From 5b6fe0edc2790d1948c09b191a2a565e8874f875 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 24 五月 2022 09:57:23 +0800
Subject: [PATCH] V1.64 只和3个基站测距
---
源码/核心板/Src/main.c | 59 ++++++++++++++++++++++++++++++++---------------------------
1 files changed, 32 insertions(+), 27 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 7897c35..2218dec 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"
@@ -44,6 +44,7 @@
checksum = Checksum_u16(&hbsend[2],12);
memcpy(&hbsend[14],&checksum,2);
}
+uint16_t vel_factor,pos_factor;
u16 tyncpoll_time;
u16 slottime,max_slotpos;
extern u8 module_power;
@@ -71,30 +72,34 @@
{
g_com_map[COM_INTERVAL]=100;
}
- g_com_map[VERSION] = 0x011e;
+ g_com_map[VERSION] = 0x0140;
+ g_com_map[SW_TYPE] = SW_FANGZHUANG;
dev_id = g_com_map[DEV_ID];
- slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
+ slottime=4;
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])
- {
- 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]);
- }
+// 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]);
+// }
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]);
@@ -151,16 +156,16 @@
}
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();
- }
- }
+// 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);
@@ -172,7 +177,7 @@
tagpos_rec[i] = 0;
}
}
- if(target_time>1000)
+ if(target_time>=1000)
{target_time-=1000;}
#ifdef USART_INTEGRATE_OUTPUT
if(g_com_map[DEV_ROLE]==0&&usart_send_flag)
@@ -218,12 +223,12 @@
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)
+ if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0||g_com_map[COM_INTERVAL]>1000)
{
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
- }
+ }
int main(void)
{
--
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