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 | 201 ++++++++++++++++++++++++++++++++++++--------------
1 files changed, 145 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 5e6e514..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;
@@ -82,16 +80,25 @@
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;
+ }
if(dist_threshold<300)
{dist_threshold = 300;}
if(dist_threshold>15000)
{dist_threshold = 15000;}
}
u16 JDQ_time;
+int16_t g_commap_antdelay;
void Program_Init(void)
{ float temp;
u16 temp2;
@@ -110,19 +117,40 @@
g_com_map[ANC_FLAG]=1;
save_com_map_to_flash();
#endif
+//
+// 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[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;
- if(g_com_map[COM_INTERVAL]==0)
- {
- g_com_map[COM_INTERVAL]=100;
- }
- JDQ_time = g_com_map[WAR_JDQ_TIME]*10;
- g_com_map[VERSION] = 0x0135;
- 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]);
- ComMapCheck();
+
+ 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];
+ 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];
+ 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;
@@ -130,7 +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();
if(module_power>67)
{
module_power=67;
@@ -142,8 +170,7 @@
// 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];
+// 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]);
@@ -155,7 +182,7 @@
for(i=0;i<255;i++)
{
- g_Tagdist[i]=0xffff;
+ g_Tagdist[i]=0x1ffff;
}
}
@@ -168,23 +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;
@@ -195,25 +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);
@@ -269,10 +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
- }
}
@@ -291,17 +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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