From e3dfcf2b4eafdb5bace59d796a270f8e8d532763 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 16 十一月 2021 15:14:21 +0800
Subject: [PATCH] V1.46增加MODBUS自动回复功能
---
源码/核心板/Src/main.c | 18 +++++++++++++++---
1 files changed, 15 insertions(+), 3 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 f341743..3c39dd3 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"
@@ -14,7 +14,6 @@
#include "deca_device_api.h"
#include "Flash.h"
//#define DEBUG_MODE
-
void Device_Init(void)
{
RCC_Configuration();
@@ -52,7 +51,8 @@
uint16_t vel_factor,pos_factor;
extern u8 module_power;
-u16 slottime,max_slotnum,current_slotpos;
+u16 slottime,max_slotnum,current_slotpos,dist_threshold;
+u16 supergroupid;
void Program_Init(void)
{uint16_t i;
float temp;
@@ -80,6 +80,11 @@
group_id=g_com_map[GROUP_ID];
vel_factor=g_com_map[FILTER_COEFFICIENT];
pos_factor=g_com_map[FILTER_COEFFICIENT];
+ dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]);
+ if(dist_threshold<300)
+ {dist_threshold = 300;}
+ if(dist_threshold>15000)
+ {dist_threshold = 15000;}
if(dev_id==0)
sync_mainbase=1;
module_power = g_com_map[POWER];
@@ -87,7 +92,9 @@
{
module_power=67;
}
- g_com_map[VERSION] = 0x0123;
+ supergroupid = g_com_map[IMU_THRES];
+ g_com_map[VERSION] = 0x012e;
+ g_com_map[SW_TYPE] = SW_MODBUS;
temp=(float)g_com_map[MAX_REPORT_ANC_NUM]*4/3;
temp2=g_com_map[MAX_REPORT_ANC_NUM]*4/3;
if(temp2<temp)
@@ -198,6 +205,11 @@
Modbus_RegMap();
while(1)
{
+ if(g_com_map[0] != 0x55AA)
+ {
+ while(1)
+ IdleTask();
+ }
if(g_start_send_flag)
{
g_start_send_flag = 0;
--
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