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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 "stm32f10x_it.h"
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#include "serial_at_cmd_app.h"
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#include "global_param.h"
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#include "ADC.h"
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//#define DEBUG_MODE
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void Device_Init(void)
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{
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RCC_Configuration();
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//SystemInit();
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NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
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// Systick_Init();
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TIM3_Int_Init();
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Beep_Init();
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DW_GPIO_Init();
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Uart1_Init();
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Uart2_Init();
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Spi_Init();
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ADC_Configuration();
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Led_Init();
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Nvic_Init();
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GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
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}
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u8 anchor_type;
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u32 dev_id;
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u8 hbsend[16];
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void HeartBeatInit(void)
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{
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u16 checksum;
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hbsend[0]=0x55;
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hbsend[1]=0xAA;
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hbsend[2]=0x2;
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hbsend[3]=0xc;
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memcpy(&hbsend[4],&g_com_map[DEV_ID],2);
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checksum = Checksum_u16(&hbsend[2],12);
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memcpy(&hbsend[14],&checksum,2);
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}
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u16 tyncpoll_time;
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u16 slottime,max_slotpos;
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extern u8 module_power;
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extern u16 total_slotnum;
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void ComMapCheck(void)
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{
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if(g_com_map[COM_INTERVAL]<10)
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{
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g_com_map[COM_INTERVAL]=500;
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}
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if(g_com_map[COM_INTERVAL]>1000)
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{
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g_com_map[COM_INTERVAL]=1000;
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}
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if(module_power>MAX_RFPOWER)
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{module_power=MAX_RFPOWER;}
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if(module_power<0)
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{module_power=0;}
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// if(g_com_map[MAX_REPORT_ANC_NUM]>10)
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// {g_com_map[MAX_REPORT_ANC_NUM]=10;}
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// if(g_com_map[MAX_REPORT_ANC_NUM]<1)
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// {g_com_map[MAX_REPORT_ANC_NUM]=1;}
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if(g_com_map[IMU_THRES]>10)
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{g_com_map[IMU_THRES]=10;}
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if(g_com_map[IMU_THRES]<1)
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{g_com_map[IMU_THRES]=1;}
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}
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u16 decid;
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void Program_Init(void)
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{ float temp;
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u16 temp2;
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uint16_t i;
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Usart1ParseDataCallback = UsartParseDataHandler;
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parameter_init();
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//deca_sleep(1000);
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HeartBeatInit();
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#ifdef DEBUG_MODE
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// g_com_map[DEV_ROLE]=1;
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// g_com_map[DEV_ID]=1;
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// g_com_map[COM_INTERVAL]=100;
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// g_com_map[MAX_REPORT_ANC_NUM]=3;
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// g_com_map[NEARBASE_NUM]=1;
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// g_com_map[NEARBASE_ID1]=2;
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// g_com_map[ANC_FLAG]=1;
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// save_com_map_to_flash();
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g_com_map[BASESYNCSEQ]=1;
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g_com_map[SYNCBASEID]=1;
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#endif
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OUT485_ENABLE;
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ComMapCheck();
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g_com_map[VERSION] = (2<<8)|47;
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dev_id = g_com_map[DEV_ID];
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slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
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max_slotpos=g_com_map[COM_INTERVAL]/slottime;
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tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
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module_power = g_com_map[POWER];
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total_slotnum = 1000/g_com_map[COM_INTERVAL];
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decid = (g_com_map[DEV_ID]/0x1000)*1000+((g_com_map[DEV_ID]%0x1000)/0x100)*100+((g_com_map[DEV_ID]%0x100)/0x10)*10+((g_com_map[DEV_ID]%0x10));
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anchor_type = decid%g_com_map[MAX_REPORT_ANC_NUM];
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if(g_com_map[DEV_ROLE])
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{
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printf("±êÇ©ID: %d .\r\n",dev_id);
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printf("ͨѶ¼ä¸ô: %d ms.\r\n",g_com_map[COM_INTERVAL]);
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printf("µ¥´ÎͨѶ»ùÕ¾ÊýÁ¿: %d¸ö.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
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}else{
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printf("»ùÕ¾ID: %x .\r\n",dev_id);
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printf("»ùÕ¾ÀàÐÍ: %c .\r\n",anchor_type+0x41);
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printf("µ¥´ÎͨѶ»ùÕ¾ÊýÁ¿: %d¸ö.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
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}
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OUT485_DISABLE;
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// printf("DEVICE PAIRID: %d .\r\n",g_com_map[PAIR_ID]);
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// 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]);
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memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
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for(i=0;i<255;i++)
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{
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g_Tagdist[i]=0x1ffff;
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IdleTask();
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}
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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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extern float GetPressAndHeight(void);
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extern u16 synclost_count;
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extern float Height;
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int32_t intheight;
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void HeatBeat(void)
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{ u16 checksum;
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// GetPressAndHeight();
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// intheight = Height*100;//+g_com_map[MAX_REPORT_ANC_NUM];
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if(synclost_count>5)
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{
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hbsend[6] = 0;
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}else{
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hbsend[6] = 1;
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}
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if(intheight!=0)
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intheight+=(int16_t)g_com_map[MAX_REPORT_ANC_NUM];
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memcpy(&hbsend[7],&intheight,4);
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checksum = Checksum_u16(&hbsend[2],12);
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memcpy(&hbsend[14],&checksum,2);
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UART_PushFrame(hbsend,16);
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}
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u32 onesecondtimer;
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void OneSecondTask(void)
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{
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TagListUpdate();
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TagDistClear();
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}
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extern u8 g_start_sync_flag,usart_send_flag,anc_report_num;
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u16 heartbeat_timer=58,poll_timer;
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int16_t sync_timer;
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extern u8 flag_newsecond, tagpos_rec[50], tagpos_send[50],ancidlist_num;
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uint32_t tagpos_binary;
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extern u16 ancidlist_rec[20],ancidlist_send[20];
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extern u16 target_time;
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void IdleTask(void)
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{
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UART_CheckReceive();
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// UART_CheckSend();
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UART2_CheckReceive();
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// if( memcmp(g_com_map2,g_com_map,COM_MAP_SIZE)!=0)
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// {
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// SendAnchorState(SM_MAPERROR);
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// delay_ms(100);
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// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
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// }
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if(heartbeat_timer>60)
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{
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heartbeat_timer=0;
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if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
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HeatBeat();
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}
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if(time32_incr-onesecondtimer>=1000)
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{
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onesecondtimer = time32_incr;
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OneSecondTask();
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}
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// if(flag_newsecond)
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// {
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// flag_newsecond=0;
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// tagpos_binary=0;
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// memcpy(ancidlist_send,ancidlist_rec,ancidlist_num*2);
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// ancidlist_num=0;
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// for(u8 i=0;i<max_slotpos;i++)
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// {
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// if(tagpos_rec[i])
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// tagpos_binary|=1<<i;
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// tagpos_rec[i] = 0;
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// }
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// }
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if(g_com_map[MAP_SIGN_INDEX]!=0x55AA)
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{
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SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
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}
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}
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extern u8 needanchorrx;
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int main(void)
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{
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Device_Init();
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Program_Init();
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Dw1000_Init();
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BarInit();
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delay_ms(10);
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Dw1000_App_Init();
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/* Loop forever initiating ranging exchanges. */
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
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usart_send[0]=0x55;
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usart_send[1]=0xAA;
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usart_send_anc[0]=0x55;
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usart_send_anc[1]=0xAA;
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dwt_setrxtimeout(0);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
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dwt_rxenable(0);//´ò¿ª½ÓÊÕ
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//SendComMap(50, 0);
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while(1)
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{
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IdleTask();
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}
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}
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