From 27ef584b1870ce42d7ea5dc5a1cf67a1f642d434 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 15 四月 2022 16:01:13 +0800
Subject: [PATCH] 增加调试信息输出

---
 源码/核心板/Src/main.c |  246 +++++++++++++++++++++++++++++++++++++++++-------
 1 files changed, 208 insertions(+), 38 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 7978b01..bd98f33 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"
@@ -2,6 +2,7 @@
 #include "Rcc_Nvic_Systick.h"
 #include "Usart.h"
 #include "Spi.h"
+#include "Flash.h"
 #include "led.h"
 #include "beep.h"
 #include "dw_driver.h"
@@ -12,7 +13,34 @@
 #include "ADC.h"
 
 //#define DEBUG_MODE
+/*
+ * rlv:重装载寄存器的值,取值范围为:0-0XFFF
+ * 函数调用举例:
+ * IWDG_Config(IWDG_Prescaler_64 ,625);  // IWDG 1s 超时溢出 
+ *                        (64/40)*625 = 1s
+ */
 
+void IWDG_Config(uint8_t prv ,uint16_t rlv)
+{    
+    // 使能 预分频寄存器PR和重装载寄存器RLR可写
+    IWDG_WriteAccessCmd( IWDG_WriteAccess_Enable );
+    
+    // 设置预分频器值
+    IWDG_SetPrescaler( prv );
+    
+    // 设置重装载寄存器值
+    IWDG_SetReload( rlv );
+    
+    // 把重装载寄存器的值放到计数器中
+    IWDG_ReloadCounter();
+    
+    // 使能 IWDG
+    IWDG_Enable();    
+}
+void IWDG_Feed(void)
+{
+    IWDG_ReloadCounter();
+}
 void Device_Init(void)
 {
 	RCC_Configuration();
@@ -27,25 +55,50 @@
 	Uart1_Init();
 	Spi_Init();
 	ADC_Configuration();
-	
+//	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);
 }
-u16 tyncpoll_time;
+
+uint16_t vel_factor,pos_factor;
+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;
@@ -64,26 +117,64 @@
 	g_com_map[ANC_FLAG]=1;
 		save_com_map_to_flash();
 #endif
+//    
+//    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[DEV_ROLE] =0x0;  //基站
+//	
+//		g_com_map[ANC_POLL]=1;
+//		g_com_map[ALARM_DEV] = 0;
+//		g_com_map[ALARM_DISTANCE1] = 0;	//默认报警距离50cm
+//		g_com_map[ALARM_DISTANCE2] = 900;	//默认报警距离50cm
+//		g_com_map[ALARM_DISTANCE3] = 1400;	//默认报警距离50cm
+//         g_com_map[RELAY2_DISTANCE1] = 0;	//默认报警距离50cm
+//		g_com_map[RELAY2_DISTANCE2] = 900;	//默认报警距离50cm
+//		g_com_map[RELAY2_DISTANCE3] = 1400;	//默认报警距离50cm
+//        g_com_map[WAR_JDQ_TIME] = 1; //1秒
+//		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] = 0x010e;	
+		
+	g_com_map[VERSION] = (1<<8)|(71);
+	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];
-	slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]/4)+4;
+	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;	
+	module_power = g_com_map[POWER];
+	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;
+		}
 	
-	
-	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]);
-	}
+//	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]);
+//	}
 	OUT485_DISABLE;
 //	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]);
@@ -91,7 +182,7 @@
 	
 	for(i=0;i<255;i++)
 	{
-		g_Tagdist[i]=0xffff;
+		g_Tagdist[i]=0x1ffff;
 	}
 }
 
@@ -104,9 +195,46 @@
  *
  * @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;
+void StartUpTest(void)
+{
+	temp=dwt_readtempvbat(1);
+	dw_vbat=(float)((temp&0xff)-173)/173+3.3;	
+	if(dw_vbat<2.8)
+	{
+		SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
+	}	
 }
 extern u8 g_start_sync_flag,usart_send_flag,anc_report_num;
 u16 heartbeat_timer,poll_timer;
@@ -114,19 +242,37 @@
 extern u8 flag_newsecond, tagpos_rec[50], tagpos_send[50],ancidlist_num;
 uint32_t tagpos_binary;
 extern u16 ancidlist_rec[20],ancidlist_send[20];
+extern u16 target_time;
 void IdleTask(void)
 {
-		main_logic();
+		
 			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;
+//			temp23 =  dwt_read32bitreg(CHAN_CTRL_ID) ;
+//			if(temp23!=0x4A480022)
+//			{
+//				temp23 =  dwt_read32bitreg(CHAN_CTRL_ID) ;
+//					if(temp23!=0x4A480022)
+//					{
+//						NVIC_SystemReset();
+//					}
+//				}
 	  flag_newsecond=0;
 		tagpos_binary=0;
 		memcpy(ancidlist_send,ancidlist_rec,ancidlist_num*2);
@@ -138,7 +284,9 @@
 			tagpos_rec[i] = 0;
 		}
 	}
-
+	if(target_time>=1000)
+	{target_time-=1000;}
+	#ifdef USART_INTEGRATE_OUTPUT
 	if(g_com_map[DEV_ROLE]==0&&usart_send_flag)
 	{u16 checksum;
 				usart_send_flag=0;
@@ -149,6 +297,7 @@
 				UART_PushFrame(usart_send_anc,6+anc_report_num*6);
 				anc_report_num=0;		
 	}
+	#endif
 	if(g_com_map[CNT_UPDATE]==1)
 	{
 	uint32_t result = 0;
@@ -166,12 +315,31 @@
 		//	Delay_ms(100);
 			SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
 	}
+		if(g_com_map[CNT_REBOOT]==1)
+		{
+			FactorySettings();
+			
+			SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
+		}
+		if(g_com_map[CNT_RESTART]==1)
+		{
+			g_com_map[CNT_RESTART]=0;
+			save_com_map_to_flash();
+			delay_ms(100);
+				SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
+		}
+        if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
+		{
+				SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
+		}
 
 	}
+    
 int main(void)
 {
  
-	Device_Init();
+ 	Device_Init();
+	//StartUpTest();
 	Program_Init();
 	Dw1000_Init();
   delay_ms(10);	
@@ -186,13 +354,15 @@
 	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();
 
 	}

--
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