From da9ce9541aee3b4f4d55cf114758a44ae98b8b1f Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 11 十二月 2019 21:44:23 +0800
Subject: [PATCH] 增加40米异常滤波
---
源码/核心板/Src/main.c | 36 +++++++++++++++++++++++++++---------
1 files changed, 27 insertions(+), 9 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 78ab7a3..87ded51 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)
{
@@ -44,19 +45,32 @@
memcpy(&hbsend[14],&checksum,2);
}
u16 tyncpoll_time;
+u16 slottime,max_slotpos;
void Program_Init(void)
-{uint16_t i;
+{ float temp;
+ u16 temp2;
+ uint16_t i;
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();
//deca_sleep(1000);
HeartBeatInit();
+#ifdef DEBUG_MODE
+ g_com_map[DEV_ROLE]=1;
+ g_com_map[DEV_ID]=1;
+ g_com_map[COM_INTERVAL]=100;
+ g_com_map[MAX_REPORT_ANC_NUM]=3;
+ g_com_map[NEARBASE_NUM]=1;
+ g_com_map[NEARBASE_ID1]=2;
+#endif
+ OUT485_ENABLE;
+ g_com_map[VERSION] = 0x0107;
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;
+ slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*4/3);
+ max_slotpos=g_com_map[COM_INTERVAL]/slottime;
+ tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
+
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]);
@@ -67,6 +81,7 @@
printf("基站类型: %c .\r\n",anchor_type+0x41);
printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
}
+ OUT485_DISABLE;
// 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]);
@@ -114,6 +129,9 @@
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
@@ -125,23 +143,23 @@
Device_Init();
Program_Init();
- //Dw1000_Init();
+ Dw1000_Init();
delay_ms(10);
Dw1000_App_Init();
/* Loop forever initiating ranging exchanges. */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
usart_send[0]=0x55;
usart_send[1]=0xAA;
- UART_PushFrame(hbsend,16);
+
while(1)
{
- IdleTask();
+
if(g_start_send_flag)
{
g_start_send_flag = 0;
Tag_App();
}
-
+ IdleTask();
if(g_com_map[DEV_ROLE]==0)
Anchor_App();
}
--
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