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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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void Device_Init(void)
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{
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RCC_Configuration();
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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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ADC_Configuration();
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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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void Program_Init(void)
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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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dev_id = g_com_map[DEV_ID];
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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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anchor_type = dev_id%g_com_map[MAX_REPORT_ANC_NUM];
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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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// 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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for(i=0;i<255;i++)
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{
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g_Tagdist[i]=0xffff;
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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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void HeatBeat(void)
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{
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UART_PushFrame(hbsend,16);
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}
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u16 heartbeat_timer,poll_timer;
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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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if(heartbeat_timer>1000)
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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(poll_timer>=g_com_map[COM_INTERVAL]-tag_delaytime)
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{
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poll_timer=0;
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if(g_com_map[ANC_POLL]||g_com_map[DEV_ROLE])
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{
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if(g_com_map[DEV_ROLE]==0)
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{int8_t correction_time;
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correction_time=tag_timer-(GROUP_TAG_NUM+1)*3;
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tag_delaytime=correction_time;
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if(tag_delaytime>g_com_map[COM_INTERVAL]/2)
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{
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tag_delaytime=tag_delaytime-g_com_map[COM_INTERVAL];
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}
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}
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g_start_send_flag=1;
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}
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}
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}
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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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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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while(1)
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{
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IdleTask();
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if(g_start_send_flag)
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{
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g_start_send_flag = 0;
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Tag_App();
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}
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if(g_com_map[DEV_ROLE]==0)
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Anchor_App();
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}
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}
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