From 246d94e2de20b12287f48f40b750697c33222c91 Mon Sep 17 00:00:00 2001 From: zhyinch <zhyinch@gmail.com> Date: 星期二, 06 四月 2021 16:28:17 +0800 Subject: [PATCH] 1 --- 源码/核心板/Src/main.c | 32 +++++++++++++++++++++----------- 1 files changed, 21 insertions(+), 11 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 58ab4fb..db73bd3 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" @@ -14,7 +14,6 @@ #include "deca_device_api.h" #include "Flash.h" //#define DEBUG_MODE - void Device_Init(void) { RCC_Configuration(); @@ -52,7 +51,7 @@ uint16_t vel_factor,pos_factor; extern u8 module_power; -u16 slottime,max_slotnum,current_slotpos; +u16 slottime,max_slotnum,current_slotpos,dist_threshold; void Program_Init(void) {uint16_t i; float temp; @@ -80,6 +79,11 @@ group_id=g_com_map[GROUP_ID]; vel_factor=g_com_map[FILTER_COEFFICIENT]; pos_factor=g_com_map[FILTER_COEFFICIENT]; + 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;} if(dev_id==0) sync_mainbase=1; module_power = g_com_map[POWER]; @@ -87,7 +91,8 @@ { module_power=67; } - g_com_map[VERSION] = 0x011f; + g_com_map[VERSION] = 0x012b; + g_com_map[SW_TYPE] = SW_MODBUS; temp=(float)g_com_map[MAX_REPORT_ANC_NUM]*4/3; temp2=g_com_map[MAX_REPORT_ANC_NUM]*4/3; if(temp2<temp) @@ -164,14 +169,14 @@ // Delay_ms(100); SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader } - if(g_com_map[CNT_REBOOT]==1) - { - g_com_map[CNT_REBOOT]=0; - g_com_map[MAP_SIGN_INDEX]=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[CNT_REBOOT]==1) +// { +// g_com_map[CNT_REBOOT]=0; +// g_com_map[MAP_SIGN_INDEX]=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[CNT_RESTART]==1) { g_com_map[CNT_RESTART]=0; @@ -198,6 +203,11 @@ Modbus_RegMap(); while(1) { + if(g_com_map[0] != 0x55AA) + { + while(1) + IdleTask(); + } if(g_start_send_flag) { g_start_send_flag = 0; -- Gitblit v1.9.3