| | |
| | | #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; |
| | | } |
| | | |
| | | /*! ------------------------------------------------------------------------------------------------------------------ |
| | |
| | | */ |
| | | 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) |
| | |
| | | Tag_App(); |
| | | #else |
| | | Anchor_App(); |
| | | |
| | | #endif |
| | | |
| | | //é¤UWBä¹å¤çå
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| | | 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; |
| | | } |
| | | } |
| | | |
| | | |
| | | |
| | | } |
| | | } |
| | | |