V1.37 1.增加固件类型2.增加白名单功能

zhyinch

2021-01-14 29830da94998fd5db04626e96a83aeece8d74521

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -9,33 +9,102 @@
#include "stm32f10x_it.h"
#include "serial_at_cmd_app.h"
#include "global_param.h"
#include "ADC.h"

#define WORK_MODE_TAG
//#define WORK_MODE_ANCHOR
//#define DEBUG_MODE

void Device_Init(void)
{
//   Rcc_Init();
   SystemInit();
   RCC_Configuration();
   //SystemInit();
   NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
   Nvic_Init();
   Systick_Init();
#ifdef WORK_MODE_TAG	
   RTC_Configuration();
#endif
//   Systick_Init();
   TIM3_Int_Init();
   Led_Init();
   Beep_Init();
   DW_GPIO_Init();
   Uart1_Init();
   Spi_Init();
	
   ADC_Configuration();
   
   GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
}

u8 anchor_type;
u32 dev_id;
u8 hbsend[16];
void HeartBeatInit(void)
{
   u16 checksum;
   hbsend[0]=0x55;
   hbsend[1]=0xAA;
   hbsend[2]=0x2;
   hbsend[3]=0xc;
   memcpy(&hbsend[4],&g_com_map[DEV_ID],2);
   checksum = Checksum_u16(&hbsend[2],12);
   memcpy(&hbsend[14],&checksum,2);
}
uint16_t vel_factor,pos_factor;
u16 tyncpoll_time;
u16 slottime,max_slotpos;
extern u8 module_power;
extern u16 total_slotnum;
void Program_Init(void)
{uint16_t i;
{   float temp;
   u16 temp2;
   uint16_t i;
   Usart1ParseDataCallback = UsartParseDataHandler;
   parameter_init();
   //deca_sleep(1000);
   HeartBeatInit();
#ifdef DEBUG_MODE
//   g_com_map[DEV_ROLE]=1;
//      g_com_map[DEV_ID]=1;
//   g_com_map[COM_INTERVAL]=100;
//   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();
#endif
   OUT485_ENABLE;
   if(g_com_map[COM_INTERVAL]==0)
   {
     g_com_map[COM_INTERVAL]=100;
   }
   g_com_map[VERSION] = 0x0125;
   g_com_map[SW_TYPE] =    SW_FANGZHUANG;
   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];
         vel_factor=g_com_map[FILTER_COEFFICIENT];
      pos_factor=g_com_map[FILTER_COEFFICIENT];

      if(module_power>67)
      {
         module_power=67;
      }
	
   if(g_com_map[DEV_ROLE])
   {
   printf("标签ID: %d .\r\n",dev_id);
   printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
   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]);
   }
   OUT485_DISABLE;
//   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]);

	
   for(i=0;i<255;i++)
   {
      g_Tagdist[i]=0xffff;
@@ -51,33 +120,142 @@
 *
 * @return none
 */
void HeatBeat(void)
{ 
UART_PushFrame(hbsend,16);
}
uint16_t temp;
float dw_vbat;
void StartUpTest(void)
{
   temp=dwt_readtempvbat(1);
   dw_vbat=(float)((temp&0xff)-173)/173+3.3;	
   if(dw_vbat<2.8)
   {
      SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
   }	
}
extern u8 g_start_sync_flag,usart_send_flag,anc_report_num;
u16 heartbeat_timer,poll_timer;
int16_t sync_timer;
extern u8 flag_newsecond, tagpos_rec[50], tagpos_send[50],ancidlist_num;
uint32_t tagpos_binary;
extern u16 ancidlist_rec[20],ancidlist_send[20];
extern u16 target_time;
void IdleTask(void)
{
		
         UART_CheckReceive();
      UART_CheckSend();
	
   if(heartbeat_timer>1000)
   {
      heartbeat_timer=0;
      if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
      HeatBeat();
   }
   if(flag_newsecond)
   {
      uint32_t temp23;
         temp23 =  dwt_read32bitreg(CHAN_CTRL_ID) ;
         if(temp23!=0x4A480022)
         {
            temp23 =  dwt_read32bitreg(CHAN_CTRL_ID) ;
               if(temp23!=0x4A480022)
               {
                  NVIC_SystemReset();
               }
            }
     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] = 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||g_com_map[COM_INTERVAL]==0)
      {
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
      }

   }
int main(void)
{

 
   Device_Init();
   //StartUpTest();
   Program_Init();
   Dw1000_Init();

#ifdef WORK_MODE_TAG
   tag_sleep_configuraion();
#endif
  delay_ms(10);	
   Dw1000_App_Init();
    /* Loop forever initiating ranging exchanges. */
   RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
   usart_send[0]=0x55;
   usart_send[1]=0xAA;
   usart_send_anc[0]=0x55;
   usart_send_anc[1]=0xAA;

   while(1)
   {
#ifdef WORK_MODE_TAG
   g_start_sync_flag=0;
   if(g_start_send_flag)
   {
      g_start_send_flag = 0;
      g_start_send_flag = 0;		
      Tag_App();
   }
//   UART_CheckReceive();
   RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
   PWR_EnterSTOPMode(PWR_Regulator_LowPower, PWR_STOPEntry_WFI);	
#else 
      IdleTask();		
if(g_com_map[DEV_ROLE]==0)
      Anchor_App();
#endif

   }
}