From fb94d1fed6b33cdf6247ab4297f748d499c2b589 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 21 九月 2022 15:05:09 +0800
Subject: [PATCH] V1.70 修改数据输出方式
---
源码/核心板/Src/main.c | 125 +++++++++++++++++++++++++----------------
1 files changed, 77 insertions(+), 48 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 f1c5bcf..50d3713 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"
@@ -13,23 +14,6 @@
//#define DEBUG_MODE
/*
- * 设置 IWDG 的超时时间
- * Tout = prv/40 * rlv (s)
- * prv可以是[4,8,16,32,64,128,256]
- * prv:预分频器值，取值如下：
- * @arg IWDG_Prescaler_4: IWDG prescaler set to 4
- * @arg IWDG_Prescaler_8: IWDG prescaler set to 8
- * @arg IWDG_Prescaler_16: IWDG prescaler set to 16
- * @arg IWDG_Prescaler_32: IWDG prescaler set to 32
- * @arg IWDG_Prescaler_64: IWDG prescaler set to 64
- * @arg IWDG_Prescaler_128: IWDG prescaler set to 128
- * @arg IWDG_Prescaler_256: IWDG prescaler set to 256
- *
- * 独立看门狗使用LSI作为时钟。
- * LSI 的频率一般在 30~60KHZ 之间，根据温度和工作场合会有一定的漂移，我
- * 们一般取 40KHZ，所以独立看门狗的定时时间并一定非常精确，只适用于对时间精度
- * 要求比较低的场合。
- *
* rlv:重装载寄存器的值，取值范围为：0-0XFFF
* 函数调用举例：
* IWDG_Config(IWDG_Prescaler_64 ,625); // IWDG 1s 超时溢出
@@ -89,11 +73,34 @@
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;
+ }
+ if(dist_threshold<300)
+ {dist_threshold = 300;}
+ if(dist_threshold>15000)
+ {dist_threshold = 15000;}
+}
+u16 JDQ_time,supergroupid;
+int16_t g_commap_antdelay;
void Program_Init(void)
{ float temp;
u16 temp2;
@@ -112,20 +119,41 @@
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] = 0x012b;
-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_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)|70;
+ supergroupid = g_com_map[IMU_THRES];
+ 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]);
+ 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;
@@ -139,18 +167,18 @@
module_power=67;
}
-// 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];
-// 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]);
-// }
+ 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];
+ 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]);
@@ -158,7 +186,7 @@
for(i=0;i<255;i++)
{
- g_Tagdist[i]=0xffff;
+ g_Tagdist[i]=0x1ffff;
}
}
@@ -202,7 +230,7 @@
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)
@@ -262,7 +290,7 @@
if(g_com_map[CNT_REBOOT]==1)
{
FactorySettings();
- delay_ms(100);
+
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
if(g_com_map[CNT_RESTART]==1)
@@ -278,11 +306,11 @@
}
}
-
+extern uint8_t dissucc_times;
int main(void)
{
- Device_Init();
+ Device_Init();
//StartUpTest();
Program_Init();
Dw1000_Init();
@@ -300,8 +328,9 @@
g_start_sync_flag=0;
if(g_start_send_flag)
{
- g_start_send_flag = 0;
- Tag_App();
+ g_start_send_flag = 0;
+ if(dissucc_times<2)
+ Tag_App();
}
IdleTask();
if(g_com_map[DEV_ROLE]==0)
--
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