Spoll 模式调试完成

zhyinch

2021-05-12 0d86b8671dd435ca62f08e2676b40ce598a8b25b

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -21,13 +21,14 @@
   Nvic_Init();
//   Systick_Init();
   TIM3_Int_Init();
   Led_Init();

   Beep_Init();
   DW_GPIO_Init();
   Uart1_Init();
    Uart2_Init();
   Spi_Init();
   ADC_Configuration();
	
    Led_Init();
   GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
}
u8 anchor_type;
@@ -48,6 +49,29 @@
u16 slottime,max_slotpos;
extern u8 module_power;
extern u16 total_slotnum;
void ComMapCheck(void)
{
   if(g_com_map[COM_INTERVAL]<10)
   {
     g_com_map[COM_INTERVAL]=500;
   }
         if(g_com_map[COM_INTERVAL]>1000)
   {
     g_com_map[COM_INTERVAL]=1000;
   }
    if(module_power>MAX_RFPOWER)
      {module_power=MAX_RFPOWER;}
      if(module_power<0)
      {module_power=0;}
      if(g_com_map[MAX_REPORT_ANC_NUM]>10)
      {g_com_map[MAX_REPORT_ANC_NUM]=10;}
      if(g_com_map[MAX_REPORT_ANC_NUM]<1)
      {g_com_map[MAX_REPORT_ANC_NUM]=1;}
      if(g_com_map[IMU_THRES]>10)
      {g_com_map[IMU_THRES]=10;}
      if(g_com_map[IMU_THRES]<1)
      {g_com_map[IMU_THRES]=1;}
}
void Program_Init(void)
{   float temp;
   u16 temp2;
@@ -63,22 +87,24 @@
//   g_com_map[MAX_REPORT_ANC_NUM]=3;
//      g_com_map[NEARBASE_NUM]=1;  
//      g_com_map[NEARBASE_ID1]=2;
   g_com_map[ANC_FLAG]=1;
      save_com_map_to_flash();
//   g_com_map[ANC_FLAG]=1;
//      save_com_map_to_flash();
   g_com_map[BASESYNCSEQ]=1;
   g_com_map[SYNCBASEID]=1;
#endif
   OUT485_ENABLE;
   g_com_map[VERSION] = 0x0114;	
   ComMapCheck();
   g_com_map[VERSION] = 0x0217;	
   dev_id = g_com_map[DEV_ID];
   slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*0.4)+3;
   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];
      if(module_power>67)
      {
         module_power=67;
      }
   anchor_type = dev_id%3;
   

		
   if(g_com_map[DEV_ROLE])
   {
   printf("标签ID: %d .\r\n",dev_id);
@@ -86,7 +112,6 @@
   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]);
@@ -98,7 +123,7 @@
   
   for(i=0;i<255;i++)
   {
      g_Tagdist[i]=0xffff;
      g_Tagdist[i]=0x1ffff;
   }
}

@@ -111,8 +136,23 @@
 *
 * @return none
 */
extern float GetPressAndHeight(void);
extern u16 synclost_count;
extern float Height;
int32_t intheight;
void HeatBeat(void)
{ 
{ u16 checksum;
    GetPressAndHeight();
    intheight = Height*100;//+g_com_map[MAX_REPORT_ANC_NUM];
   if(synclost_count>5)
   {
      hbsend[6] = 0;
   }else{
      hbsend[6] = 1;
   }
   memcpy(&hbsend[7],&intheight,4); 
checksum = Checksum_u16(&hbsend[2],12);
memcpy(&hbsend[14],&checksum,2);
UART_PushFrame(hbsend,16);
}
extern u8 g_start_sync_flag,usart_send_flag,anc_report_num;
@@ -125,34 +165,36 @@
void IdleTask(void)
{
      
         UART_CheckReceive();
      UART_CheckSend();
   UART_CheckReceive();
   UART_CheckSend();
    UART2_CheckReceive();
 
   if(heartbeat_timer>1000)
   {
      heartbeat_timer=0;
      if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
      HeatBeat();
   }
   if(flag_newsecond)
   {
     flag_newsecond=0;
      tagpos_binary=0;
      memcpy(ancidlist_send,ancidlist_rec,ancidlist_num*2);
      ancidlist_num=0;
      for(u8 i=0;i<max_slotpos;i++)
      {
         if(tagpos_rec[i])
            tagpos_binary|=1<<i;
         tagpos_rec[i] = 0;
      }
   }
//   if(flag_newsecond)
//   {
//     flag_newsecond=0;
//      tagpos_binary=0;
//      memcpy(ancidlist_send,ancidlist_rec,ancidlist_num*2);
//      ancidlist_num=0;
//      for(u8 i=0;i<max_slotpos;i++)
//      {
//         if(tagpos_rec[i])
//            tagpos_binary|=1<<i;
//         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] = 4;//正常模式
            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);
@@ -204,6 +246,7 @@
   Device_Init();
   Program_Init();
   Dw1000_Init();
    BarInit();
  delay_ms(10);   
   Dw1000_App_Init();
    /* Loop forever initiating ranging exchanges. */
@@ -212,7 +255,7 @@
   usart_send[1]=0xAA;
   usart_send_anc[0]=0x55;
   usart_send_anc[1]=0xAA;

  //SendComMap(50, 0);
   while(1)
   {
   g_start_sync_flag=0;