| | |
| | | #include "stm32f10x_it.h" |
| | | #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) |
| | | { |
| | | RCC_Configuration(); |
| | | //SystemInit(); |
| | | NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000); |
| | | Nvic_Init(); |
| | | Systick_Init(); |
| | | // 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); |
| | | } |
| | | u16 tyncpoll_time; |
| | | TrackingDiffClass *pUWBDistanceTrackingDiff; |
| | | u8 group_id,sync_mainbase=0,synclost_timer=0; |
| | | uint16_t vel_factor,pos_factor; |
| | | |
| | | extern u8 module_power; |
| | | u16 slottime,max_slotnum,current_slotpos,dist_threshold; |
| | | u16 supergroupid; |
| | | void Program_Init(void) |
| | | {uint16_t i; |
| | | float temp; |
| | | u16 temp2; |
| | | Usart1ParseDataCallback = UsartParseDataHandler; |
| | | parameter_init(); |
| | | dev_id = g_com_map[DEV_ID_H]<<16|g_com_map[DEV_ID_L]; |
| | | #ifdef WORK_MODE_TAG |
| | | //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]; |
| | | dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]); |
| | | if(dist_threshold<300) |
| | | {dist_threshold = 300;} |
| | | if(dist_threshold>15000) |
| | | {dist_threshold = 15000;} |
| | | if(dev_id==0) |
| | | sync_mainbase=1; |
| | | module_power = g_com_map[POWER]; |
| | | if(module_power>67) |
| | | { |
| | | module_power=67; |
| | | } |
| | | supergroupid = g_com_map[IMU_THRES]; |
| | | g_com_map[VERSION] = 0x012d; |
| | | g_com_map[SW_TYPE] = SW_MODBUS; |
| | | temp=(float)g_com_map[MAX_REPORT_ANC_NUM]*4/3; |
| | | temp2=g_com_map[MAX_REPORT_ANC_NUM]*4/3; |
| | | if(temp2<temp) |
| | | { |
| | | temp2++; |
| | | } |
| | | slottime=temp2; |
| | | max_slotnum=g_com_map[COM_INTERVAL]/temp2; |
| | | current_slotpos=g_com_map[DEV_ID]; |
| | | tyncpoll_time=(current_slotpos%max_slotnum)*slottime; |
| | | if(g_com_map[DEV_ROLE]) |
| | | { |
| | | printf("æ ç¾ID: %d .\r\n",dev_id); |
| | | printf("é讯é´é: %d ms.\r\n",g_com_map[COM_INTERVAL]); |
| | | printf("忬¡é讯åºç«æ°é: %d个.\r\n",REPOET_ANC_NUM); |
| | | #else |
| | | anchor_type = dev_id%REPOET_ANC_NUM; |
| | | printf("忬¡é讯åºç«æ°é: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]); |
| | | }else{ |
| | | anchor_type = dev_id%g_com_map[MAX_REPORT_ANC_NUM]; |
| | | printf("åºç«ID: %x .\r\n",dev_id); |
| | | printf("åºç«ç±»å: %c .\r\n",anchor_type+0x41); |
| | | printf("忬¡é讯åºç«æ°é: %d个.\r\n",REPOET_ANC_NUM); |
| | | |
| | | printf("忬¡é讯åºç«æ°é: %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]); |
| | | #endif |
| | | |
| | | |
| | | for(i=0;i<255;i++) |
| | | { |
| | |
| | | * |
| | | * @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("è¿å
¥å级模å¼\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å¤ä½åå°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å¤ä½åå°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å¤ä½åå°bootloader |
| | | } |
| | | |
| | | } |
| | | uint16_t temp; |
| | | float dw_vbat; |
| | | int main(void) |
| | | { |
| | | |
| | |
| | | Program_Init(); |
| | | Dw1000_Init(); |
| | | delay_ms(10); |
| | | #ifdef WORK_MODE_TAG |
| | | RTC_Configuration(g_com_map[COM_INTERVAL]*20); |
| | | tag_sleep_configuraion(); |
| | | #endif |
| | | 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_com_map[0] != 0x55AA) |
| | | { |
| | | while(1) |
| | | IdleTask(); |
| | | } |
| | | 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(); |
| | | // PWR_EnterSTOPMode(PWR_Regulator_LowPower, PWR_STOPEntry_WFI); |
| | | #else |
| | | }//else{ |
| | | IdleTask(); |
| | | // } |
| | | // |
| | | if(g_com_map[DEV_ROLE]==0) |
| | | Anchor_App(); |
| | | #endif |
| | | |
| | | |
| | | } |
| | | } |
| | | |