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 | 110 ++++++++++++++++++++++++++++++++++++++-----------------
1 files changed, 76 insertions(+), 34 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 a6e0ca9..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"
@@ -46,7 +46,7 @@
RCC_Configuration();
//SystemInit();
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
-
+ Nvic_Init();
// Systick_Init();
TIM3_Int_Init();
Led_Init();
@@ -55,9 +55,8 @@
Uart1_Init();
Spi_Init();
ADC_Configuration();
- //IWDG_Config(IWDG_Prescaler_128 ,4095); //10s
- Nvic_Init();
- IWDG_Feed();
+ IWDG_Config(IWDG_Prescaler_128 ,4095); //10s
+ IWDG_Feed();
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
}
u8 anchor_type;
@@ -95,12 +94,7 @@
{
g_com_map[COM_INTERVAL]=100;
}
- if(dist_threshold<300)
- {dist_threshold = 300;}
- if(dist_threshold>15000)
- {dist_threshold = 15000;}
}
-extern u8 needanchorrx;
u16 JDQ_time;
int16_t g_commap_antdelay;
void Program_Init(void)
@@ -148,9 +142,13 @@
OUT485_ENABLE;
ComMapCheck();
- g_com_map[VERSION] = 1<<8|61;
+ 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;
@@ -171,16 +169,15 @@
if(g_com_map[DEV_ROLE])
{
- needanchorrx = 0;
- 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{
- needanchorrx = 1;
+
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]);
@@ -227,8 +224,8 @@
void IdleTask(void)
{
- UART_CheckReceive();
- // UART_CheckSend();
+ UART_CheckReceive();
+ UART_CheckSend();
if(heartbeat_timer>1000)
{
@@ -248,7 +245,7 @@
// NVIC_SystemReset();
// }
// }
- flag_newsecond=0;
+ flag_newsecond=0;
tagpos_binary=0;
memcpy(ancidlist_send,ancidlist_rec,ancidlist_num*2);
ancidlist_num=0;
@@ -307,12 +304,60 @@
{
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[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)
{
@@ -320,7 +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);
@@ -328,23 +373,20 @@
usart_send[1]=0xAA;
usart_send_anc[0]=0x55;
usart_send_anc[1]=0xAA;
- dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
- dwt_rxenable(0);//打开接收
+ send_to_ECAN();
while(1)
{
-// g_start_sync_flag=0;
+
+ g_start_sync_flag=0;
if(g_start_send_flag)
{
g_start_send_flag = 0;
Tag_App();
- //needanchorrx = 1;
}
IdleTask();
-//if(g_com_map[DEV_ROLE]==0)
-// {needanchorrx = 0;
-// Anchor_App();
-// // Anchor_Start();
-// }
+if(g_com_map[DEV_ROLE]==0)
+ Anchor_App();
+
}
}
--
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