From 61b5220eefbec3fff8df2fa0ff13d216626df280 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期六, 07 十一月 2020 17:40:07 +0800
Subject: [PATCH] Revert "Revert "Revert "V1.34 增加滤波 防撞1对10发货"""
---
源码/核心板/Src/main.c | 88 ++++++++++++++++++++++++++++++++++++++++---
1 files changed, 81 insertions(+), 7 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 327263c..014e391 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"
@@ -46,6 +46,8 @@
}
u16 tyncpoll_time;
u16 slottime,max_slotpos;
+extern u8 module_power;
+extern u16 total_slotnum;
void Program_Init(void)
{ float temp;
u16 temp2;
@@ -65,12 +67,21 @@
save_com_map_to_flash();
#endif
OUT485_ENABLE;
- g_com_map[VERSION] = 0x010e;
+ if(g_com_map[COM_INTERVAL]==0)
+ {
+ g_com_map[COM_INTERVAL]=100;
+ }
+ g_com_map[VERSION] = 0x0121;
dev_id = g_com_map[DEV_ID];
- slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]/4)+4;
+ 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];
+ if(module_power>67)
+ {
+ module_power=67;
+ }
if(g_com_map[DEV_ROLE])
{
@@ -108,20 +119,62 @@
{
UART_PushFrame(hbsend,16);
}
+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,sync_timer;
+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)
{
- main_logic();
+
UART_CheckReceive();
UART_CheckSend();
+
if(heartbeat_timer>1000)
{
heartbeat_timer=0;
if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
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;
@@ -132,6 +185,7 @@
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;
@@ -149,12 +203,32 @@
// 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;
+ 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
+ }
}
int main(void)
{
Device_Init();
+ //StartUpTest();
Program_Init();
Dw1000_Init();
delay_ms(10);
@@ -165,7 +239,7 @@
usart_send[1]=0xAA;
usart_send_anc[0]=0x55;
usart_send_anc[1]=0xAA;
-
+
while(1)
{
g_start_sync_flag=0;
--
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