1

zhyinch

2021-09-08 701755a24d798dabe9f604d71303a398356678b2

 源码/核心板/Src/main.c

@@ -18,7 +18,7 @@
   RCC_Configuration();
   //SystemInit();
   NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
   Nvic_Init();
	
//   Systick_Init();
   TIM3_Int_Init();

@@ -29,6 +29,7 @@
   Spi_Init();
   ADC_Configuration();
    Led_Init();
    Nvic_Init();
   GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
}
u8 anchor_type;
@@ -94,7 +95,7 @@
#endif
   OUT485_ENABLE;
   ComMapCheck();
   g_com_map[VERSION] = 0x0218;	
   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;
@@ -120,12 +121,13 @@
//   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;
       
   }
     memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
    
}

/*! ------------------------------------------------------------------------------------------------------------------
@@ -172,86 +174,65 @@
   UART_CheckSend();
    UART2_CheckReceive();
 
    if( memcmp(g_com_map2,g_com_map,COM_MAP_SIZE)!=0)
    {
        SendAnchorState(SM_MAPERROR);
           delay_ms(100);
      //   STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
      //   Delay_ms(100);
         SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //杞浣嶅洖鍒癰ootloader   
    }
   if(heartbeat_timer>1000)
   {
      heartbeat_timer=0;
      if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
      HeatBeat();
   }
//   if(flag_newsecond)
//   {
//     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;//姝ｅ父妯″紡
            usart_send_anc[3] = anc_report_num*6+2;//姝ｅ父妯″紡
            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;
        SendAnchorState(SM_UPDATE);
   __disable_irq();
   result = FLASH_Prepare(0x8004A38, 2);
   if(result)
      result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2); 
   __enable_irq();
      printf("杩涘叆鍗囩骇妯″紡\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; //杞浣嶅洖鍒癰ootloader   
   }
//         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; //杞浣嶅洖鍒癰ootloader   
//      }
      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; //杞浣嶅洖鍒癰ootloader   
      }
            if(g_com_map[MAP_SIGN_INDEX]!=0x55AA)
      {
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //杞浣嶅洖鍒癰ootloader   
      }
//   #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;//姝ｅ父妯″紡
//            usart_send_anc[3] = anc_report_num*6+2;//姝ｅ父妯″紡
//            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; //杞浣嶅洖鍒癰ootloader   
        }
      if(g_com_map[MAP_SIGN_INDEX]!=0x55AA)
        {
                SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //杞浣嶅洖鍒癰ootloader   
        }
    
    }
}
extern u8 needanchorrx;
int main(void)
{
 
@@ -259,7 +240,7 @@
   Program_Init();
   Dw1000_Init();
    BarInit();
  delay_ms(10);	
    delay_ms(10);	
   Dw1000_App_Init();
    /* Loop forever initiating ranging exchanges. */
   RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
@@ -270,16 +251,18 @@
  //SendComMap(50, 0);
   while(1)
   {
   g_start_sync_flag=0;
   if(g_start_send_flag)
   {
      g_start_send_flag = 0;		
      Tag_App();
   }
//   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)
      Anchor_App();

if(g_com_map[DEV_ROLE]==0&&needanchorrx==1)
    {needanchorrx = 0;
        Anchor_Start();
    }
   }
}