From 4d532fcd1dcf3484a3e614347aa2164ca331ab74 Mon Sep 17 00:00:00 2001 From: zhyinch <zhyinch@gmail.com> Date: 星期五, 27 十一月 2020 11:25:46 +0800 Subject: [PATCH] V1.36 --- 源码/核心板/Src/main.c | 25 +++++++++++++++---------- 1 files changed, 15 insertions(+), 10 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 f8ce3ce..53b060e 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" @@ -52,7 +52,7 @@ 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 +80,11 @@ 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 +92,7 @@ { module_power=67; } - g_com_map[VERSION] = 0x011e; + g_com_map[VERSION] = 0x0124; 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; -- Gitblit v1.9.3