From e180d5942da65623312bca2280a5e64e96c0848d Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期二, 26 八月 2025 11:09:37 +0800
Subject: [PATCH] V1.77修改滤波参数
---
源码/核心板/Src/main.c | 89 ++++++++++++++++++++++++++++----------------
1 files changed, 56 insertions(+), 33 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 e7631af..b7af147 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"
@@ -134,7 +134,7 @@
// g_com_map[RELAY2_DISTANCE3] = 1400; //默认报警距离50cm
// g_com_map[WAR_JDQ_TIME] = 1; //1秒
// g_com_map[POWER]=30;
-// g_com_map[SPEEDFILTER_THRES]=10000;
+ g_com_map[SPEEDFILTER_THRES]=30000;
// g_com_map[FILTER_COEFFICIENT]=40;
// g_com_map[ANT_LENGTH]=0;
// g_com_map[NOMOVESLEEP_TIME]=728;
@@ -142,7 +142,7 @@
OUT485_ENABLE;
ComMapCheck();
- g_com_map[VERSION] = 1<<8|68;
+ g_com_map[VERSION] = 1<<8|77;
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]);
if(dist_threshold<300)
@@ -169,15 +169,15 @@
if(g_com_map[DEV_ROLE])
{
- 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]);
+// 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]);
}else{
anchor_type = dev_id%g_com_map[MAX_REPORT_ANC_NUM];
- printf("基站ID: %x .\r\n",dev_id);
- 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]);
+// printf("基站ID: %x .\r\n",dev_id);
+// 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]);
@@ -304,35 +304,58 @@
{
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
- g_com_map[RELAY1_STATE_INDEX] = READ_RELAY1;
- g_com_map[RELAY2_STATE_INDEX] = READ_RELAY2;
+ // g_com_map[RELAY1_STATE_INDEX] = READ_RELAY1;
+ // g_com_map[RELAY2_STATE_INDEX] = READ_RELAY2;
}
-uint8_t at_cmd[3]={0x2B,0x2B,0x2B};
-uint8_t at_cmd1[2]={0x41,0x54};
-char at_cmd2[20]={"AT+CAN=500,70,NDTF\r\n"}; //AT+CAN?\r\n
+//uint8_t at_cmd[3]={0x2B,0x2B,0x2B};
+//uint8_t at_cmd1[2]={0x41,0x54};
+
+char at_cmd2[22]={"AT+CAN=500,0000,NDTF\r\n"}; //AT+CAN?\r\n
char at_cmd3[9]={"AT+CAN?\r\n"};
char at_cmd4[9]={"AT+EXAT\r\n"};
void send_to_ECAN()
{
-// UART_PushFrame(at_cmd,3);
-//
-// UART_PushFrame(at_cmd1,2);
-//// delay_ms(1);
-// UART_PushFrame((uint8_t*)at_cmd2,20);
-//// delay_ms(1);
-// UART_PushFrame((uint8_t*)at_cmd3,9);
-//// delay_ms(1);
-// UART_PushFrame((uint8_t*)at_cmd4,9);
- printf("+++");
- delay_ms(20);
- printf("AT");
- delay_ms(20);
- printf("AT+CAN=500,0,NDTF\r\n");
- delay_ms(1);
- printf("AT+CAN?\r\n");
- delay_ms(1);
- printf("AT+EXAT\r\n");
+// g_com_map[NEARBASE_ID1]=0x12;
+// g_com_map[NEARBASE_ID2]=0x34;
+ uint8_t id_high = g_com_map[NEARBASE_ID1]; // 0x12
+ uint8_t id_low = g_com_map[NEARBASE_ID2]; // 0x34
+
+
+ uint16_t frame_id = (id_high << 8) | id_low;
+
+ uint32_t decimal_id = frame_id; // 0x1234 = 4660
+
+ if(decimal_id > 0x1FFFFFFF)
+ {
+ printf("错误：帧ID超出扩展帧范围！");
+ return;
+ }
+
+ const char *frame_type = (frame_id <= 0x7FF) ? "NDTF" : "EDTF";
+
+
+ snprintf(at_cmd2, sizeof(at_cmd2),
+ "AT+CAN=250,%x,%s\r\n",
+ frame_id,
+ frame_type);
+
+ printf("+++");
+ delay_ms(500);
+
+ printf("AT");
+ delay_ms(500);
+
+
+ printf("%s", at_cmd2);
+
+ delay_ms(200);
+
+ printf("%s", at_cmd3);
+
+ delay_ms(200);
+
+ printf("%s", at_cmd4);
}
int main(void)
@@ -342,7 +365,7 @@
//StartUpTest();
Program_Init();
Dw1000_Init();
- delay_ms(10);
+ delay_ms(10);
Dw1000_App_Init();
/* Loop forever initiating ranging exchanges. */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
@@ -353,7 +376,7 @@
send_to_ECAN();
while(1)
{
-
+
g_start_sync_flag=0;
if(g_start_send_flag)
{
--
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