From 7d3477c256ef93ce3190c1d7740c90ee941311cd Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 07 四月 2022 21:00:49 +0800
Subject: [PATCH] V1.70
---
源码/核心板/Src/main.c | 168 +++++++++++++++++++++++++++++++++++++------------------
1 files changed, 113 insertions(+), 55 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 f1c5bcf..eb5bba2 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"
@@ -13,23 +14,6 @@
//#define DEBUG_MODE
/*
- * 设置 IWDG 的超时时间
- * Tout = prv/40 * rlv (s)
- * prv可以是[4,8,16,32,64,128,256]
- * prv:预分频器值，取值如下：
- * @arg IWDG_Prescaler_4: IWDG prescaler set to 4
- * @arg IWDG_Prescaler_8: IWDG prescaler set to 8
- * @arg IWDG_Prescaler_16: IWDG prescaler set to 16
- * @arg IWDG_Prescaler_32: IWDG prescaler set to 32
- * @arg IWDG_Prescaler_64: IWDG prescaler set to 64
- * @arg IWDG_Prescaler_128: IWDG prescaler set to 128
- * @arg IWDG_Prescaler_256: IWDG prescaler set to 256
- *
- * 独立看门狗使用LSI作为时钟。
- * LSI 的频率一般在 30~60KHZ 之间，根据温度和工作场合会有一定的漂移，我
- * 们一般取 40KHZ，所以独立看门狗的定时时间并一定非常精确，只适用于对时间精度
- * 要求比较低的场合。
- *
* 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
@@ -71,29 +55,50 @@
Uart1_Init();
Spi_Init();
ADC_Configuration();
- IWDG_Config(IWDG_Prescaler_128 ,4095); //10s
- IWDG_Feed();
+// IWDG_Config(IWDG_Prescaler_128 ,4095); //10s
+// IWDG_Feed();
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
}
u8 anchor_type;
u32 dev_id;
-u8 hbsend[16];
+u8 hbsend[26];
void HeartBeatInit(void)
{
u16 checksum;
hbsend[0]=0x55;
hbsend[1]=0xAA;
hbsend[2]=0x2;
- hbsend[3]=0xc;
+ hbsend[3]=0x16;
memcpy(&hbsend[4],&g_com_map[DEV_ID],2);
- checksum = Checksum_u16(&hbsend[2],12);
- memcpy(&hbsend[14],&checksum,2);
}
+
uint16_t vel_factor,pos_factor;
-u16 tyncpoll_time,dist_threshold;
+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;
+ }
+ if(dist_threshold<300)
+ {dist_threshold = 300;}
+ if(dist_threshold>15000)
+ {dist_threshold = 15000;}
+}
+u16 JDQ_time;
+int16_t g_commap_antdelay;
void Program_Init(void)
{ float temp;
u16 temp2;
@@ -112,20 +117,40 @@
g_com_map[ANC_FLAG]=1;
save_com_map_to_flash();
#endif
- OUT485_ENABLE;
- if(g_com_map[COM_INTERVAL]==0)
- {
- g_com_map[COM_INTERVAL]=100;
- }
+//
+// 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[VERSION] = 0x012b;
-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_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] = (1<<8)|(70);
+ 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]);
+ 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];
+ 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;
@@ -133,7 +158,7 @@
total_slotnum = 1000/g_com_map[COM_INTERVAL];
vel_factor=g_com_map[FILTER_COEFFICIENT];
pos_factor=g_com_map[FILTER_COEFFICIENT];
-
+ComMapCheck();
if(module_power>67)
{
module_power=67;
@@ -145,8 +170,7 @@
// 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];
+// 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]);
@@ -158,7 +182,7 @@
for(i=0;i<255;i++)
{
- g_Tagdist[i]=0xffff;
+ g_Tagdist[i]=0x1ffff;
}
}
@@ -171,9 +195,35 @@
*
* @return none
*/
+u8 selftest[2];
void HeatBeat(void)
{
-UART_PushFrame(hbsend,16);
+ u16 checksum;
+ selftest[0]=1;
+ selftest[1]=0;
+ memcpy(&hbsend[6],selftest,2);
+ memcpy(&hbsend[14],uartrec_userdata,10);
+ checksum = Checksum_u16(&hbsend[2],22);
+ memcpy(&hbsend[24],&checksum,2);
+ UART_PushFrame(hbsend,26);
+}
+void ClearUartUserData(void)
+{
+ u8 i;
+ for(i=0;i<USERDATA_MAXLEN;i++)
+ {
+ uartrec_userdata[i] = 0;
+ }
+ usartrec_userdatalen = 0;
+}
+void ClearUWBUserData(void)
+{
+ u8 i;
+ for(i=0;i<USERDATA_MAXLEN;i++)
+ {
+ uwbrec_userdata[i] = 0;
+ }
+ uwbrec_userdatalen = 0;
}
uint16_t temp;
float dw_vbat;
@@ -198,13 +248,19 @@
UART_CheckReceive();
UART_CheckSend();
-
- if(heartbeat_timer>1000)
- {
- heartbeat_timer=0;
- if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
- HeatBeat();
- }
+// if(g_com_map[HEARTBEAT])
+// {
+ if(heartbeat_timer>=200)
+ {
+ heartbeat_timer=0;
+ HeatBeat();
+ }
+ if(userdata_timer>=200)
+ {
+ userdata_timer = 0;
+ ClearUartUserData();
+ }
+// }
if(flag_newsecond)
{
uint32_t temp23;
@@ -262,7 +318,7 @@
if(g_com_map[CNT_REBOOT]==1)
{
FactorySettings();
- delay_ms(100);
+
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
if(g_com_map[CNT_RESTART]==1)
@@ -282,7 +338,7 @@
int main(void)
{
- Device_Init();
+ Device_Init();
//StartUpTest();
Program_Init();
Dw1000_Init();
@@ -298,13 +354,15 @@
while(1)
{
g_start_sync_flag=0;
- if(g_start_send_flag)
- {
- g_start_send_flag = 0;
- Tag_App();
- }
+
+ if(g_start_send_flag)
+ {
+ g_start_send_flag = 0;
+ Tag_App();
+ }
+
IdleTask();
-if(g_com_map[DEV_ROLE]==0)
+ if(g_com_map[DEV_ROLE]==0)
Anchor_App();
}
--
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