From b67408ed367738d5b235ee6bd06e25258e0cbf04 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期六, 07 十一月 2020 17:38:48 +0800
Subject: [PATCH] V1.34 增加滤波 防撞1对10发货
---
源码/核心板/Src/main.c | 40 +++++++++++++++++++++++++++++++++++-----
1 files changed, 35 insertions(+), 5 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 224ab19..56a32db 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"
@@ -44,6 +44,7 @@
checksum = Checksum_u16(&hbsend[2],12);
memcpy(&hbsend[14],&checksum,2);
}
+uint16_t vel_factor,pos_factor;
u16 tyncpoll_time;
u16 slottime,max_slotpos;
extern u8 module_power;
@@ -67,13 +68,19 @@
save_com_map_to_flash();
#endif
OUT485_ENABLE;
- g_com_map[VERSION] = 0x0115;
+ if(g_com_map[COM_INTERVAL]==0)
+ {
+ g_com_map[COM_INTERVAL]=100;
+ }
+ g_com_map[VERSION] = 0x0121;
dev_id = g_com_map[DEV_ID];
- slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*0.4)+3;
+ 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;
module_power = g_com_map[POWER];
total_slotnum = 1000/g_com_map[COM_INTERVAL];
+ vel_factor=g_com_map[FILTER_COEFFICIENT];
+ pos_factor=g_com_map[FILTER_COEFFICIENT];
if(module_power>67)
{
module_power=67;
@@ -115,6 +122,17 @@
{
UART_PushFrame(hbsend,16);
}
+uint16_t temp;
+float dw_vbat;
+void StartUpTest(void)
+{
+ temp=dwt_readtempvbat(1);
+ dw_vbat=(float)((temp&0xff)-173)/173+3.3;
+ if(dw_vbat<2.8)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+}
extern u8 g_start_sync_flag,usart_send_flag,anc_report_num;
u16 heartbeat_timer,poll_timer;
int16_t sync_timer;
@@ -127,6 +145,7 @@
UART_CheckReceive();
UART_CheckSend();
+
if(heartbeat_timer>1000)
{
heartbeat_timer=0;
@@ -135,6 +154,16 @@
}
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();
+ }
+ }
flag_newsecond=0;
tagpos_binary=0;
memcpy(ancidlist_send,ancidlist_rec,ancidlist_num*2);
@@ -146,13 +175,13 @@
tagpos_rec[i] = 0;
}
}
- if(target_time>1000)
+ if(target_time>=1000)
{target_time-=1000;}
#ifdef USART_INTEGRATE_OUTPUT
if(g_com_map[DEV_ROLE]==0&&usart_send_flag)
{u16 checksum;
usart_send_flag=0;
- usart_send_anc[2] = 4;//正常模式
+ usart_send_anc[2] = 5;//正常模式
usart_send_anc[3] = anc_report_num*6+2;//正常模式
checksum = Checksum_u16(&usart_send_anc[2],anc_report_num*6+2);
memcpy(&usart_send_anc[4+anc_report_num*6],&checksum,2);
@@ -192,7 +221,7 @@
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||g_com_map[COM_INTERVAL]==0)
{
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
@@ -202,6 +231,7 @@
{
Device_Init();
+ //StartUpTest();
Program_Init();
Dw1000_Init();
delay_ms(10);
--
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