V2.53 修改UWB通讯标志位，适配2.56之后的标签。

yincheng.zhong

2023-03-02 0a7ffb3c159918e1df3e0a2ab59c48e00cc48272

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -18,7 +18,7 @@
   RCC_Configuration();
   //SystemInit();
   NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
   Nvic_Init();
	
//   Systick_Init();
   TIM3_Int_Init();

@@ -29,6 +29,7 @@
   Spi_Init();
   ADC_Configuration();
    Led_Init();
   Nvic_Init();
   GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
}
u8 anchor_type;
@@ -72,6 +73,7 @@
      if(g_com_map[IMU_THRES]<1)
      {g_com_map[IMU_THRES]=1;}
}
u16 decid;
void Program_Init(void)
{   float temp;
   u16 temp2;
@@ -94,14 +96,15 @@
#endif
   OUT485_ENABLE;
   ComMapCheck();
   g_com_map[VERSION] = 0x0218;	
   g_com_map[VERSION] = (2<<8)|53;	
   dev_id = g_com_map[DEV_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;   
   module_power = g_com_map[POWER];
   total_slotnum = 1000/g_com_map[COM_INTERVAL];
   anchor_type = dev_id%3;
    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));
   anchor_type = decid%g_com_map[MAX_REPORT_ANC_NUM];
   

      
@@ -120,11 +123,13 @@
//   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]);

	
    memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
   for(i=0;i<255;i++)
   {
      g_Tagdist[i]=0x1ffff;
        IdleTask();
   }
    
}

/*! ------------------------------------------------------------------------------------------------------------------
@@ -142,8 +147,8 @@
int32_t intheight;
void HeatBeat(void)
{ u16 checksum;
    GetPressAndHeight();
    intheight = Height*100;//+g_com_map[MAX_REPORT_ANC_NUM];
  //  GetPressAndHeight();
  //  intheight = Height*100;//+g_com_map[MAX_REPORT_ANC_NUM];
   if(synclost_count>5)
   {
      hbsend[6] = 0;
@@ -157,8 +162,14 @@
memcpy(&hbsend[14],&checksum,2);
UART_PushFrame(hbsend,16);
}
u32 onesecondtimer;
void OneSecondTask(void)
{
   TagListUpdate();
   TagDistClear();
}
extern u8 g_start_sync_flag,usart_send_flag,anc_report_num;
u16 heartbeat_timer,poll_timer;
u16 heartbeat_timer=58,poll_timer;
int16_t sync_timer;
extern u8 flag_newsecond, tagpos_rec[50], tagpos_send[50],ancidlist_num;
uint32_t tagpos_binary;
@@ -168,14 +179,25 @@
{
      
   UART_CheckReceive();
   UART_CheckSend();
//   UART_CheckSend();
    UART2_CheckReceive();
 
   if(heartbeat_timer>1000)
//    if( memcmp(g_com_map2,g_com_map,COM_MAP_SIZE)!=0)
//    {
//        SendAnchorState(SM_MAPERROR);
//           delay_ms(100);
//         SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
//    }
   if(heartbeat_timer>60)
   {
      heartbeat_timer=0;
      if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
      HeatBeat();
   }
   if(time32_incr-onesecondtimer>=1000)
   {
      onesecondtimer = time32_incr;
      OneSecondTask();
   }
//   if(flag_newsecond)
//   {
@@ -190,58 +212,13 @@
//         tagpos_rec[i] = 0;
//      }
//   }
   if(target_time>1000)
   {target_time-=1000;}
   #ifdef USART_INTEGRATE_OUTPUT
   if(g_com_map[DEV_ROLE]==0&&usart_send_flag)
   {u16 checksum;
            usart_send_flag=0;
            usart_send_anc[2] = 5;//正常模式
            usart_send_anc[3] = anc_report_num*6+2;//正常模式
            checksum = Checksum_u16(&usart_send_anc[2],anc_report_num*6+2);
            memcpy(&usart_send_anc[4+anc_report_num*6],&checksum,2);
            UART_PushFrame(usart_send_anc,6+anc_report_num*6);
            anc_report_num=0;		
   }
   #endif
   if(g_com_map[CNT_UPDATE]==1)
   {
   uint32_t result = 0;
      u16 tmp = 0xAAAA;
   __disable_irq();
   result = FLASH_Prepare(0x8004A38, 2);
   if(result)
      result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2); 
   __enable_irq();
      printf("进入升级模式\r\n");
   g_com_map[CNT_UPDATE]=0;
   save_com_map_to_flash();
   delay_ms(100);
      //   STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
      //   Delay_ms(100);
         SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
   }
//         if(g_com_map[CNT_REBOOT]==1)
//      {
//         g_com_map[CNT_REBOOT]=0;
//         g_com_map[MAP_SIGN_INDEX]=0;
//         save_com_map_to_flash();
//         delay_ms(100);
//         SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
//      }
      if(g_com_map[CNT_RESTART]==1)
      {
         g_com_map[CNT_RESTART]=0;
         save_com_map_to_flash();
         delay_ms(100);
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
      }
            if(g_com_map[MAP_SIGN_INDEX]!=0x55AA)
  if(g_com_map[MAP_SIGN_INDEX]!=0x55AA)
      {
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
      }

   }
extern u8 needanchorrx;
int main(void)
{
 
@@ -249,7 +226,7 @@
   Program_Init();
   Dw1000_Init();
    BarInit();
  delay_ms(10);	
    delay_ms(10);	
   Dw1000_App_Init();
    /* Loop forever initiating ranging exchanges. */
   RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
@@ -257,19 +234,12 @@
   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
  //SendComMap(50, 0);
   while(1)
   {
   g_start_sync_flag=0;
   if(g_start_send_flag)
   {
      g_start_send_flag = 0;		
      Tag_App();
   }
      IdleTask();		
if(g_com_map[DEV_ROLE]==0)
      Anchor_App();

         IdleTask();		
   }
}