1

zhyinch

2021-09-08 701755a24d798dabe9f604d71303a398356678b2

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -9,33 +9,125 @@
#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();
   Nvic_Init();
   Systick_Init();
#ifdef WORK_MODE_TAG	
   RTC_Configuration();
#endif
   Led_Init();
   RCC_Configuration();
   //SystemInit();
   NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
	
//   Systick_Init();
   TIM3_Int_Init();

   Beep_Init();
   DW_GPIO_Init();
   Uart1_Init();
    Uart2_Init();
   Spi_Init();
	
	
   ADC_Configuration();
    Led_Init();
    Nvic_Init();
   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;
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;
   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();
   g_com_map[BASESYNCSEQ]=1;
   g_com_map[SYNCBASEID]=1;
#endif
   OUT485_ENABLE;
   ComMapCheck();
   g_com_map[VERSION] = 0x0219;	
   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];
   anchor_type = dev_id%3;
	

		
   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{
	
   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]);

    memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
   for(i=0;i<255;i++)
   {
      g_Tagdist[i]=0x1ffff;
       
   }
    
}

/*! ------------------------------------------------------------------------------------------------------------------
@@ -47,34 +139,130 @@
 *
 * @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;
   }
    if(intheight!=0)
        intheight+=(int16_t)g_com_map[MAX_REPORT_ANC_NUM];
   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;
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();
    UART2_CheckReceive();
 
    
   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


   }
u32 secondtimer;
void OneSecondTask(void)
{
    if(time32_incr-secondtimer>1000)
    {
            uint8_t i;
            secondtimer = time32_incr;
         for(i=0;i<MAX_REGTAGNUM;i++)
         {
            if(regtag_map.remain_time[i]>0)
            {
               regtag_map.remain_time[i]--;
            }
         }
         if(pwtag.remain_time>0)
         {pwtag.remain_time--;}
         flag_newsecond=1;
   //   GPIO_WriteBit(GPIOA, GPIO_Pin_8, Bit_SET);	
         synclost_count++;
        TagListUpdate();
       
        
        if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0&&(heartbeat_timer++>60))
        {
            heartbeat_timer = 0;
            HeatBeat();
        }
        if( memcmp(g_com_map2,g_com_map,COM_MAP_SIZE)!=0)
        {
                SendAnchorState(SM_MAPERROR);
                delay_ms(100);
                SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
        }
      if(g_com_map[MAP_SIGN_INDEX]!=0x55AA)
        {
                SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
        }
    
    }
}
extern u8 needanchorrx;
int main(void)
{

 
   Device_Init();
   Program_Init();
   Dw1000_Init();

#ifdef WORK_MODE_TAG
   tag_sleep_configuraion();
#endif
    BarInit();
    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;
  //SendComMap(50, 0);
   while(1)
   {
#ifdef WORK_MODE_TAG
   if(g_start_send_flag)
   {
      g_start_send_flag = 0;
      Tag_App();
   }
//   UART_CheckReceive();
   RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
   PWR_EnterSTOPMode(PWR_Regulator_LowPower, PWR_STOPEntry_WFI);	
#else 
      Anchor_App();
#endif

//   g_start_sync_flag=0;
//   if(g_start_send_flag)
//   {
//      g_start_send_flag = 0;		
//      Tag_App();
//   }
//    OneSecondTask();
      IdleTask();		
if(g_com_map[DEV_ROLE]==0&&needanchorrx==1)
    {needanchorrx = 0;
        Anchor_Start();
    }
   }
}