From 147d2248cd39e7686e73313ef5408fda066fdb0a Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 27 八月 2019 21:09:00 +0800
Subject: [PATCH] 增加标签确定序号
---
源码/核心板/Src/main.c | 140 +++++++++++++++++++++++++++++++++++++++-------
1 files changed, 117 insertions(+), 23 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
index 366cc6f..872fdb4 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
@@ -6,22 +6,68 @@
#include "beep.h"
#include "dw_driver.h"
#include "dw_app.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
void Device_Init(void)
{
- Rcc_Init();
+ RCC_Configuration();
+ //SystemInit();
+ NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
Nvic_Init();
Systick_Init();
Led_Init();
Beep_Init();
DW_GPIO_Init();
- Usart_Init();
+ Uart1_Init();
Spi_Init();
+ ADC_Configuration();
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
+}
+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;
+ }
}
/*! ------------------------------------------------------------------------------------------------------------------
@@ -33,31 +79,79 @@
*
* @return none
*/
-int main(void)
+void HeatBeat(void)
+{
+UART_PushFrame(hbsend,16);
+}
+u16 heartbeat_timer,poll_timer;
+void IdleTask(void)
{
-
- Device_Init();
- Dw1000_Init();
-
- /* Loop forever initiating ranging exchanges. */
- while(1)
+ UART_CheckReceive();
+ UART_CheckSend();
+ if(heartbeat_timer>1000)
{
-#ifdef WORK_MODE_TAG
- Tag_App();
-#else
- Anchor_App();
-#endif
- //除UWB之外的其他代码...
- if(dist_cm<=100)
+ 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])
{
- BEEP_ON;
- }
- else
- {
- BEEP_OFF;
+ if(g_com_map[DEV_ROLE]==0)
+ {int8_t correction_time;
+ correction_time=tag_timer-g_com_map[DEV_ID]*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;
}
}
+ if(g_com_map[CNT_UPDATE]==1)
+ {
+ uint32_t result = 0;
+ u16 tmp = 0xAAAA;
+ __disable_irq();
+ result = FLASH_Prepare(0x8004A38, 2);
+ if(result)
+ result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2);
+ __enable_irq();
+ printf("进入升级模式\r\n");
+ // STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
+ // Delay_ms(100);
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+
+ }
+int main(void)
+{
+
+ Device_Init();
+ Program_Init();
+ Dw1000_Init();
+ 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)
+ {
+ IdleTask();
+ if(g_start_send_flag)
+ {
+ g_start_send_flag = 0;
+ Tag_App();
+ }
+
+if(g_com_map[DEV_ROLE]==0)
+ Anchor_App();
+ }
}
--
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