From 038ffb0327e40886b4db2eb8b3fcd1653aa264a3 Mon Sep 17 00:00:00 2001 From: zhyinch <zhyinch@gmail.com> Date: 星期五, 29 七月 2022 14:32:15 +0800 Subject: [PATCH] V1.68 去掉时间同步,解决互测距延迟bug --- 源码/核心板/Src/main.c | 215 ++++++++++++++++++++++++++++++++++++++++++++++++----- 1 files changed, 195 insertions(+), 20 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 3a36165..69eef50 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" @@ -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" @@ -11,8 +12,35 @@ #include "global_param.h" #include "ADC.h" -#define DEBUG_MODE +//#define DEBUG_MODE +/* + * rlv:重装载寄存器的值,取值范围为:0-0XFFF + * 函数调用举例: + * IWDG_Config(IWDG_Prescaler_64 ,625); // IWDG 1s 超时溢出 + * (64/40)*625 = 1s + */ +void IWDG_Config(uint8_t prv ,uint16_t rlv) +{ + // 使能 预分频寄存器PR和重装载寄存器RLR可写 + IWDG_WriteAccessCmd( IWDG_WriteAccess_Enable ); + + // 设置预分频器值 + IWDG_SetPrescaler( prv ); + + // 设置重装载寄存器值 + IWDG_SetReload( rlv ); + + // 把重装载寄存器的值放到计数器中 + IWDG_ReloadCounter(); + + // 使能 IWDG + IWDG_Enable(); +} +void IWDG_Feed(void) +{ + IWDG_ReloadCounter(); +} void Device_Init(void) { RCC_Configuration(); @@ -27,7 +55,8 @@ Uart1_Init(); Spi_Init(); ADC_Configuration(); - + IWDG_Config(IWDG_Prescaler_128 ,4095); //10s + IWDG_Feed(); GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); } u8 anchor_type; @@ -44,8 +73,30 @@ checksum = Checksum_u16(&hbsend[2],12); memcpy(&hbsend[14],&checksum,2); } -u16 tyncpoll_time; + +uint16_t vel_factor,pos_factor; +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; @@ -54,20 +105,67 @@ parameter_init(); //deca_sleep(1000); HeartBeatInit(); + Modbus_RegMap(); #ifdef DEBUG_MODE - g_com_map[DEV_ROLE]=1; - g_com_map[DEV_ID]=1; - g_com_map[COM_INTERVAL]=100; - g_com_map[MAX_REPORT_ANC_NUM]=3; - g_com_map[NEARBASE_NUM]=1; - g_com_map[NEARBASE_ID1]=1; +// g_com_map[DEV_ROLE]=1; +// g_com_map[DEV_ID]=1; +// g_com_map[COM_INTERVAL]=100; +// g_com_map[MAX_REPORT_ANC_NUM]=3; +// g_com_map[NEARBASE_NUM]=1; +// g_com_map[NEARBASE_ID1]=2; + 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; - g_com_map[VERSION] = 0x0107; + 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]; - slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*4/3); + 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; + module_power = g_com_map[POWER]; + total_slotnum = 1000/g_com_map[COM_INTERVAL]; + vel_factor=g_com_map[FILTER_COEFFICIENT]; + pos_factor=g_com_map[FILTER_COEFFICIENT]; + + if(module_power>67) + { + module_power=67; + } if(g_com_map[DEV_ROLE]) { @@ -88,7 +186,7 @@ for(i=0;i<255;i++) { - g_Tagdist[i]=0xffff; + g_Tagdist[i]=0x1ffff; } } @@ -105,20 +203,73 @@ { UART_PushFrame(hbsend,16); } -extern u8 g_start_sync_flag; -u16 heartbeat_timer,poll_timer,sync_timer; +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; +int16_t sync_timer; +extern u8 flag_newsecond, tagpos_rec[50], tagpos_send[50],ancidlist_num; +uint32_t tagpos_binary; +extern u16 ancidlist_rec[20],ancidlist_send[20]; +extern u16 target_time; void IdleTask(void) { - g_start_sync_flag=0; + 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) + { + uint32_t temp23; +// temp23 = dwt_read32bitreg(CHAN_CTRL_ID) ; +// if(temp23!=0x4A480022) +// { +// temp23 = dwt_read32bitreg(CHAN_CTRL_ID) ; +// if(temp23!=0x4A480022) +// { +// NVIC_SystemReset(); +// } +// } + flag_newsecond=0; + tagpos_binary=0; + memcpy(ancidlist_send,ancidlist_rec,ancidlist_num*2); + ancidlist_num=0; + for(u8 i=0;i<max_slotpos;i++) + { + if(tagpos_rec[i]) + tagpos_binary|=1<<i; + tagpos_rec[i] = 0; + } + } + if(target_time>=1000) + {target_time-=1000;} + #ifdef USART_INTEGRATE_OUTPUT + if(g_com_map[DEV_ROLE]==0&&usart_send_flag) + {u16 checksum; + usart_send_flag=0; + usart_send_anc[2] = 5;//正常模式 + usart_send_anc[3] = anc_report_num*6+2;//正常模式 + checksum = Checksum_u16(&usart_send_anc[2],anc_report_num*6+2); + memcpy(&usart_send_anc[4+anc_report_num*6],&checksum,2); + UART_PushFrame(usart_send_anc,6+anc_report_num*6); + anc_report_num=0; + } + #endif if(g_com_map[CNT_UPDATE]==1) { uint32_t result = 0; @@ -136,12 +287,33 @@ // Delay_ms(100); SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader } + if(g_com_map[CNT_REBOOT]==1) + { + FactorySettings(); + + SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader + } + if(g_com_map[CNT_RESTART]==1) + { + g_com_map[CNT_RESTART]=0; + save_com_map_to_flash(); + 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 + } + g_com_map[RELAY1_STATE_INDEX] = READ_RELAY1; + g_com_map[RELAY2_STATE_INDEX] = READ_RELAY2; } + int main(void) { - Device_Init(); + Device_Init(); + //StartUpTest(); Program_Init(); Dw1000_Init(); delay_ms(10); @@ -150,10 +322,12 @@ RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE); usart_send[0]=0x55; usart_send[1]=0xAA; - + usart_send_anc[0]=0x55; + usart_send_anc[1]=0xAA; + while(1) { - + g_start_sync_flag=0; if(g_start_send_flag) { g_start_send_flag = 0; @@ -162,6 +336,7 @@ IdleTask(); if(g_com_map[DEV_ROLE]==0) Anchor_App(); + } } -- Gitblit v1.9.3