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 | 171 ++++++++++++++++++++++++++++++++++++++------------------
1 files changed, 115 insertions(+), 56 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 e243701..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"
@@ -55,23 +55,21 @@
Uart1_Init();
Spi_Init();
ADC_Configuration();
- IWDG_Config(IWDG_Prescaler_128 ,4095); //10s
- IWDG_Feed();
+// IWDG_Config(IWDG_Prescaler_128 ,4095); //10s
+// IWDG_Feed();
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
}
u8 anchor_type;
u32 dev_id;
-u8 hbsend[16];
+u8 hbsend[26];
void HeartBeatInit(void)
{
u16 checksum;
hbsend[0]=0x55;
hbsend[1]=0xAA;
hbsend[2]=0x2;
- hbsend[3]=0xc;
+ hbsend[3]=0x16;
memcpy(&hbsend[4],&g_com_map[DEV_ID],2);
- checksum = Checksum_u16(&hbsend[2],12);
- memcpy(&hbsend[14],&checksum,2);
}
uint16_t vel_factor,pos_factor;
@@ -145,7 +143,7 @@
OUT485_ENABLE;
- g_com_map[VERSION] = (1<<8)|(67);
+ 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];
@@ -160,24 +158,23 @@
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;
}
- 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]);
@@ -198,23 +195,75 @@
*
* @return none
*/
-void HeatBeat(void)
-{
-UART_PushFrame(hbsend,16);
-}
+u8 noerror_flag,juststart_flag=1,justsleftest_flag=1,uwbchip_flag,mcu_flag,rf_flag,voltage_flag;
uint16_t temp;
float dw_vbat;
-void StartUpTest(void)
+void VoltageTest(void)
{
temp=dwt_readtempvbat(1);
dw_vbat=(float)((temp&0xff)-173)/173+3.3;
- if(dw_vbat<2.8)
+ if(dw_vbat<2.8||dw_vbat>3.6)
{
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
+ 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;
+// SendSelfTest();
+ memcpy(&hbsend[6],selftest,2);
+ memcpy(&hbsend[14],uartrec_userdata,10);
+ checksum = Checksum_u16(&hbsend[2],22);
+ memcpy(&hbsend[24],&checksum,2);
+ UART_PushFrame(hbsend,26);
+}
+void ClearUartUserData(void)
+{
+ u8 i;
+ for(i=0;i<USERDATA_MAXLEN;i++)
+ {
+ uartrec_userdata[i] = 0;
+ }
+ usartrec_userdatalen = 0;
+}
+void ClearUWBUserData(void)
+{
+ u8 i;
+ for(i=0;i<USERDATA_MAXLEN;i++)
+ {
+ uwbrec_userdata[i] = 0;
+ }
+ uwbrec_userdatalen = 0;
+}
+
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;
@@ -225,25 +274,37 @@
UART_CheckReceive();
UART_CheckSend();
-
- if(heartbeat_timer>1000)
- {
- heartbeat_timer=0;
- if(g_com_map[HEARTBEAT])
- HeatBeat();
- }
+
+ 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>=250)
+ {
+ heartbeat_timer=0;
+ HeatBeat();
+ }
+ if(userdata_timer>=200)
+ {
+ userdata_timer = 0;
+ ClearUartUserData();
+ }
+// }
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);
@@ -299,10 +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
- }
}
@@ -321,17 +378,19 @@
usart_send[1]=0xAA;
usart_send_anc[0]=0x55;
usart_send_anc[1]=0xAA;
-
+ RunSelfTest();
while(1)
{
g_start_sync_flag=0;
- if(g_start_send_flag)
- {
- g_start_send_flag = 0;
- Tag_App();
- }
+
+ if(g_start_send_flag)
+ {
+ g_start_send_flag = 0;
+ Tag_App();
+ }
+
IdleTask();
-if(g_com_map[DEV_ROLE]==0)
+ if(g_com_map[DEV_ROLE]==0)
Anchor_App();
}
--
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