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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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| | | |
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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 500 |
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| | | #define BEEM_ON_TIME_MS 200 |
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| | | |
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| | | float dis_after_filter = 0; |
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| | | |
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| | | void Device_Init(void) |
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| | | { |
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| | | Rcc_Init(); |
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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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| | |
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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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| | | |
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| | | Device_Init(); |
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| | | Dw1000_Init(); |
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| | | p_Dis_Filter = New_LP_Frac(0.9); |
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| | | |
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| | | /* Loop forever initiating ranging exchanges. */ |
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| | | while(1) |
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| | |
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| | | Anchor_App(); |
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| | | #endif |
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| | | //é¤UWBä¹å¤çå
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| | | if(dist_cm<=100) |
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| | | dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm); |
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| | | |
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| | | if(dis_after_filter <= START_ALARM_DIST_CM) |
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| | | { |
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| | | BEEP_ON; |
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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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| | | } |
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| | | else |
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| | | { |
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| | | BEEP_OFF; |
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| | | g_beep_on_time = 0; |
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| | | g_beep_off_time = 0; |
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| | | } |
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| | | |
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| | | } |
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