From 7e864f1d0b26f0e5dd4c073f8fe764eb286fe961 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 06 五月 2021 12:59:59 +0800
Subject: [PATCH] 回退V1.41 无滤波
---
源码/核心板/Src/application/dw_app.h | 3
源码/核心板/Src/application/global_param.c | 20
源码/核心板/Src/main.c | 69 +---
源码/核心板/Src/application/serial_at_cmd_app.c | 3
源码/核心板/Src/stm32f10x_it.c | 2
源码/核心板/MDK-ARM/Project.uvoptx | 46 --
源码/核心板/Src/application/global_param.h | 3
源码/核心板/MDK-ARM/Project.uvguix.Administrator | 806 +++++++++++++++++++++++++++-------------------
源码/核心板/Src/application/dw_app.c | 62 +--
9 files changed, 522 insertions(+), 492 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
index 2965d1d..fd52bff 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
@@ -6,7 +6,7 @@
<Header>### uVision Project, (C) Keil Software</Header>
<PrjGuiSettings>
- <LastAddFilePath>E:\GIT\UWB_SmallModule\婧愮爜\鏍稿績鏉縗MDK-ARM</LastAddFilePath>
+ <LastAddFilePath>E:\GIT\UWB_SmallModule\婧愮爜\鏍稿績鏉縗Src\algorithm</LastAddFilePath>
</PrjGuiSettings>
<ViewPool/>
@@ -15,17 +15,17 @@
<View>
<WinId>38003</WinId>
<ViewName>Registers</ViewName>
- <TableColWidths>116 116</TableColWidths>
+ <TableColWidths>158 158</TableColWidths>
</View>
<View>
<WinId>346</WinId>
<ViewName>Code Coverage</ViewName>
- <TableColWidths>770 160</TableColWidths>
+ <TableColWidths>610 160</TableColWidths>
</View>
<View>
<WinId>204</WinId>
<ViewName>Performance Analyzer</ViewName>
- <TableColWidths>930</TableColWidths>
+ <TableColWidths>770</TableColWidths>
</View>
</SECTreeCtrl>
@@ -93,8 +93,8 @@
<flags>2</flags>
<showCmd>3</showCmd>
<MinPosition>
- <xPos>-32000</xPos>
- <yPos>-32000</yPos>
+ <xPos>-1</xPos>
+ <yPos>-1</yPos>
</MinPosition>
<MaxPosition>
<xPos>-1</xPos>
@@ -110,8 +110,8 @@
<MDIClientArea>
<RegID>0</RegID>
<MDITabState>
- <Len>1547</Len>
- <Data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ata>
+ <Len>3068</Len>
+ 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<ViewEx>
@@ -130,11 +130,11 @@
<RecentRowIndex>0</RecentRowIndex>
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<Len>16</Len>
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+ <Data>A40000004F000000B0030000B3000000</Data>
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<Len>16</Len>
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+ <Data>A400000066000000B0030000CA000000</Data>
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@@ -150,11 +150,11 @@
<RecentRowIndex>0</RecentRowIndex>
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+ <Data>0300000066000000430100002E020000</Data>
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<Len>16</Len>
- <Data>2200000039000000E2000000D9000000</Data>
+ <Data>7000000087000000100100000A010000</Data>
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@@ -170,11 +170,11 @@
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+ <Data>0300000066000000430100002E020000</Data>
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<Len>16</Len>
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+ <Data>70000000870000002C010000E9010000</Data>
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@@ -190,11 +190,11 @@
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+ <Data>0300000052010000AD0300008E010000</Data>
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<Len>16</Len>
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+ <Data>700000008700000048020000DF000000</Data>
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@@ -210,11 +210,11 @@
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+ <Data>0300000052010000AD0300008E010000</Data>
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<Len>16</Len>
- <Data>22000000390000005A020000A7000000</Data>
+ <Data>700000008700000048020000DF000000</Data>
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@@ -230,11 +230,11 @@
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+ <Data>0300000052010000AD0300008E010000</Data>
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<Len>16</Len>
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+ <Data>700000008700000048020000DF000000</Data>
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@@ -250,11 +250,11 @@
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+ <Data>0300000052010000AD0300008E010000</Data>
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+ <Data>700000008700000048020000DF000000</Data>
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@@ -290,11 +290,11 @@
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+ <Data>0300000052010000AD0300008E010000</Data>
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+ <Data>0300000052010000AD0300008E010000</Data>
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+ <CurrentLine>9</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\application\global_param.h</Name>
+ <ColumnNumber>34</ColumnNumber>
+ <TopLine>25</TopLine>
+ <CurrentLine>49</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_md.s</Name>
<ColumnNumber>0</ColumnNumber>
- <TopLine>54</TopLine>
- <CurrentLine>68</CurrentLine>
+ <TopLine>139</TopLine>
+ <CurrentLine>148</CurrentLine>
+ <Folding>0</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\OnChipDevices\ADC.h</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>1</TopLine>
+ <CurrentLine>1</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
@@ -3713,28 +3776,105 @@
<PaneID>0</PaneID>
</Doc>
<Doc>
- <Name>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_iwdg.c</Name>
+ <Name>..\Src\Libraries\STM32F10x_StdPeriph_Driver\inc\stm32f10x_gpio.h</Name>
<ColumnNumber>0</ColumnNumber>
- <TopLine>120</TopLine>
- <CurrentLine>125</CurrentLine>
+ <TopLine>66</TopLine>
+ <CurrentLine>73</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
<Doc>
- <Name>E:\璧勬枡\IMU\STMems_Standard_C_drivers-master\STMems_Standard_C_drivers-master\lsm6dsr_STdC\examples\lsm6dsr_multi_read_fifo.c</Name>
- <ColumnNumber>47</ColumnNumber>
- <TopLine>154</TopLine>
- <CurrentLine>158</CurrentLine>
+ <Name>..\Src\ExternalDevices\led.c</Name>
+ <ColumnNumber>19</ColumnNumber>
+ <TopLine>1</TopLine>
+ <CurrentLine>18</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\ExternalDevices\led.h</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>1</TopLine>
+ <CurrentLine>14</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\application\global_param.c</Name>
+ <ColumnNumber>11</ColumnNumber>
+ <TopLine>25</TopLine>
+ <CurrentLine>51</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\Libraries\STM32F10x_StdPeriph_Driver\inc\stm32f10x_rcc.h</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>493</TopLine>
+ <CurrentLine>498</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\ExternalDevices\beep.h</Name>
+ <ColumnNumber>17</ColumnNumber>
+ <TopLine>3</TopLine>
+ <CurrentLine>28</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\OnChipDevices\ADC.c</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>18</TopLine>
+ <CurrentLine>43</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\algorithm\TrackingDiff.c</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>17</TopLine>
+ <CurrentLine>43</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\Libraries\CMSIS\CM3\CoreSupport\core_cm3.h</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>1711</TopLine>
+ <CurrentLine>1719</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\application\serial_at_cmd_app.h</Name>
+ <ColumnNumber>3</ColumnNumber>
+ <TopLine>1</TopLine>
+ <CurrentLine>5</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\algorithm\filters.c</Name>
+ <ColumnNumber>1</ColumnNumber>
+ <TopLine>1</TopLine>
+ <CurrentLine>23</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
</MDIGroup>
</MDIGroups>
-
- <Bookmarks>
- <ListItem>..\Src\application\dw_app.c 444</ListItem>
- </Bookmarks>
</ProjectGui>
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
index 5bb77d4..dc664c2 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
@@ -158,24 +158,7 @@
<Name>-T0</Name>
</SetRegEntry>
</TargetDriverDllRegistry>
- <Breakpoint>
- <Bp>
- <Number>0</Number>
- <Type>0</Type>
- <LineNumber>287</LineNumber>
- <EnabledFlag>1</EnabledFlag>
- <Address>134260040</Address>
- <ByteObject>0</ByteObject>
- <HtxType>0</HtxType>
- <ManyObjects>0</ManyObjects>
- <SizeOfObject>0</SizeOfObject>
- <BreakByAccess>0</BreakByAccess>
- <BreakIfRCount>1</BreakIfRCount>
- <Filename>E:\GIT\UWB_SmallModule\濠ф劗鐖淺Src\main.c</Filename>
- <ExecCommand></ExecCommand>
- <Expression>\\UWB_Projects\../Src/main.c\287</Expression>
- </Bp>
- </Breakpoint>
+ <Breakpoint/>
<WatchWindow1>
<Ww>
<count>0</count>
@@ -235,32 +218,7 @@
<Ww>
<count>11</count>
<WinNumber>1</WinNumber>
- <ItemText>g_Resttimer,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>12</count>
- <WinNumber>1</WinNumber>
- <ItemText>rx_buffer[MESSAGE_TYPE_IDX]</ItemText>
- </Ww>
- <Ww>
- <count>13</count>
- <WinNumber>1</WinNumber>
- <ItemText>rx_buffer</ItemText>
- </Ww>
- <Ww>
- <count>14</count>
- <WinNumber>1</WinNumber>
- <ItemText>g_start_send_flag</ItemText>
- </Ww>
- <Ww>
- <count>15</count>
- <WinNumber>1</WinNumber>
- <ItemText>hex_dist,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>16</count>
- <WinNumber>1</WinNumber>
- <ItemText>rlv,0x0A</ItemText>
+ <ItemText>g_Resttimer</ItemText>
</Ww>
</WatchWindow1>
<MemoryWindow1>
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
index f5c4a53..3d19917 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
@@ -338,17 +338,10 @@
tx_nearpoll_msg[SEQUENCE_IDX] = frame_seq_nb++;
tx_nearpoll_msg[NEARBASENUM_INDEX] = nearbase_num;
memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
- for(i=0;i<nearbase_num;i++)
- { memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*2+i*2],&nearbase_distlist[i],2);}
-
- for(i=0;i<MAX_NEARBASE_NUM;i++)
- {
- nearbase_distlist[i]=0x1ffff;
- }
tx_nearpoll_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
memcpy(&tx_nearpoll_msg[ANCHOR_ID_IDX],&mainbase_id,2);
- dwt_writetxdata(13+4*nearbase_num, tx_nearpoll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(13+4*nearbase_num, 0);//设置超宽带发送数据长度
+ dwt_writetxdata(13+2*nearbase_num, tx_nearpoll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(13+2*nearbase_num, 0);//设置超宽带发送数据长度
dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
flag_finalsend=0;
@@ -457,8 +450,7 @@
if(temp_dist!=0x1ffff)
{
g_Resttimer=0;
- IWDG_Feed();
- #ifdef USART_SINGLE_OUTPUT
+ #ifndef USART_INTEGRATE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
usart_send[4] = frame_seq_nb;//数据段长度
@@ -508,7 +500,7 @@
// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
if(temp_dist!=0x1ffff)
{
- #ifdef USART_SINGLE_OUTPUT
+ #ifndef USART_INTEGRATE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
usart_send[4] = frame_seq_nb;//数据段长度
@@ -615,7 +607,10 @@
report_num++;
}
}
-
+ for(i=0;i<MAX_NEARBASE_NUM;i++)
+ {
+ nearbase_distlist[i]=0x1ffff;
+ }
// printf("%d,%d",temp_sync_timer2,temp_sync_timer1);
#ifdef USART_INTEGRATE_OUTPUT
@@ -829,7 +824,6 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
-extern u16 dist_threshold;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
@@ -880,7 +874,9 @@
}
result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
-
+ battary = rx_buffer[BATTARY_IDX];
+ button = rx_buffer[BUTTON_IDX];
+ frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
if(result==0)
{
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
@@ -926,18 +922,16 @@
/*--------------------------以下为非测距逻辑------------------------*/
//dist_cm=33000;
getrange_success = 1;
-
+ g_Resttimer=0;
LED0_BLINK; //每成功一次通讯则闪烁一次
dis_after_filter=dist_cm;
hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
g_flag_Taggetdist[taglist_pos]=0;
if(hex_dist>0&&hex_dist<2000000)
{
- if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
+ if(abs(hex_dist-his_dist[taglist_pos])<10000||misdist_num[taglist_pos]>3)
{
int32_t filter_dist;
- g_Resttimer=0;
- IWDG_Feed();
#ifdef TDFILTER
NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
filter_dist=pos_predict[taglist_pos]/10;
@@ -948,7 +942,7 @@
tagdist_list[taglist_pos] = filter_dist;
his_dist[taglist_pos]=hex_dist;
g_Tagdist[taglist_pos]=filter_dist;
- #ifdef USART_SINGLE_OUTPUT
+ #ifndef USART_INTEGRATE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
usart_send[4] = frame_seq_nb2;//数据段长度
@@ -979,7 +973,7 @@
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
-u16 ancidlist_rec[20],ancidlist_send[20],rec_ancidlist[20],rec_ancdistlist[20];
+u16 ancidlist_rec[20],ancidlist_send[20];
void Anchor_App(void)
{
@@ -1057,28 +1051,8 @@
}
break;
- case NEAR_POLL:
- frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
- battary = rx_buffer[BATTARY_IDX];
- button = rx_buffer[BUTTON_IDX];
- rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
+ case NEAR_POLL:
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
- memcpy(&rec_ancidlist,&rx_buffer[NEARBASEID_INDEX],2*rec_nearbase_num);
- memcpy(&rec_ancdistlist,&rx_buffer[NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
- #ifdef USART_ALL_OUTPUT
- usart_send[2] = 0x0c;//正常模式
- usart_send[3] = 8+rec_nearbase_num*4;//数据段长度
- usart_send[4] = frame_seq_nb2;//数据段长度
- usart_send[5] = battary;
- usart_send[6] = button;
- usart_send[7] = rec_nearbase_num;
- memcpy(&usart_send[8],&tag_id_recv,2);
- memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);
- memcpy(&usart_send[10+rec_nearbase_num*2],&rec_ancdistlist,2*rec_nearbase_num);
- checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
- memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
- UART_PushFrame(usart_send,12+rec_nearbase_num*4);
- #endif
if(tag_id_recv>=g_com_map[WHITELIST1_START]&&tag_id_recv<=g_com_map[WHITELIST1_END])
{break;}
taglist_pos=CmpTagInList(tag_id_recv);
@@ -1092,9 +1066,9 @@
new_tagid=0;
}
tagofflinetime[taglist_pos]=0;
- temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
+ temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
tagpos_rec[(u8)temp_tagpos]=1;
-
+ rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
if(rec_nearbase_num>ancidlist_num)
{
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
index 708049b..771b8c7 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
@@ -19,10 +19,7 @@
#include "beep.h"
#include <math.h>
#include "TrackingDiff.h"
-
-//#define USART_SINGLE_OUTPUT
#define USART_INTEGRATE_OUTPUT
-//#define USART_ALL_OUTPUT
//#define NEWBOARD
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
index 9d7dee0..3bf5b38 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
@@ -17,9 +17,14 @@
__enable_irq();
return result;
}
-void FactorySettings(void)
+
+void parameter_init(void)
{
- g_com_map[0] = 0x55AA;
+ FLASH_Read(FLASH_IAP_CTRL_MAP, (uint8_t*)&g_com_map, (COM_MAP_SIZE<<1));
+
+ if(g_com_map[0] != 0x55AA)
+ {
+ g_com_map[0] = 0x55AA;
g_com_map[DEV_ID] =0x04;//DEFAULT_DEV_ID; //默认设备ID
g_com_map[COM_INTERVAL]=100;
@@ -42,20 +47,9 @@
g_com_map[CNT_UPDATE]=0;
g_com_map[NEARBASE_NUM]=0;
g_com_map[POWER]=30;
- g_com_map[SPEEDFILTER_THRES]=10000;
g_com_map[FILTER_COEFFICIENT]=40;
//memcpy(&g_com_map[BOARD_TYPE],boardtype,4);
save_com_map_to_flash();
- delay_ms(100);
-}
-void parameter_init(void)
-{
- FLASH_Read(FLASH_IAP_CTRL_MAP, (uint8_t*)&g_com_map, (COM_MAP_SIZE<<1));
-
- if(g_com_map[0] != 0x55AA&&g_com_map[CNT_REBOOT]!=0)
- {
- FactorySettings();
- NVIC_SystemReset();
}
}
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
index 4b7f7db..c2cd41e 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
@@ -46,7 +46,6 @@
#define MOTOR_ENABLE 0x1E
#define IMU_ENABLE 0x1F
#define FILTER_COEFFICIENT 0x20
-#define SPEEDFILTER_THRES 0x24 //滤波参数
#define WHITELIST1_START 0x25
#define WHITELIST1_END 0x26
#define SW_TYPE 0x27
@@ -66,6 +65,6 @@
extern uint32_t save_com_map_to_flash(void);
extern void parameter_init(void);
-void FactorySettings(void);
+
#endif
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/serial_at_cmd_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/serial_at_cmd_app.c"
index 2993869..c81b079 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/serial_at_cmd_app.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/serial_at_cmd_app.c"
@@ -35,11 +35,12 @@
send_frame[3] = 8;
send_frame[4] = pack_msgtype;
send_frame[5] = pack_length;
-
+OUT485_ENABLE;
checksum = Checksum_u16(&send_frame[2],8);
memcpy(&send_frame[10],&checksum,2);
USART_puts(send_frame, 12);
+ OUT485_DISABLE;
}
void SendComMap(uint8_t data_length, uint8_t index)
{
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 f4eee9c..003a31c 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"
@@ -12,34 +12,7 @@
#include "ADC.h"
//#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();
@@ -54,8 +27,7 @@
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;
@@ -73,7 +45,7 @@
memcpy(&hbsend[14],&checksum,2);
}
uint16_t vel_factor,pos_factor;
-u16 tyncpoll_time,dist_threshold;
+u16 tyncpoll_time;
u16 slottime,max_slotpos;
extern u8 module_power;
extern u16 total_slotnum;
@@ -100,13 +72,7 @@
{
g_com_map[COM_INTERVAL]=100;
}
-
- g_com_map[VERSION] = 0x012e;
-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[VERSION] = 0x012a;
g_com_map[SW_TYPE] = SW_FANGZHUANG;
dev_id = g_com_map[DEV_ID];
slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
@@ -191,15 +157,15 @@
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();
-// }
-// }
+ 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);
@@ -242,10 +208,12 @@
// Delay_ms(100);
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
- if(g_com_map[CNT_REBOOT]==1)
+ if(g_com_map[CNT_REBOOT]==1)
{
- FactorySettings();
-
+ 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)
@@ -255,13 +223,12 @@
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)
+ 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)
{
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c"
index 58eb6ef..3905386 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c"
@@ -65,7 +65,7 @@
TagListUpdate();
}
- if(g_Resttimer++>10000)
+ if(g_Resttimer++>20000)
{
NVIC_SystemReset();
}
--
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