| | |
| | | #include "Rcc_Nvic_Systick.h" |
| | | #include "Usart.h" |
| | | #include "Spi.h" |
| | | #include "Flash.h" |
| | | #include "led.h" |
| | | #include "beep.h" |
| | | #include "dw_driver.h" |
| | |
| | | Uart1_Init(); |
| | | Spi_Init(); |
| | | ADC_Configuration(); |
| | | IWDG_Config(IWDG_Prescaler_128 ,4095); //10s |
| | | IWDG_Feed(); |
| | | // IWDG_Config(IWDG_Prescaler_128 ,4095); //10s |
| | | // IWDG_Feed(); |
| | | GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); |
| | | } |
| | | u8 anchor_type; |
| | | u32 dev_id; |
| | | u8 hbsend[16]; |
| | | u8 hbsend[26]; |
| | | void HeartBeatInit(void) |
| | | { |
| | | u16 checksum; |
| | | hbsend[0]=0x55; |
| | | hbsend[1]=0xAA; |
| | | hbsend[2]=0x2; |
| | | hbsend[3]=0xc; |
| | | hbsend[3]=0x16; |
| | | memcpy(&hbsend[4],&g_com_map[DEV_ID],2); |
| | | checksum = Checksum_u16(&hbsend[2],12); |
| | | memcpy(&hbsend[14],&checksum,2); |
| | | } |
| | | |
| | | uint16_t vel_factor,pos_factor; |
| | | u16 tyncpoll_time,dist_threshold; |
| | | u16 tyncpoll_time,dist_threshold,group_id; |
| | | u16 slottime,max_slotpos; |
| | | extern u8 module_power; |
| | | extern u16 total_slotnum; |
| | | void ComMapCheck(void) |
| | | { |
| | | |
| | | if(g_com_map[ANT_LENGTH]>10000) |
| | | { |
| | | g_com_map[ANT_LENGTH] = 0; |
| | | } |
| | | if(g_com_map[WAR_JDQ_TIME]>1000||g_com_map[WAR_JDQ_TIME]<0) |
| | | { |
| | | g_com_map[WAR_JDQ_TIME] = 1; |
| | | } |
| | | if(g_com_map[COM_INTERVAL]==0) |
| | | { |
| | | g_com_map[COM_INTERVAL]=100; |
| | | } |
| | | if(dist_threshold<300) |
| | | {dist_threshold = 300;} |
| | | if(dist_threshold>15000) |
| | | {dist_threshold = 15000;} |
| | | } |
| | | u16 JDQ_time; |
| | | int16_t g_commap_antdelay; |
| | | void Program_Init(void) |
| | | { float temp; |
| | | u16 temp2; |
| | |
| | | g_com_map[ANC_FLAG]=1; |
| | | save_com_map_to_flash(); |
| | | #endif |
| | | OUT485_ENABLE; |
| | | if(g_com_map[COM_INTERVAL]==0) |
| | | { |
| | | g_com_map[COM_INTERVAL]=100; |
| | | } |
| | | // |
| | | // g_com_map[COM_INTERVAL]=100; |
| | | // g_com_map[MAX_REPORT_ANC_NUM]=10; |
| | | // g_com_map[GROUP_ID]=0; |
| | | // g_com_map[DIST_OFFSET]=-116; |
| | | |
| | | g_com_map[VERSION] = 0x012e; |
| | | 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;} |
| | | // g_com_map[DEV_ROLE] =0x0; //åºç« |
| | | // |
| | | // g_com_map[ANC_POLL]=1; |
| | | // g_com_map[ALARM_DEV] = 0; |
| | | // g_com_map[ALARM_DISTANCE1] = 0; //é»è®¤æ¥è¦è·ç¦»50cm |
| | | // g_com_map[ALARM_DISTANCE2] = 900; //é»è®¤æ¥è¦è·ç¦»50cm |
| | | // g_com_map[ALARM_DISTANCE3] = 1400; //é»è®¤æ¥è¦è·ç¦»50cm |
| | | // g_com_map[RELAY2_DISTANCE1] = 0; //é»è®¤æ¥è¦è·ç¦»50cm |
| | | // g_com_map[RELAY2_DISTANCE2] = 900; //é»è®¤æ¥è¦è·ç¦»50cm |
| | | // g_com_map[RELAY2_DISTANCE3] = 1400; //é»è®¤æ¥è¦è·ç¦»50cm |
| | | // g_com_map[WAR_JDQ_TIME] = 1; //1ç§ |
| | | // g_com_map[POWER]=30; |
| | | // g_com_map[SPEEDFILTER_THRES]=10000; |
| | | // g_com_map[FILTER_COEFFICIENT]=40; |
| | | // g_com_map[ANT_LENGTH]=0; |
| | | // g_com_map[NOMOVESLEEP_TIME]=728; |
| | | |
| | | |
| | | OUT485_ENABLE; |
| | | |
| | | g_com_map[VERSION] = (1<<8)|(72); |
| | | FLASH_Read(FLASH_HARDWARE_FLAG, (uint8_t*)&g_com_map[HARDWAREFLAG_INDEX], 16); |
| | | dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]); |
| | | g_commap_antdelay = g_com_map[ANT_LENGTH]; |
| | | JDQ_time = g_com_map[WAR_JDQ_TIME]*10; |
| | | g_com_map[SW_TYPE] = SW_FANGZHUANG; |
| | | dev_id = g_com_map[DEV_ID]; |
| | | group_id=g_com_map[GROUP_ID]; |
| | | slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3; |
| | | max_slotpos=g_com_map[COM_INTERVAL]/slottime; |
| | | tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime; |
| | |
| | | total_slotnum = 1000/g_com_map[COM_INTERVAL]; |
| | | vel_factor=g_com_map[FILTER_COEFFICIENT]; |
| | | pos_factor=g_com_map[FILTER_COEFFICIENT]; |
| | | |
| | | ComMapCheck(); |
| | | if(module_power>67) |
| | | { |
| | | module_power=67; |
| | |
| | | // 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",g_com_map[MAX_REPORT_ANC_NUM]); |
| | | // }else{ |
| | | // |
| | | // anchor_type = dev_id%g_com_map[MAX_REPORT_ANC_NUM]; |
| | | // 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",g_com_map[MAX_REPORT_ANC_NUM]); |
| | |
| | | |
| | | for(i=0;i<255;i++) |
| | | { |
| | | g_Tagdist[i]=0xffff; |
| | | g_Tagdist[i]=0x1ffff; |
| | | } |
| | | } |
| | | |
| | |
| | | * |
| | | * @return none |
| | | */ |
| | | u8 selftest[2]; |
| | | void HeatBeat(void) |
| | | { |
| | | UART_PushFrame(hbsend,16); |
| | | u16 checksum; |
| | | selftest[0]=1; |
| | | selftest[1]=0; |
| | | memcpy(&hbsend[6],selftest,2); |
| | | memcpy(&hbsend[14],uartrec_userdata,10); |
| | | checksum = Checksum_u16(&hbsend[2],22); |
| | | memcpy(&hbsend[24],&checksum,2); |
| | | UART_PushFrame(hbsend,26); |
| | | } |
| | | void ClearUartUserData(void) |
| | | { |
| | | u8 i; |
| | | for(i=0;i<USERDATA_MAXLEN;i++) |
| | | { |
| | | uartrec_userdata[i] = 0; |
| | | } |
| | | usartrec_userdatalen = 0; |
| | | } |
| | | void ClearUWBUserData(void) |
| | | { |
| | | u8 i; |
| | | for(i=0;i<USERDATA_MAXLEN;i++) |
| | | { |
| | | uwbrec_userdata[i] = 0; |
| | | } |
| | | uwbrec_userdatalen = 0; |
| | | } |
| | | uint16_t temp; |
| | | float dw_vbat; |
| | |
| | | |
| | | 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[HEARTBEAT]) |
| | | // { |
| | | if(heartbeat_timer>=200) |
| | | { |
| | | heartbeat_timer=0; |
| | | HeatBeat(); |
| | | } |
| | | if(userdata_timer>=200) |
| | | { |
| | | userdata_timer = 0; |
| | | ClearUartUserData(); |
| | | } |
| | | // } |
| | | if(flag_newsecond) |
| | | { |
| | | uint32_t temp23; |
| | |
| | | int main(void) |
| | | { |
| | | |
| | | Device_Init(); |
| | | Device_Init(); |
| | | //StartUpTest(); |
| | | Program_Init(); |
| | | Dw1000_Init(); |
| | |
| | | while(1) |
| | | { |
| | | g_start_sync_flag=0; |
| | | if(g_start_send_flag) |
| | | { |
| | | g_start_send_flag = 0; |
| | | Tag_App(); |
| | | } |
| | | |
| | | if(g_start_send_flag) |
| | | { |
| | | g_start_send_flag = 0; |
| | | Tag_App(); |
| | | } |
| | | |
| | | IdleTask(); |
| | | if(g_com_map[DEV_ROLE]==0) |
| | | if(g_com_map[DEV_ROLE]==0) |
| | | Anchor_App(); |
| | | |
| | | } |