guanjiao
2018-09-08 f5f5c53c2475c18131a4171f60e07e18c3aa1590
Ô´Âë/ºËÐİå/Src/main.c
@@ -6,22 +6,36 @@
#include "beep.h"
#include "dw_driver.h"
#include "dw_app.h"
#include "filters.h"
#include "stm32f10x_it.h"
#include "serial_at_cmd_app.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();
//   Rcc_Init();
   SystemInit();
   Nvic_Init();
   Systick_Init();
   Led_Init();
   Beep_Init();
   DW_GPIO_Init();
   Usart_Init();
   Uart1_Init();
   Spi_Init();
   
   GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
}
void Parameter_Init(void)
{
   Usart1ParseDataCallback = UsartParseDataHandler;
}
/*! ------------------------------------------------------------------------------------------------------------------
@@ -35,9 +49,12 @@
 */
int main(void)
{
   LPFilter_Frac* p_Dis_Filter;
   
   Device_Init();
   Parameter_Init();
   Dw1000_Init();
   p_Dis_Filter = New_LP_Frac(0.7);
    /* Loop forever initiating ranging exchanges. */
   while(1)
@@ -46,17 +63,67 @@
      Tag_App();
#else 
      Anchor_App();
#endif
      //除UWB之外的其他代码...
      if(dist_cm<=100)
      dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
      if(dis_after_filter <= g_alarm_dist)
      {
         BEEP_ON;
//         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_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
      {
         BEEP_OFF;
//         g_beep_on_time = 0;
//         g_beep_off_time = 0;
         switch(g_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;
         }
      }
      
   }
}