From 2ad2b82d448645cc81409aa4765288da95931cb8 Mon Sep 17 00:00:00 2001
From: guanjiao <sqrgj@163.com>
Date: 星期六, 15 九月 2018 17:20:16 +0800
Subject: [PATCH] 1. 增加了“收不到信息1s后，停止报警”的功能 2. 将判断喇叭是否响的功能，在systick中断中实现
---
源码/核心板/Src/application/dw_app.h | 4 +
源码/核心板/Src/application/global_param.c | 5 +
源码/核心板/Src/main.c | 68 ----------------
源码/核心板/Src/application/beep_logic_app.c | 66 ++++++++++++++++
源码/核心板/Src/stm32f10x_it.c | 28 ++----
源码/核心板/Src/OnChipDevices/Rcc_Nvic_Systick.c | 2
源码/核心板/Src/application/global_param.h | 6
源码/核心板/Src/application/beep_logic_app.h | 9 ++
源码/核心板/Src/stm32f10x_it.h | 4 -
源码/核心板/Src/application/dw_app.c | 9 ++
10 files changed, 108 insertions(+), 93 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Rcc_Nvic_Systick.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Rcc_Nvic_Systick.c"
index e021ee3..38d4add 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Rcc_Nvic_Systick.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Rcc_Nvic_Systick.c"
@@ -59,7 +59,7 @@
int Systick_Init(void)
{
int time_retry = 500;
- if (SysTick_Config(64000))
+ if (SysTick_Config(72000))
{
/* Capture error */
while (time_retry--);
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.c"
new file mode 100644
index 0000000..d93e96f
--- /dev/null
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.c"
@@ -0,0 +1,66 @@
+#include "beep_logic_app.h"
+#include "led.h"
+#include "beep.h"
+#include "global_param.h"
+#include "dw_app.h"
+
+void main_logic(void) //主逻辑在这里执行
+{
+ //除UWB之外的其他代码...
+ static uint16_t beep_judge_cnt = 0;
+ if(beep_judge_cnt++ >= 200)
+ {
+ beep_judge_cnt = 0;
+
+ if(dis_after_filter <= g_com_map[ALARM_DISTANCE])
+ {
+ switch(g_com_map[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
+ {
+ switch(g_com_map[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;
+ }
+ }
+ }
+}
+
+
+
+
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.h"
new file mode 100644
index 0000000..0b1e40f
--- /dev/null
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.h"
@@ -0,0 +1,9 @@
+#ifndef __BEEP_LOGIC_H__
+#define __BEEP_LOGIC_H__
+
+#include "stm32f10x.h"
+
+void main_logic(void); //主逻辑在这里执行
+
+#endif
+
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
index bd1960c..64a0756 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
@@ -28,6 +28,8 @@
#include "led.h"
#include "serial_at_cmd_app.h"
#include "Usart.h"
+#include "global_param.h"
+#include "filters.h"
/*------------------------------------ Marcos ------------------------------------------*/
@@ -129,6 +131,10 @@
uint8_t random_delay_tim = 0;
double distance, dist_no_bias, dist_cm;
+
+uint32_t g_UWB_com_interval = 0;
+float dis_after_filter; //当前距离值
+LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
/*------------------------------------ Functions ------------------------------------------*/
@@ -435,7 +441,10 @@
dist_cm = dist_no_bias * 100; //dis 为单位为cm的距离
// dist[TAG_ID] = LP(dis, TAG_ID); //LP 为低通滤波器，让数据更稳定
+ /*--------------------------以下为非测距逻辑------------------------*/
LED0_BLINK; //每成功一次通讯则闪烁一次
+ g_UWB_com_interval = 0;
+ dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
}
}
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
index e30d2d7..3a2c837 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
@@ -3,11 +3,15 @@
#define __DW_APP_H__
#include "stm32f10x.h"
+#include "filters.h"
#define TAG_NUM_IN_SYS 256
#define DFT_RAND_DLY_TIM_MS 1
extern double dist_cm;
+extern uint32_t g_UWB_com_interval;
+extern float dis_after_filter;
+extern LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
void Dw1000_Init(void);
void Tag_App(void);
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
index 6934c80..609adcd 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
@@ -1,7 +1,9 @@
#include "global_param.h"
#include "Flash.h"
+#include "dw_app.h"
uint16_t g_com_map[COM_MAP_SIZE];
+
uint32_t save_com_map_to_flash(void)
{
@@ -21,6 +23,9 @@
g_com_map[ALARM_DISTANCE] = 200; //默认报警距离200cm
g_com_map[ALARM_DEV] = 0;
+ dis_after_filter = 1000; //默认距离
+ p_Dis_Filter = New_LP_Frac(0.7);
+
}
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
index 977da01..ca85222 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
@@ -3,8 +3,8 @@
#include "stm32f10x.h"
-#define COM_MAP_SIZE 1024
-
+#define COM_MAP_SIZE 1024 //MAP表的最大空间
+#define DEFAULT_DISTANCE 1000 //初始测距距离为10米
/*---------------Map Definition-------------------*/
#define DEV_ROLE 0x10 //该设备是anchor还是tag
@@ -17,8 +17,8 @@
/*------------END Map Definition-------------------*/
-extern uint16_t g_com_map[COM_MAP_SIZE];
+extern uint16_t g_com_map[COM_MAP_SIZE];
extern uint32_t save_com_map_to_flash(void);
extern void parameter_init(void);
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 b0e5590..8e7059e 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"
@@ -6,17 +6,12 @@
#include "beep.h"
#include "dw_driver.h"
#include "dw_app.h"
-#include "filters.h"
#include "stm32f10x_it.h"
#include "serial_at_cmd_app.h"
#include "global_param.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)
{
@@ -51,12 +46,10 @@
*/
int main(void)
{
- LPFilter_Frac* p_Dis_Filter;
-
+
Device_Init();
Program_Init();
Dw1000_Init();
- p_Dis_Filter = New_LP_Frac(0.7);
/* Loop forever initiating ranging exchanges. */
while(1)
@@ -65,67 +58,8 @@
Tag_App();
#else
Anchor_App();
-
#endif
-
- //除UWB之外的其他代码...
- dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
-
- if(dis_after_filter <= g_com_map[ALARM_DISTANCE])
- {
-// 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_com_map[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
- {
-// g_beep_on_time = 0;
-// g_beep_off_time = 0;
- switch(g_com_map[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;
- }
- }
-
-
}
}
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c"
index 8de836d..620a1ca 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c"
@@ -23,32 +23,24 @@
/* Includes ------------------------------------------------------------------*/
#include "stm32f10x_it.h"
#include "stm32f10x.h"
-#include "beep.h"
+#include "dw_app.h"
+#include "global_param.h"
+#include "beep_logic_app.h"
/* Tick timer count. */
volatile uint32_t time32_incr;
-volatile uint32_t g_beep_on_time = 0;
-volatile uint32_t g_beep_off_time = 0;
-
void SysTick_Handler(void)
{
- static uint32_t s_cycle_time = 0;
time32_incr++;
+ g_UWB_com_interval++;
+ if(g_UWB_com_interval > 1000)
+ {
+ dis_after_filter = DEFAULT_DISTANCE;
+ }
+ main_logic();
-// if(s_cycle_time >= g_beep_off_time)
-// {
-// s_cycle_time = 0;
-// }
-// else if(s_cycle_time > g_beep_on_time && s_cycle_time < g_beep_off_time)
-// {
-// BEEP_OFF;
-// }
-// else if(s_cycle_time <= g_beep_on_time)
-// {
-// BEEP_ON;
-// }
- s_cycle_time++;
+
}
/**
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.h"
index 6ab61dc..086c5d4 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.h"
@@ -27,10 +27,6 @@
#ifdef __cplusplus
extern "C" {
#endif
-
-extern volatile uint32_t g_beep_on_time;
-extern volatile uint32_t g_beep_off_time;
-
/*
* Tick timer interrupt handler to replace the default one.
--
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