From 5f02075313d646cd2bdb7a5ff720870455ba61fc Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期三, 29 十一月 2023 10:08:12 +0800
Subject: [PATCH] V1.4 去掉阈值修改，增加滤波功能，客户反馈还不行
---
源码/核心板/Src/main.c | 218 +++++++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 197 insertions(+), 21 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 3a36165..4526797 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"
@@ -11,8 +12,35 @@
#include "global_param.h"
#include "ADC.h"
-#define DEBUG_MODE
+//#define DEBUG_MODE
+/*
+ * rlv:重装载寄存器的值，取值范围为：0-0XFFF
+ * 函数调用举例：
+ * IWDG_Config(IWDG_Prescaler_64 ,625); // IWDG 1s 超时溢出
+ * （64/40）*625 = 1s
+ */
+void IWDG_Config(uint8_t prv ,uint16_t rlv)
+{
+ // 使能 预分频寄存器PR和重装载寄存器RLR可写
+ IWDG_WriteAccessCmd( IWDG_WriteAccess_Enable );
+
+ // 设置预分频器值
+ IWDG_SetPrescaler( prv );
+
+ // 设置重装载寄存器值
+ IWDG_SetReload( rlv );
+
+ // 把重装载寄存器的值放到计数器中
+ IWDG_ReloadCounter();
+
+ // 使能 IWDG
+ IWDG_Enable();
+}
+void IWDG_Feed(void)
+{
+ IWDG_ReloadCounter();
+}
void Device_Init(void)
{
RCC_Configuration();
@@ -27,7 +55,8 @@
Uart1_Init();
Spi_Init();
ADC_Configuration();
-
+ IWDG_Config(IWDG_Prescaler_128 ,4095); //10s
+ IWDG_Feed();
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
}
u8 anchor_type;
@@ -44,8 +73,31 @@
checksum = Checksum_u16(&hbsend[2],12);
memcpy(&hbsend[14],&checksum,2);
}
-u16 tyncpoll_time;
+
+uint16_t vel_factor,pos_factor;
+u16 tyncpoll_time,dist_threshold,group_id;
u16 slottime,max_slotpos;
+extern u8 module_power;
+extern u16 total_slotnum;
+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;
+ }
+}
+u16 JDQ_time;
+int16_t g_commap_antdelay;
+extern float fiter_p;
void Program_Init(void)
{ float temp;
u16 temp2;
@@ -54,20 +106,67 @@
parameter_init();
//deca_sleep(1000);
HeartBeatInit();
+ Modbus_RegMap();
#ifdef DEBUG_MODE
- g_com_map[DEV_ROLE]=1;
- g_com_map[DEV_ID]=1;
- g_com_map[COM_INTERVAL]=100;
- g_com_map[MAX_REPORT_ANC_NUM]=3;
- g_com_map[NEARBASE_NUM]=1;
- g_com_map[NEARBASE_ID1]=1;
+// g_com_map[DEV_ROLE]=1;
+// g_com_map[DEV_ID]=1;
+// g_com_map[COM_INTERVAL]=100;
+// g_com_map[MAX_REPORT_ANC_NUM]=3;
+// g_com_map[NEARBASE_NUM]=1;
+// g_com_map[NEARBASE_ID1]=2;
+ 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;
+
+
OUT485_ENABLE;
- g_com_map[VERSION] = 0x0107;
+ ComMapCheck();
+ g_com_map[VERSION] = 1<<8|4;
+ 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]);
+ if(dist_threshold<300)
+ {dist_threshold = 300;}
+ if(dist_threshold>15000)
+ {dist_threshold = 15000;}
+ 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];
- slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*4/3);
+ 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;
+ 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];
+ fiter_p = (float)g_com_map[FILTER_COEFFICIENT]/100;
+ if(module_power>67)
+ {
+ module_power=67;
+ }
if(g_com_map[DEV_ROLE])
{
@@ -88,7 +187,7 @@
for(i=0;i<255;i++)
{
- g_Tagdist[i]=0xffff;
+ g_Tagdist[i]=0x1ffff;
}
}
@@ -105,20 +204,73 @@
{
UART_PushFrame(hbsend,16);
}
-extern u8 g_start_sync_flag;
-u16 heartbeat_timer,poll_timer,sync_timer;
+uint16_t temp;
+float dw_vbat;
+void StartUpTest(void)
+{
+ temp=dwt_readtempvbat(1);
+ dw_vbat=(float)((temp&0xff)-173)/173+3.3;
+ if(dw_vbat<2.8)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+}
+extern u8 g_start_sync_flag,usart_send_flag,anc_report_num;
+u16 heartbeat_timer,poll_timer;
+int16_t sync_timer;
+extern u8 flag_newsecond, tagpos_rec[50], tagpos_send[50],ancidlist_num;
+uint32_t tagpos_binary;
+extern u16 ancidlist_rec[20],ancidlist_send[20];
+extern u16 target_time;
void IdleTask(void)
{
- g_start_sync_flag=0;
+
UART_CheckReceive();
UART_CheckSend();
+
if(heartbeat_timer>1000)
{
heartbeat_timer=0;
- if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
+ if(g_com_map[HEARTBEAT])
HeatBeat();
}
-
+ 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();
+// }
+// }
+ flag_newsecond=0;
+ tagpos_binary=0;
+ memcpy(ancidlist_send,ancidlist_rec,ancidlist_num*2);
+ ancidlist_num=0;
+ for(u8 i=0;i<max_slotpos;i++)
+ {
+ if(tagpos_rec[i])
+ tagpos_binary|=1<<i;
+ tagpos_rec[i] = 0;
+ }
+ }
+ if(target_time>=1000)
+ {target_time-=1000;}
+ #ifdef USART_INTEGRATE_OUTPUT
+ if(g_com_map[DEV_ROLE]==0&&usart_send_flag)
+ {u16 checksum;
+ usart_send_flag=0;
+ usart_send_anc[2] = 5;//正常模式
+ usart_send_anc[3] = anc_report_num*6+2;//正常模式
+ checksum = Checksum_u16(&usart_send_anc[2],anc_report_num*6+2);
+ memcpy(&usart_send_anc[4+anc_report_num*6],&checksum,2);
+ UART_PushFrame(usart_send_anc,6+anc_report_num*6);
+ anc_report_num=0;
+ }
+ #endif
if(g_com_map[CNT_UPDATE]==1)
{
uint32_t result = 0;
@@ -136,24 +288,47 @@
// Delay_ms(100);
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
+ if(g_com_map[CNT_REBOOT]==1)
+ {
+ FactorySettings();
+
+ 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;
+ save_com_map_to_flash();
+ 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)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+ g_com_map[RELAY1_STATE_INDEX] = READ_RELAY1;
+ g_com_map[RELAY2_STATE_INDEX] = READ_RELAY2;
}
+
int main(void)
{
- Device_Init();
+ Device_Init();
+ //StartUpTest();
Program_Init();
Dw1000_Init();
- delay_ms(10);
+ delay_ms(10);
Dw1000_App_Init();
/* Loop forever initiating ranging exchanges. */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
usart_send[0]=0x55;
usart_send[1]=0xAA;
-
+ usart_send_anc[0]=0x55;
+ usart_send_anc[1]=0xAA;
+
while(1)
{
-
+ g_start_sync_flag=0;
if(g_start_send_flag)
{
g_start_send_flag = 0;
@@ -162,6 +337,7 @@
IdleTask();
if(g_com_map[DEV_ROLE]==0)
Anchor_App();
+
}
}
--
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