zhyinch
2020-04-11 66bdd9977d6bfe014389d2cf67e83cecedb6cd7e
Ô´Âë/ºËÐİå/Src/main.c
@@ -10,7 +10,9 @@
#include "serial_at_cmd_app.h"
#include "global_param.h"
#include "ADC.h"
#include "modbus.h"
#include "deca_device_api.h"
#include "Flash.h"
//#define DEBUG_MODE
void Device_Init(void)
@@ -46,6 +48,10 @@
}
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;
@@ -61,15 +67,26 @@
#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[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, 0.1);
      //pUWBDistanceTrackingDiff = NewTrackingDiffClass(2, 4, 0.03);
      dev_id = g_com_map[DEV_ID];
      g_com_map[VERSION] = 0x010b;
      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)
@@ -83,7 +100,6 @@
   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);
@@ -129,23 +145,40 @@
   if(g_com_map[CNT_UPDATE]==1)
   {
   uint32_t result = 0;
      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
      __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)
{
 
@@ -163,7 +196,10 @@
   {
   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();
   }//else{
   IdleTask();