From bbb6a0f1379f06a06a9a2414fd847539ec4f122e Mon Sep 17 00:00:00 2001 From: zhyinch <zhyinch@gmail.com> Date: 星期日, 15 十二月 2019 19:37:02 +0800 Subject: [PATCH] 跟踪微分器调试完成,V1.12 --- 源码/核心板/Src/main.c | 40 +++++++++++++++++++++++++++++++++------- 1 files changed, 33 insertions(+), 7 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 959776b..acba733 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" @@ -11,6 +11,7 @@ #include "global_param.h" #include "ADC.h" +//#define DEBUG_MODE void Device_Init(void) { @@ -44,21 +45,40 @@ memcpy(&hbsend[14],&checksum,2); } u16 tyncpoll_time; +TrackingDiffClass *pUWBDistanceTrackingDiff; void Program_Init(void) {uint16_t i; + float temp; + u16 temp2; Usart1ParseDataCallback = UsartParseDataHandler; parameter_init(); //deca_sleep(1000); HeartBeatInit(); - dev_id = g_com_map[DEV_ID]; // g_com_map[DEV_ROLE]=1; // g_com_map[DEV_ID]=1; // g_com_map[COM_INTERVAL]=10; OUT485_ENABLE; - g_com_map[VERSION] = 0x0103; + +#ifdef DEBUG_MODE + + g_com_map[COM_INTERVAL]=50; + g_com_map[MAX_REPORT_ANC_NUM]=3; + g_com_map[DEV_ID]=1; + g_com_map[ANC_POLL]=0; + g_com_map[ALARM_DISTANCE1]=100; +#endif + pUWBDistanceTrackingDiff = NewTrackingDiffClass(2, 4, 0.03); + dev_id = g_com_map[DEV_ID]; + g_com_map[VERSION] = 0x010c; + temp=(float)g_com_map[MAX_REPORT_ANC_NUM]*4/3; + temp2=g_com_map[DEV_ID]*g_com_map[MAX_REPORT_ANC_NUM]*4/3; + if(temp2<temp) + { + temp2++; + } + tyncpoll_time=g_com_map[DEV_ID]*(temp2); if(g_com_map[DEV_ROLE]) { - tyncpoll_time=g_com_map[DEV_ID]*g_com_map[MAX_REPORT_ANC_NUM]*4/3; printf("标签ID: %d .\r\n",dev_id); 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]); @@ -117,6 +137,9 @@ 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 @@ -135,18 +158,21 @@ RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE); usart_send[0]=0x55; usart_send[1]=0xAA; - + Modbus_RegMap(); while(1) { - IdleTask(); if(g_start_send_flag) { g_start_send_flag = 0; Tag_App(); - } - + }//else{ + IdleTask(); +// } +// if(g_com_map[DEV_ROLE]==0) Anchor_App(); + + } } -- Gitblit v1.9.3