From 0ddf2d01701e2337921e5e494cce2277455f5ff7 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期一, 08 五月 2023 15:47:46 +0800
Subject: [PATCH] V1.1
---
源码/核心板/Src/main.c | 75 +++++++++++++++++++++++++------------
1 files changed, 50 insertions(+), 25 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 c4f90b7..aaa3d21 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"
@@ -81,16 +82,26 @@
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,alarm_angle;
+extern uint16_t samegroup_ancid,anc_mount_dist;
void Program_Init(void)
{ float temp;
u16 temp2;
@@ -109,18 +120,42 @@
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;
+ samegroup_ancid = g_com_map[MODBUS_ID2]; //同组基站ID
+ anc_mount_dist = g_com_map[MODBUS_ID3]; //基站安装距离
+ alarm_angle = g_com_map[MODBUS_ID4]; //基站报警角度
+
OUT485_ENABLE;
- if(g_com_map[COM_INTERVAL]==0)
- {
- g_com_map[COM_INTERVAL]=100;
- }
- JDQ_time = g_com_map[WAR_JDQ_TIME];
- g_com_map[VERSION] = 0x0133;
- dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]);
- ComMapCheck();
+
+ g_com_map[VERSION] = (1<<8)|(1);
+ 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;
@@ -128,24 +163,14 @@
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;
}
-
-// 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]);
-// }
+
+ printf("方向性防撞");
+
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]);
@@ -153,7 +178,7 @@
for(i=0;i<255;i++)
{
- g_Tagdist[i]=0xffff;
+ g_Tagdist[i]=0x1ffff;
}
}
@@ -277,7 +302,7 @@
int main(void)
{
- Device_Init();
+ Device_Init();
//StartUpTest();
Program_Init();
Dw1000_Init();
--
Gitblit v1.9.3