From 701755a24d798dabe9f604d71303a398356678b2 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 08 九月 2021 20:06:42 +0800
Subject: [PATCH] 1
---
源码/核心板/Src/main.c | 328 +++++++++++++++++++++++++++++++++++++-----------------
1 files changed, 225 insertions(+), 103 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 b2dd27c..16a2b8c 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"
@@ -6,40 +6,128 @@
#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 "deca_device_api.h"
+#include "global_param.h"
+#include "ADC.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;
+//#define DEBUG_MODE
void Device_Init(void)
{
-// Rcc_Init();
- SystemInit();
- Nvic_Init();
- Systick_Init();
-#ifdef WORK_MODE_TAG
- RTC_Configuration();
-#endif
- Led_Init();
+ RCC_Configuration();
+ //SystemInit();
+ NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
+
+// Systick_Init();
+ TIM3_Int_Init();
+
Beep_Init();
DW_GPIO_Init();
Uart1_Init();
+ Uart2_Init();
Spi_Init();
-
-
+ ADC_Configuration();
+ Led_Init();
+ Nvic_Init();
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
}
-
-void Parameter_Init(void)
+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);
+}
+u16 tyncpoll_time;
+u16 slottime,max_slotpos;
+extern u8 module_power;
+extern u16 total_slotnum;
+void ComMapCheck(void)
+{
+ if(g_com_map[COM_INTERVAL]<10)
+ {
+ g_com_map[COM_INTERVAL]=500;
+ }
+ if(g_com_map[COM_INTERVAL]>1000)
+ {
+ g_com_map[COM_INTERVAL]=1000;
+ }
+ if(module_power>MAX_RFPOWER)
+ {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[IMU_THRES]>10)
+ {g_com_map[IMU_THRES]=10;}
+ if(g_com_map[IMU_THRES]<1)
+ {g_com_map[IMU_THRES]=1;}
+}
+void Program_Init(void)
+{ float temp;
+ u16 temp2;
+ uint16_t i;
Usart1ParseDataCallback = UsartParseDataHandler;
+ parameter_init();
+ //deca_sleep(1000);
+ HeartBeatInit();
+#ifdef DEBUG_MODE
+// g_com_map[DEV_ROLE]=1;
+// g_com_map[DEV_ID]=1;
+// g_com_map[COM_INTERVAL]=100;
+// g_com_map[MAX_REPORT_ANC_NUM]=3;
+// g_com_map[NEARBASE_NUM]=1;
+// g_com_map[NEARBASE_ID1]=2;
+// g_com_map[ANC_FLAG]=1;
+// save_com_map_to_flash();
+ g_com_map[BASESYNCSEQ]=1;
+ g_com_map[SYNCBASEID]=1;
+#endif
+ OUT485_ENABLE;
+ ComMapCheck();
+ g_com_map[VERSION] = 0x0219;
+ 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;
+ tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
+ module_power = g_com_map[POWER];
+ total_slotnum = 1000/g_com_map[COM_INTERVAL];
+ anchor_type = dev_id%3;
+
+
+
+ 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{
+
+ 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]);
+
+ memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
+ for(i=0;i<255;i++)
+ {
+ g_Tagdist[i]=0x1ffff;
+
+ }
+
}
/*! ------------------------------------------------------------------------------------------------------------------
@@ -51,96 +139,130 @@
*
* @return none
*/
-extern uint8_t send_start;
+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);
+}
+extern u8 g_start_sync_flag,usart_send_flag,anc_report_num;
+u16 heartbeat_timer,poll_timer;
+int16_t sync_timer;
+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)
+{
+
+ UART_CheckReceive();
+ UART_CheckSend();
+ UART2_CheckReceive();
+
+
+ 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;
+// usart_send_anc[2] = 5;//正常模式
+// usart_send_anc[3] = anc_report_num*6+2;//正常模式
+// checksum = Checksum_u16(&usart_send_anc[2],anc_report_num*6+2);
+// memcpy(&usart_send_anc[4+anc_report_num*6],&checksum,2);
+// UART_PushFrame(usart_send_anc,6+anc_report_num*6);
+// anc_report_num=0;
+// }
+// #endif
+
+
+ }
+u32 secondtimer;
+void OneSecondTask(void)
+{
+ if(time32_incr-secondtimer>1000)
+ {
+ uint8_t i;
+ secondtimer = time32_incr;
+ for(i=0;i<MAX_REGTAGNUM;i++)
+ {
+ if(regtag_map.remain_time[i]>0)
+ {
+ regtag_map.remain_time[i]--;
+ }
+ }
+ if(pwtag.remain_time>0)
+ {pwtag.remain_time--;}
+ flag_newsecond=1;
+ // GPIO_WriteBit(GPIOA, GPIO_Pin_8, Bit_SET);
+ synclost_count++;
+ TagListUpdate();
+
+
+ if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0&&(heartbeat_timer++>60))
+ {
+ heartbeat_timer = 0;
+ HeatBeat();
+ }
+ if( memcmp(g_com_map2,g_com_map,COM_MAP_SIZE)!=0)
+ {
+ SendAnchorState(SM_MAPERROR);
+ delay_ms(100);
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+ if(g_com_map[MAP_SIGN_INDEX]!=0x55AA)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+
+ }
+}
+extern u8 needanchorrx;
int main(void)
{
- LPFilter_Frac* p_Dis_Filter;
-
+
Device_Init();
- Parameter_Init();
+ Program_Init();
Dw1000_Init();
- p_Dis_Filter = New_LP_Frac(0.7);
-
- #ifdef WORK_MODE_TAG
- dwt_configuresleep(0x940, 0x7);
- _dwt_aonarrayupload();
- //dwt_entersleep();
- #endif
-
+ BarInit();
+ 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;
+ usart_send_anc[0]=0x55;
+ usart_send_anc[1]=0xAA;
+ //SendComMap(50, 0);
while(1)
{
-#ifdef WORK_MODE_TAG
-
- if(send_start)
- {send_start=0;
- Tag_App();
- }
- RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR,ENABLE);
-PWR_EnterSTOPMode(PWR_Regulator_LowPower,PWR_STOPEntry_WFI);
-#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_alarm_dist)
- {
-// 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
- {
-// 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;
- }
- }
-
-
-
+// g_start_sync_flag=0;
+// if(g_start_send_flag)
+// {
+// g_start_send_flag = 0;
+// Tag_App();
+// }
+// OneSecondTask();
+ IdleTask();
+if(g_com_map[DEV_ROLE]==0&&needanchorrx==1)
+ {needanchorrx = 0;
+ Anchor_Start();
+ }
}
}
--
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