {
+ voltage_flag = 1;
+ }else{
+ voltage_flag = 0;
+ }
+}
+void UWBChiptest(void)
+{
+ u32 temp23;
+ temp23 = dwt_read32bitreg(CHAN_CTRL_ID) ;
+ if(temp23!=0x4A7A0022)
+ {
+ uwbchip_flag = 1;
+ }else{
+ uwbchip_flag = 0;
+ }
+}
u8 selftest[2];
+void SlefTestState(void)
+{
+
+ justselftest_timer = 2;
+ UWBChiptest();
+ VoltageTest();
+
+}
+void RunSelfTest(void)
+{
+ SlefTestState();
+}
void HeatBeat(void)
{
u16 checksum;
- selftest[0]=1;
- selftest[1]=0;
+// SendSelfTest();
memcpy(&hbsend[6],selftest,2);
memcpy(&hbsend[14],uartrec_userdata,10);
checksum = Checksum_u16(&hbsend[2],22);
@@ -225,19 +261,9 @@
}
uwbrec_userdatalen = 0;
}
-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; //软复位回到bootloader
- }
-}
+
extern u8 g_start_sync_flag,usart_send_flag,anc_report_num;
-u16 heartbeat_timer,poll_timer;
+u16 heartbeat_timer=250,poll_timer;
int16_t sync_timer;
extern u8 flag_newsecond, tagpos_rec[50], tagpos_send[50],ancidlist_num;
uint32_t tagpos_binary;
@@ -248,9 +274,19 @@
UART_CheckReceive();
UART_CheckSend();
+
+ if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]>1000)
+ {
+ mcu_flag = 1;
+ }else{
+ mcu_flag = 0;
+ }
+ noerror_flag = !(uwbchip_flag|mcu_flag|rf_flag|voltage_flag);
+ selftest[0] = voltage_flag<<3|mcu_flag<<2|uwbchip_flag<<1|noerror_flag;
+ selftest[1] = juststart_flag<<2|justsleftest_flag<<1|rf_flag;
// if(g_com_map[HEARTBEAT])
// {
- if(heartbeat_timer>=200)
+ if(heartbeat_timer>=250)
{
heartbeat_timer=0;
HeatBeat();
@@ -264,15 +300,11 @@
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();
-// }
-// }
+ if(selftesttimer>=60)
+ {
+ selftesttimer = 0;
+ RunSelfTest();
+ }
flag_newsecond=0;
tagpos_binary=0;
memcpy(ancidlist_send,ancidlist_rec,ancidlist_num*2);
@@ -328,10 +360,6 @@
delay_ms(100);
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
- if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
- {
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
}
@@ -350,7 +378,7 @@
usart_send[1]=0xAA;
usart_send_anc[0]=0x55;
usart_send_anc[1]=0xAA;
-
+ RunSelfTest();
while(1)
{
g_start_sync_flag=0;
--
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