From 8ce130f6cc614e60783c162153dc438ee43ad460 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 17 九月 2021 16:52:43 +0800
Subject: [PATCH] V2.26
---
源码/核心板/Src/main.c | 62 ++++++++++---------------------
1 files changed, 20 insertions(+), 42 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 65bed40..7e1f98c 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"
@@ -63,10 +63,10 @@
{module_power=MAX_RFPOWER;}
if(module_power<0)
{module_power=0;}
- if(g_com_map[MAX_REPORT_ANC_NUM]>10)
- {g_com_map[MAX_REPORT_ANC_NUM]=10;}
- if(g_com_map[MAX_REPORT_ANC_NUM]<1)
- {g_com_map[MAX_REPORT_ANC_NUM]=1;}
+// if(g_com_map[MAX_REPORT_ANC_NUM]>10)
+// {g_com_map[MAX_REPORT_ANC_NUM]=10;}
+// if(g_com_map[MAX_REPORT_ANC_NUM]<1)
+// {g_com_map[MAX_REPORT_ANC_NUM]=1;}
if(g_com_map[IMU_THRES]>10)
{g_com_map[IMU_THRES]=10;}
if(g_com_map[IMU_THRES]<1)
@@ -94,7 +94,7 @@
#endif
OUT485_ENABLE;
ComMapCheck();
- g_com_map[VERSION] = 0x0217;
+ g_com_map[VERSION] = 0x021a;
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;
@@ -120,11 +120,13 @@
// 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]=0x1ffff;
+ IdleTask();
}
+
}
/*! ------------------------------------------------------------------------------------------------------------------
@@ -150,6 +152,8 @@
}else{
hbsend[6] = 1;
}
+ if(intheight!=0)
+ intheight+=(int16_t)g_com_map[MAX_REPORT_ANC_NUM];
memcpy(&hbsend[7],&intheight,4);
checksum = Checksum_u16(&hbsend[2],12);
memcpy(&hbsend[14],&checksum,2);
@@ -169,7 +173,13 @@
UART_CheckSend();
UART2_CheckReceive();
- if(heartbeat_timer>1000)
+// 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(heartbeat_timer>60000)
{
heartbeat_timer=0;
if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
@@ -202,39 +212,7 @@
anc_report_num=0;
}
#endif
- 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
- }
- if(g_com_map[MAP_SIGN_INDEX]!=0x55AA)
+ if(g_com_map[MAP_SIGN_INDEX]!=0x55AA)
{
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
@@ -247,7 +225,7 @@
Program_Init();
Dw1000_Init();
BarInit();
- delay_ms(10);
+ delay_ms(10);
Dw1000_App_Init();
/* Loop forever initiating ranging exchanges. */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
@@ -265,7 +243,7 @@
Tag_App();
}
IdleTask();
-if(g_com_map[DEV_ROLE]==0)
+if(g_com_map[DEV_ROLE]!=1)
Anchor_App();
}
--
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