zhyinch
2020-04-11 66bdd9977d6bfe014389d2cf67e83cecedb6cd7e
Ô´Âë/ºËÐİå/Src/main.c
@@ -9,33 +9,111 @@
#include "stm32f10x_it.h"
#include "serial_at_cmd_app.h"
#include "global_param.h"
#define WORK_MODE_TAG
//#define WORK_MODE_ANCHOR
#include "ADC.h"
#include "modbus.h"
#include "deca_device_api.h"
#include "Flash.h"
//#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);
}
void Program_Init(void)
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);
}
u16 tyncpoll_time;
TrackingDiffClass *pUWBDistanceTrackingDiff;
u8 group_id,sync_mainbase=0,synclost_timer=0;
uint16_t vel_factor,pos_factor;
extern u8 module_power;
void Program_Init(void)
{uint16_t i;
   float temp;
   u16 temp2;
   Usart1ParseDataCallback = UsartParseDataHandler;
   parameter_init();
   //deca_sleep(1000);
   HeartBeatInit();
//   g_com_map[DEV_ROLE]=1;
//      g_com_map[DEV_ID]=1;
//   g_com_map[COM_INTERVAL]=10;
   OUT485_ENABLE;
#ifdef DEBUG_MODE
//   g_com_map[COM_INTERVAL]=50;
//   g_com_map[MAX_REPORT_ANC_NUM]=3;
//   g_com_map[DEV_ID]=1;
//   g_com_map[ANC_POLL]=0;
//   g_com_map[ALARM_DISTANCE1]=100;
   g_com_map[FILTER_COEFFICIENT]=12;
#endif
      //pUWBDistanceTrackingDiff = NewTrackingDiffClass(2, 4, 0.03);
      dev_id = g_com_map[DEV_ID];
      group_id=g_com_map[GROUP_ID];
      vel_factor=g_com_map[FILTER_COEFFICIENT];
      pos_factor=g_com_map[FILTER_COEFFICIENT];
      if(dev_id==0)
         sync_mainbase=1;
      module_power = g_com_map[POWER];
      if(module_power>67)
      {
         module_power=67;
      }
      g_com_map[VERSION] = 0x0115;
   temp=(float)g_com_map[MAX_REPORT_ANC_NUM]*4/3;
   temp2=g_com_map[DEV_ID]*g_com_map[MAX_REPORT_ANC_NUM]*4/3;
   if(temp2<temp)
   {
      temp2++;
   }
      tyncpoll_time=g_com_map[DEV_ID]*(temp2);
   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;
   }
}
/*! ------------------------------------------------------------------------------------------------------------------
@@ -47,34 +125,90 @@
 *
 * @return none
 */
void HeatBeat(void)
{
UART_PushFrame(hbsend,16);
}
extern u8 g_start_sync_flag;
u16 heartbeat_timer,poll_timer,sync_timer;
void IdleTask(void)
{
   g_start_sync_flag=0;
         UART_CheckReceive();
      UART_CheckSend();
   if(heartbeat_timer>1000)
   {
      heartbeat_timer=0;
      if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
      HeatBeat();
   }
   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
      }
   }
uint16_t temp;
float dw_vbat;
int main(void)
{
   Device_Init();
   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;
   Modbus_RegMap();
   while(1)
   {
#ifdef WORK_MODE_TAG
   if(g_start_send_flag)
   {
      g_start_send_flag = 0;
      g_start_send_flag = 0;
      temp=dwt_readtempvbat(1);
      dw_vbat=(float)(temp&0xff-173)/173+3.3;
      if(dw_vbat>2.8)
      Tag_App();
   }
//   UART_CheckReceive();
   RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
   PWR_EnterSTOPMode(PWR_Regulator_LowPower, PWR_STOPEntry_WFI);
#else
   }//else{
   IdleTask();
//   }
//
if(g_com_map[DEV_ROLE]==0)
      Anchor_App();
#endif
   }
}