F103基站代码
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zhyinch
2021-08-31 d43f5c57427173eba8a2d1ed11bb8da408ec5dfc 
 Ô´Âë/ºËÐÄ°å/Src/main.c


@@ -6,32 +6,125 @@


#include "beep.h"


#include "dw_driver.h"


#include "dw_app.h"


#include "filters.h"


#include "stm32f10x_it.h"




//#define WORK_MODE_TAG


#define WORK_MODE_ANCHOR


#define START_ALARM_DIST_CM         200


#define BEEM_ON_TIME_MS            200




float dis_after_filter = 0;




#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_Init();


   SystemInit();


   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();


   Usart_Init();


   Uart1_Init();


   Spi_Init();


   ADC_Configuration();


   


   GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);


}


		


      uint8_t aa;


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;


void Program_Init(void)


{uint16_t i;


   float temp;


   u16 temp2;


   Usart1ParseDataCallback = UsartParseDataHandler;


   parameter_init();


   //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;


      }


      g_com_map[VERSION] = 0x012e;	


        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("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{


   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);


   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]=0xffff;


   }


}




/*! ------------------------------------------------------------------------------------------------------------------


 * @fn main()


 *


@@ -41,51 +134,72 @@


 *


 * @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( 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   


//      }


//   if(heartbeat_timer>1000)


//   {


//      heartbeat_timer=0;


//      if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)


//      HeatBeat();


//   }




   }


uint16_t temp;


float dw_vbat;


int main(void)


{


   LPFilter_Frac* p_Dis_Filter;


	


   Device_Init();


   Program_Init();


    module_power = 67;


   Dw1000_Init();


   p_Dis_Filter = New_LP_Frac(0.9);




  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;


   Modbus_RegMap();


    g_com_map[DEV_ROLE] = 1;


   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;	


      temp=dwt_readtempvbat(1);


      dw_vbat=(float)((temp&0xff)-173)/173+3.3;	


      if(dw_vbat>2.8)		


      Tag_App();


#else 


   }//else{


   IdleTask();	


//   }


//	


if(g_com_map[DEV_ROLE]==0)


      Anchor_App();




#endif


      if(USART_GetFlagStatus(EXT_USART, USART_FLAG_RXNE) != RESET)


      {


         aa = USART_ReceiveData(EXT_USART);


         USART_SendData(EXT_USART, 0x66);//向串口1发送数据




         while(USART_GetFlagStatus(EXT_USART, USART_FLAG_TC)!=SET);//等待发送结束


			


         aa = 0;


      }


		


      //除UWB之外的其他代码...


      dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);


		


      if(dis_after_filter <= START_ALARM_DIST_CM)


      {


//         g_beep_off_time = (uint32_t)dis_after_filter * 10;


//         if(g_beep_off_time <= 0) 


//            g_beep_off_time = 0;


//         g_beep_on_time = BEEM_ON_TIME_MS;


         OUT2_ON;		


			


      }


      else


      {


//         g_beep_on_time = 0;


//         g_beep_off_time = 0;


         OUT2_OFF;


      }


      


   }


}