From 55e36bbbabc1afed172689543d507b6a25d3932c Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期六, 07 八月 2021 09:25:22 +0800
Subject: [PATCH] 1
---
源码/核心板/Src/main.c | 74 +++++++++++++++++++++---------------
1 files changed, 43 insertions(+), 31 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 22bc877..0e4fb68 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"
@@ -21,13 +21,14 @@
Nvic_Init();
// Systick_Init();
TIM3_Int_Init();
- Led_Init();
+
Beep_Init();
DW_GPIO_Init();
Uart1_Init();
+ Uart2_Init();
Spi_Init();
ADC_Configuration();
-
+ Led_Init();
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
}
u8 anchor_type;
@@ -62,10 +63,10 @@
{module_power=MAX_RFPOWER;}
if(module_power<0)
{module_power=0;}
- if(g_com_map[MAX_REPORT_ANC_NUM]>10)
- {g_com_map[MAX_REPORT_ANC_NUM]=10;}
- if(g_com_map[MAX_REPORT_ANC_NUM]<1)
- {g_com_map[MAX_REPORT_ANC_NUM]=1;}
+// if(g_com_map[MAX_REPORT_ANC_NUM]>10)
+// {g_com_map[MAX_REPORT_ANC_NUM]=10;}
+// if(g_com_map[MAX_REPORT_ANC_NUM]<1)
+// {g_com_map[MAX_REPORT_ANC_NUM]=1;}
if(g_com_map[IMU_THRES]>10)
{g_com_map[IMU_THRES]=10;}
if(g_com_map[IMU_THRES]<1)
@@ -93,7 +94,7 @@
#endif
OUT485_ENABLE;
ComMapCheck();
- g_com_map[VERSION] = 0x0208;
+ g_com_map[VERSION] = 0x0218;
dev_id = g_com_map[DEV_ID];
slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
max_slotpos=g_com_map[COM_INTERVAL]/slottime;
@@ -122,7 +123,7 @@
for(i=0;i<255;i++)
{
- g_Tagdist[i]=0xffff;
+ g_Tagdist[i]=0x1ffff;
}
}
@@ -135,15 +136,23 @@
*
* @return none
*/
+extern float GetPressAndHeight(void);
extern u16 synclost_count;
+extern float Height;
+int32_t intheight;
void HeatBeat(void)
{ u16 checksum;
+ GetPressAndHeight();
+ intheight = Height*100;//+g_com_map[MAX_REPORT_ANC_NUM];
if(synclost_count>5)
{
hbsend[6] = 0;
}else{
hbsend[6] = 1;
}
+ if(intheight!=0)
+ intheight+=(int16_t)g_com_map[MAX_REPORT_ANC_NUM];
+ memcpy(&hbsend[7],&intheight,4);
checksum = Checksum_u16(&hbsend[2],12);
memcpy(&hbsend[14],&checksum,2);
UART_PushFrame(hbsend,16);
@@ -158,27 +167,29 @@
void IdleTask(void)
{
- UART_CheckReceive();
- UART_CheckSend();
+ UART_CheckReceive();
+ UART_CheckSend();
+ UART2_CheckReceive();
+
if(heartbeat_timer>1000)
{
heartbeat_timer=0;
if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
HeatBeat();
}
- if(flag_newsecond)
- {
- flag_newsecond=0;
- tagpos_binary=0;
- memcpy(ancidlist_send,ancidlist_rec,ancidlist_num*2);
- ancidlist_num=0;
- for(u8 i=0;i<max_slotpos;i++)
- {
- if(tagpos_rec[i])
- tagpos_binary|=1<<i;
- tagpos_rec[i] = 0;
- }
- }
+// if(flag_newsecond)
+// {
+// flag_newsecond=0;
+// tagpos_binary=0;
+// memcpy(ancidlist_send,ancidlist_rec,ancidlist_num*2);
+// ancidlist_num=0;
+// for(u8 i=0;i<max_slotpos;i++)
+// {
+// if(tagpos_rec[i])
+// tagpos_binary|=1<<i;
+// tagpos_rec[i] = 0;
+// }
+// }
if(target_time>1000)
{target_time-=1000;}
#ifdef USART_INTEGRATE_OUTPUT
@@ -210,14 +221,14 @@
// Delay_ms(100);
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
- if(g_com_map[CNT_REBOOT]==1)
- {
- g_com_map[CNT_REBOOT]=0;
- g_com_map[MAP_SIGN_INDEX]=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[CNT_REBOOT]==1)
+// {
+// g_com_map[CNT_REBOOT]=0;
+// g_com_map[MAP_SIGN_INDEX]=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[CNT_RESTART]==1)
{
g_com_map[CNT_RESTART]=0;
@@ -237,6 +248,7 @@
Device_Init();
Program_Init();
Dw1000_Init();
+ BarInit();
delay_ms(10);
Dw1000_App_Init();
/* Loop forever initiating ranging exchanges. */
--
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