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;	

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