From b660ffcc47c00bdf00a40a2c8b7fcb60e6fc794e Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期日, 19 九月 2021 18:05:08 +0800
Subject: [PATCH] V1.66 修改继电器触发延迟BUG
---
源码/核心板/Src/main.c | 67 +++++++++++++++++----------------
1 files changed, 35 insertions(+), 32 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..2be0a88 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
@@ -89,11 +73,34 @@
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;
+u16 g_commap_antdelay;
void Program_Init(void)
{ float temp;
u16 temp2;
@@ -113,19 +120,15 @@
save_com_map_to_flash();
#endif
OUT485_ENABLE;
- if(g_com_map[COM_INTERVAL]==0)
- {
- g_com_map[COM_INTERVAL]=100;
- }
-
- 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;}
+ ComMapCheck();
+ g_com_map[VERSION] = 0x0138;
+ 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 = (float)g_com_map[ANT_LENGTH]*5.8;
+ 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;
@@ -202,7 +205,7 @@
if(heartbeat_timer>1000)
{
heartbeat_timer=0;
- if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
+ if(g_com_map[HEARTBEAT])
HeatBeat();
}
if(flag_newsecond)
@@ -262,7 +265,7 @@
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 +285,7 @@
int main(void)
{
- Device_Init();
+ Device_Init();
//StartUpTest();
Program_Init();
Dw1000_Init();
--
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