From c8fa9e7b73d663fd1ee78632d38cea1b49c14d39 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 17 十一月 2020 20:22:29 +0800
Subject: [PATCH] V1.35 大连电牵，测试版本。配置回复变成立即回复，收到数据才不重启
---
源码/核心板/Src/main.c | 30 ++++++++++++++++++++++++++++--
1 files changed, 28 insertions(+), 2 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 83a497f..4be6bd7 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;
@@ -71,13 +72,15 @@
{
g_com_map[COM_INTERVAL]=100;
}
- g_com_map[VERSION] = 0x011c;
+ g_com_map[VERSION] = 0x0123;
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;
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;
@@ -119,6 +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;
@@ -131,6 +145,7 @@
UART_CheckReceive();
UART_CheckSend();
+
if(heartbeat_timer>1000)
{
heartbeat_timer=0;
@@ -139,6 +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);
@@ -150,7 +175,7 @@
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)
@@ -206,6 +231,7 @@
{
Device_Init();
+ //StartUpTest();
Program_Init();
Dw1000_Init();
delay_ms(10);
--
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