From e7bad2338d19ebba1a73fa3aac2d1b0c642127b0 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期一, 25 八月 2025 09:12:37 +0800
Subject: [PATCH] 修改协议内容V1.76
---
源码/核心板/Src/main.c | 141 +++++++++++++++++++++++++++++++++++++++-------
1 files changed, 119 insertions(+), 22 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 f4eee9c..a9144a5 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"
@@ -2,6 +2,7 @@
#include "Rcc_Nvic_Systick.h"
#include "Usart.h"
#include "Spi.h"
+#include "Flash.h"
#include "led.h"
#include "beep.h"
#include "dw_driver.h"
@@ -72,11 +73,30 @@
checksum = Checksum_u16(&hbsend[2],12);
memcpy(&hbsend[14],&checksum,2);
}
+
uint16_t vel_factor,pos_factor;
-u16 tyncpoll_time,dist_threshold;
+u16 tyncpoll_time,dist_threshold,group_id;
u16 slottime,max_slotpos;
extern u8 module_power;
extern u16 total_slotnum;
+void ComMapCheck(void)
+{
+
+ if(g_com_map[ANT_LENGTH]>10000)
+ {
+ g_com_map[ANT_LENGTH] = 0;
+ }
+ if(g_com_map[WAR_JDQ_TIME]>1000||g_com_map[WAR_JDQ_TIME]<0)
+ {
+ g_com_map[WAR_JDQ_TIME] = 1;
+ }
+ if(g_com_map[COM_INTERVAL]==0)
+ {
+ g_com_map[COM_INTERVAL]=100;
+ }
+}
+u16 JDQ_time;
+int16_t g_commap_antdelay;
void Program_Init(void)
{ float temp;
u16 temp2;
@@ -85,6 +105,7 @@
parameter_init();
//deca_sleep(1000);
HeartBeatInit();
+ Modbus_RegMap();
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
// g_com_map[DEV_ID]=1;
@@ -95,20 +116,44 @@
g_com_map[ANC_FLAG]=1;
save_com_map_to_flash();
#endif
- OUT485_ENABLE;
- if(g_com_map[COM_INTERVAL]==0)
- {
- g_com_map[COM_INTERVAL]=100;
- }
+//
+// g_com_map[COM_INTERVAL]=100;
+// g_com_map[MAX_REPORT_ANC_NUM]=10;
+// g_com_map[GROUP_ID]=0;
+// g_com_map[DIST_OFFSET]=-116;
- g_com_map[VERSION] = 0x012e;
-dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]);
- if(dist_threshold<300)
+// g_com_map[DEV_ROLE] =0x0; //基站
+//
+// g_com_map[ANC_POLL]=1;
+// g_com_map[ALARM_DEV] = 0;
+// g_com_map[ALARM_DISTANCE1] = 0; //默认报警距离50cm
+// g_com_map[ALARM_DISTANCE2] = 900; //默认报警距离50cm
+// g_com_map[ALARM_DISTANCE3] = 1400; //默认报警距离50cm
+// g_com_map[RELAY2_DISTANCE1] = 0; //默认报警距离50cm
+// g_com_map[RELAY2_DISTANCE2] = 900; //默认报警距离50cm
+// 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[FILTER_COEFFICIENT]=40;
+// g_com_map[ANT_LENGTH]=0;
+// g_com_map[NOMOVESLEEP_TIME]=728;
+
+
+ OUT485_ENABLE;
+ ComMapCheck();
+ g_com_map[VERSION] = 1<<8|76;
+ 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)
{dist_threshold = 300;}
if(dist_threshold>15000)
{dist_threshold = 15000;}
+ g_commap_antdelay = g_com_map[ANT_LENGTH];
+ JDQ_time = g_com_map[WAR_JDQ_TIME]*10;
g_com_map[SW_TYPE] = SW_FANGZHUANG;
dev_id = g_com_map[DEV_ID];
+ group_id=g_com_map[GROUP_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;
@@ -122,18 +167,18 @@
module_power=67;
}
-// if(g_com_map[DEV_ROLE])
-// {
+ 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]);
-// }else{
-//
-// anchor_type = dev_id%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]);
-// }
+ }
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]);
@@ -141,7 +186,7 @@
for(i=0;i<255;i++)
{
- g_Tagdist[i]=0xffff;
+ g_Tagdist[i]=0x1ffff;
}
}
@@ -179,13 +224,13 @@
void IdleTask(void)
{
- UART_CheckReceive();
+ UART_CheckReceive();
UART_CheckSend();
if(heartbeat_timer>1000)
{
heartbeat_timer=0;
- if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
+ if(g_com_map[HEARTBEAT])
HeatBeat();
}
if(flag_newsecond)
@@ -200,7 +245,7 @@
// NVIC_SystemReset();
// }
// }
- flag_newsecond=0;
+ flag_newsecond=0;
tagpos_binary=0;
memcpy(ancidlist_send,ancidlist_rec,ancidlist_num*2);
ancidlist_num=0;
@@ -259,17 +304,68 @@
{
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;
}
+//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()
+{
+// 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)
{
- Device_Init();
+ Device_Init();
//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);
@@ -277,9 +373,10 @@
usart_send[1]=0xAA;
usart_send_anc[0]=0x55;
usart_send_anc[1]=0xAA;
-
+ send_to_ECAN();
while(1)
{
+
g_start_sync_flag=0;
if(g_start_send_flag)
{
--
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