From 6e7d484264afa951a0491cb4a868580a2f0b647b Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 25 八月 2021 15:05:24 +0800
Subject: [PATCH] map表检查
---
源码/核心板/Src/main.c | 72 +++++++++++++++--------------------
1 files changed, 31 insertions(+), 41 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 4ce2091..bf4e8de 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"
@@ -14,7 +14,6 @@
#include "deca_device_api.h"
#include "Flash.h"
//#define DEBUG_MODE
-
void Device_Init(void)
{
RCC_Configuration();
@@ -52,6 +51,7 @@
uint16_t vel_factor,pos_factor;
extern u8 module_power;
+u16 slottime,max_slotnum,current_slotpos,dist_threshold;
void Program_Init(void)
{uint16_t i;
float temp;
@@ -79,6 +79,11 @@
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];
@@ -86,14 +91,18 @@
{
module_power=67;
}
- g_com_map[VERSION] = 0x011d;
+ g_com_map[VERSION] = 0x012e;
+ g_com_map[SW_TYPE] = SW_MODBUS;
temp=(float)g_com_map[MAX_REPORT_ANC_NUM]*4/3;
- temp2=g_com_map[DEV_ID]*g_com_map[MAX_REPORT_ANC_NUM]*4/3;
+ temp2=g_com_map[MAX_REPORT_ANC_NUM]*4/3;
if(temp2<temp)
{
temp2++;
}
- tyncpoll_time=g_com_map[DEV_ID]*(temp2);
+ slottime=temp2;
+ max_slotnum=g_com_map[COM_INTERVAL]/temp2;
+ current_slotpos=g_com_map[DEV_ID];
+ tyncpoll_time=(current_slotpos%max_slotnum)*slottime;
if(g_com_map[DEV_ROLE])
{
printf("标签ID: %d .\r\n",dev_id);
@@ -109,7 +118,7 @@
// 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]);
-
+ memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
for(i=0;i<255;i++)
{
g_Tagdist[i]=0xffff;
@@ -134,8 +143,18 @@
void IdleTask(void)
{
g_start_sync_flag=0;
- UART_CheckReceive();
- UART_CheckSend();
+ UART_CheckReceive();
+ UART_CheckSend();
+ if( memcmp(g_com_map2,g_com_map,COM_MAP_SIZE)!=0)
+ {
+ SendAnchorState(SM_MAPERROR);
+ delay_ms(100);
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+ if(g_com_map[MAP_SIGN_INDEX]!=0x55AA)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
if(heartbeat_timer>1000)
{
heartbeat_timer=0;
@@ -143,45 +162,11 @@
HeatBeat();
}
- if(g_com_map[CNT_UPDATE]==1)
- {
- uint32_t result = 0;
- u16 tmp = 0xAAAA;
- __disable_irq();
- result = FLASH_Prepare(0x8004A38, 2);
- if(result)
- 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
- }
-
}
uint16_t temp;
float dw_vbat;
int main(void)
{
-
Device_Init();
Program_Init();
Dw1000_Init();
@@ -194,6 +179,11 @@
Modbus_RegMap();
while(1)
{
+ if(g_com_map[0] != 0x55AA)
+ {
+ while(1)
+ IdleTask();
+ }
if(g_start_send_flag)
{
g_start_send_flag = 0;
--
Gitblit v1.9.3