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 | 129 +++++++++++++++++++++++++++++++++++++++----
1 files changed, 117 insertions(+), 12 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 ffa53e1..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"
@@ -11,6 +11,7 @@
#include "global_param.h"
#include "ADC.h"
+//#define DEBUG_MODE
void Device_Init(void)
{
@@ -44,21 +45,46 @@
memcpy(&hbsend[14],&checksum,2);
}
u16 tyncpoll_time;
+u16 slottime,max_slotpos;
+extern u8 module_power;
+extern u16 total_slotnum;
void Program_Init(void)
-{uint16_t i;
+{ float temp;
+ u16 temp2;
+ uint16_t i;
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();
//deca_sleep(1000);
HeartBeatInit();
- dev_id = g_com_map[DEV_ID];
+#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
// g_com_map[DEV_ID]=1;
-// g_com_map[COM_INTERVAL]=10;
+// 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
OUT485_ENABLE;
- g_com_map[VERSION] = 0x0104;
+ 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]*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])
{
- tyncpoll_time=g_com_map[DEV_ID]*g_com_map[MAX_REPORT_ANC_NUM]*4/3;
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]);
@@ -93,20 +119,73 @@
{
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)
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;
@@ -117,16 +196,39 @@
result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2);
__enable_irq();
printf("进入升级模式\r\n");
+ g_com_map[CNT_UPDATE]=0;
+ save_com_map_to_flash();
+ delay_ms(100);
// STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
// 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);
@@ -135,18 +237,21 @@
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)
{
- IdleTask();
+ g_start_sync_flag=0;
if(g_start_send_flag)
{
g_start_send_flag = 0;
Tag_App();
}
-
+ IdleTask();
if(g_com_map[DEV_ROLE]==0)
Anchor_App();
+
}
}
--
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