华星火车项目测试完成

zhyinch

2019-08-25 bdad051416564607f0b31df44732e3ea97b7174a

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -6,22 +6,16 @@
#include "beep.h"
#include "dw_driver.h"
#include "dw_app.h"
#include "filters.h"
#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 START_ALARM_DIST_CM         200
#define BEEM_ON_TIME_MS            200

float dis_after_filter = 500;

void Device_Init(void)
{
//   Rcc_Init();
   SystemInit();
   RCC_Configuration();
   //SystemInit();
   Nvic_Init();
   Systick_Init();
   Led_Init();
@@ -29,15 +23,50 @@
   DW_GPIO_Init();
   Uart1_Init();
   Spi_Init();
	
   ADC_Configuration();
   
   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);
}
void Program_Init(void)
{uint16_t i;
   Usart1ParseDataCallback = UsartParseDataHandler;
   parameter_init();
   //deca_sleep(1000);
   HeartBeatInit();
   dev_id = g_com_map[DEV_ID];
   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]);
   }
//   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]);

	
   for(i=0;i<255;i++)
   {
      g_Tagdist[i]=0xffff;
   }
}

/*! ------------------------------------------------------------------------------------------------------------------
@@ -49,83 +78,65 @@
 *
 * @return none
 */
void HeatBeat(void)
{ 
UART_PushFrame(hbsend,16);
}
u16 heartbeat_timer,poll_timer;
void IdleTask(void)
{
         UART_CheckReceive();
      UART_CheckSend();
   if(heartbeat_timer>1000)
   {
      heartbeat_timer=0;
      if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
      HeatBeat();
   }
   if(poll_timer>=g_com_map[COM_INTERVAL]-tag_delaytime)
   {
      poll_timer=0;
      if(g_com_map[ANC_POLL]||g_com_map[DEV_ROLE])
      {
         if(g_com_map[DEV_ROLE]==0)
         {int8_t correction_time;
            correction_time=tag_timer-(GROUP_TAG_NUM+1)*3;
            tag_delaytime=correction_time;
                     if(tag_delaytime>g_com_map[COM_INTERVAL]/2)
                     {
                     tag_delaytime=tag_delaytime-g_com_map[COM_INTERVAL];
                     }
         }
      g_start_send_flag=1;
      }
		
   }

   }
int main(void)
{
   LPFilter_Frac* p_Dis_Filter;
	
 
   Device_Init();
   Program_Init();
   Dw1000_Init();
   p_Dis_Filter = New_LP_Frac(0.7);

  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;
   while(1)
   {
#ifdef WORK_MODE_TAG
      IdleTask();		
   if(g_start_send_flag)
   {
      g_start_send_flag = 0;
		
      Tag_App();
#else 
   }
	
if(g_com_map[DEV_ROLE]==0)
      Anchor_App();

#endif
		
      //除UWB之外的其他代码...
      dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
		
      if(dis_after_filter <= g_com_map[ALARM_DISTANCE])
      {
//         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;
         switch(g_com_map[ALARM_DEV]) 
         {
            case 0:
               BEEP2_ON;
               BEEP_OFF;
               OUT2_OFF;
               break;
            case 1:
               BEEP_ON;
               BEEP2_OFF;
               OUT2_OFF;
               break;
            case 2:
               OUT2_ON;
               BEEP_OFF;
               BEEP2_OFF;
               break;
            default:
               BEEP2_ON;
               BEEP_ON;
               OUT2_ON;
               break;
         }
      }
      else
      {
//         g_beep_on_time = 0;
//         g_beep_off_time = 0;
         switch(g_com_map[ALARM_DEV]) 
         {
            case 0:
               BEEP2_OFF;
               break;
            case 1:
               BEEP_OFF;
               break;
            case 2:
               OUT2_OFF;
               break;
            default:
               BEEP2_OFF;
               BEEP_OFF;
               OUT2_OFF;
               break;
         }
      }
		

		
   }
}