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#include "Rcc_Nvic_Systick.h"
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#include "Usart.h"
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#include "Spi.h"
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#include "led.h"
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#include "beep.h"
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#include "dw_driver.h"
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#include "dw_app.h"
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#include "filters.h"
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#include "stm32f10x_it.h"
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#include "serial_at_cmd_app.h"
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//#define WORK_MODE_TAG
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#define WORK_MODE_ANCHOR
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#define START_ALARM_DIST_CM 200
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#define BEEM_ON_TIME_MS 200
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float dis_after_filter = 500;
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void Device_Init(void)
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{
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// Rcc_Init();
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SystemInit();
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Nvic_Init();
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Systick_Init();
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Led_Init();
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Beep_Init();
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DW_GPIO_Init();
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Uart1_Init();
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Spi_Init();
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GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
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}
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void Parameter_Init(void)
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{
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Usart1ParseDataCallback = UsartParseDataHandler;
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}
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/*! ------------------------------------------------------------------------------------------------------------------
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* @fn main()
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*
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* @brief Application entry point.
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*
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* @param none
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*
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* @return none
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*/
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int main(void)
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{
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LPFilter_Frac* p_Dis_Filter;
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Device_Init();
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Parameter_Init();
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Dw1000_Init();
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p_Dis_Filter = New_LP_Frac(0.7);
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/* Loop forever initiating ranging exchanges. */
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while(1)
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{
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#ifdef WORK_MODE_TAG
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Tag_App();
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#else
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Anchor_App();
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#endif
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//³ýUWBÖ®ÍâµÄÆäËû´úÂë...
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dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
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if(dis_after_filter <= g_alarm_dist)
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{
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// g_beep_off_time = (uint32_t)dis_after_filter * 10;
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// if(g_beep_off_time <= 0)
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// g_beep_off_time = 0;
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// g_beep_on_time = BEEM_ON_TIME_MS;
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switch(g_alarm_dev)
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{
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case 0:
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BEEP2_ON;
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BEEP_OFF;
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OUT2_OFF;
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break;
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case 1:
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BEEP_ON;
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BEEP2_OFF;
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OUT2_OFF;
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break;
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case 2:
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OUT2_ON;
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BEEP_OFF;
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BEEP2_OFF;
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break;
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default:
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BEEP2_ON;
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BEEP_ON;
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OUT2_ON;
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break;
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}
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}
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else
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{
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// g_beep_on_time = 0;
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// g_beep_off_time = 0;
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switch(g_alarm_dev)
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{
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case 0:
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BEEP2_OFF;
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break;
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case 1:
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BEEP_OFF;
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break;
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case 2:
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OUT2_OFF;
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break;
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default:
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BEEP2_OFF;
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BEEP_OFF;
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OUT2_OFF;
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break;
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}
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}
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}
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}
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