V2.26

zhyinch

2021-09-17 8ce130f6cc614e60783c162153dc438ee43ad460

 源码/核心板/Src/main.c

@@ -21,13 +21,14 @@
   Nvic_Init();
//   Systick_Init();
   TIM3_Int_Init();
   Led_Init();

   Beep_Init();
   DW_GPIO_Init();
   Uart1_Init();
    Uart2_Init();
   Spi_Init();
   ADC_Configuration();
	
    Led_Init();
   GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
}
u8 anchor_type;
@@ -58,14 +59,14 @@
   {
     g_com_map[COM_INTERVAL]=1000;
   }
    if(module_power>67)
      {module_power=67;}
    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[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)
@@ -86,12 +87,14 @@
//   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[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] = 0x0200;	
   g_com_map[VERSION] = 0x021a;	
   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;
@@ -99,7 +102,9 @@
   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("鏍囩ID: %d .\r\n",dev_id);
@@ -115,11 +120,13 @@
//   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]=0xffff;
      g_Tagdist[i]=0x1ffff;
        IdleTask();
   }
    
}

/*! ------------------------------------------------------------------------------------------------------------------
@@ -131,8 +138,25 @@
 *
 * @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;
@@ -145,27 +169,35 @@
void IdleTask(void)
{
      
         UART_CheckReceive();
      UART_CheckSend();
   if(heartbeat_timer>1000)
   UART_CheckReceive();
   UART_CheckSend();
    UART2_CheckReceive();
 
//    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(heartbeat_timer>60000)
   {
      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(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
@@ -180,39 +212,7 @@
            anc_report_num=0;      
   }
   #endif
   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("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)
  if(g_com_map[MAP_SIGN_INDEX]!=0x55AA)
      {
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //杞浣嶅洖鍒癰ootloader   
      }
@@ -224,7 +224,8 @@
   Device_Init();
   Program_Init();
   Dw1000_Init();
  delay_ms(10);	
    BarInit();
    delay_ms(10);	
   Dw1000_App_Init();
    /* Loop forever initiating ranging exchanges. */
   RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
@@ -242,7 +243,7 @@
      Tag_App();
   }
      IdleTask();      
if(g_com_map[DEV_ROLE]==0)
if(g_com_map[DEV_ROLE]!=1)
      Anchor_App();

   }