From b32e18a80201f1f285f172f07dda6b48beb6bab6 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期六, 23 四月 2022 20:38:12 +0800
Subject: [PATCH] V2.49
---
源码/核心板/Src/main.c | 114 +++++++++++++++++++++-----------------------------------
1 files changed, 43 insertions(+), 71 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 151108f..d3e6f30 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"
@@ -18,7 +18,7 @@
RCC_Configuration();
//SystemInit();
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
- Nvic_Init();
+
// Systick_Init();
TIM3_Int_Init();
@@ -29,6 +29,7 @@
Spi_Init();
ADC_Configuration();
Led_Init();
+ Nvic_Init();
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
}
u8 anchor_type;
@@ -63,15 +64,16 @@
{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)
{g_com_map[IMU_THRES]=1;}
}
+u16 decid;
void Program_Init(void)
{ float temp;
u16 temp2;
@@ -94,14 +96,15 @@
#endif
OUT485_ENABLE;
ComMapCheck();
- g_com_map[VERSION] = 0x0215;
+ g_com_map[VERSION] = (2<<8)|49;
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;
+ decid = (g_com_map[DEV_ID]/0x1000)*1000+((g_com_map[DEV_ID]%0x1000)/0x100)*100+((g_com_map[DEV_ID]%0x100)/0x10)*10+((g_com_map[DEV_ID]%0x10));
+ anchor_type = decid%g_com_map[MAX_REPORT_ANC_NUM];
@@ -120,11 +123,13 @@
// 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;
+ IdleTask();
}
+
}
/*! ------------------------------------------------------------------------------------------------------------------
@@ -142,21 +147,29 @@
int32_t intheight;
void HeatBeat(void)
{ u16 checksum;
- GetPressAndHeight();
- intheight = Height*100;//+g_com_map[MAX_REPORT_ANC_NUM];
+ // 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);
}
+u32 onesecondtimer;
+void OneSecondTask(void)
+{
+ TagListUpdate();
+ TagDistClear();
+}
extern u8 g_start_sync_flag,usart_send_flag,anc_report_num;
-u16 heartbeat_timer,poll_timer;
+u16 heartbeat_timer=58,poll_timer;
int16_t sync_timer;
extern u8 flag_newsecond, tagpos_rec[50], tagpos_send[50],ancidlist_num;
uint32_t tagpos_binary;
@@ -166,14 +179,25 @@
{
UART_CheckReceive();
- UART_CheckSend();
+// UART_CheckSend();
UART2_CheckReceive();
- if(heartbeat_timer>1000)
+// 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(heartbeat_timer>60)
{
heartbeat_timer=0;
if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
HeatBeat();
+ }
+ if(time32_incr-onesecondtimer>=1000)
+ {
+ onesecondtimer = time32_incr;
+ OneSecondTask();
}
// if(flag_newsecond)
// {
@@ -188,58 +212,13 @@
// 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;
- 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
- 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");
- g_com_map[CNT_UPDATE]=0;
- save_com_map_to_flash();
- delay_ms(100);
- // STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
- // 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;
- 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)
+ 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)
{
@@ -247,7 +226,7 @@
Program_Init();
Dw1000_Init();
BarInit();
- delay_ms(10);
+ delay_ms(10);
Dw1000_App_Init();
/* Loop forever initiating ranging exchanges. */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
@@ -255,19 +234,12 @@
usart_send[1]=0xAA;
usart_send_anc[0]=0x55;
usart_send_anc[1]=0xAA;
+ dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
+ dwt_rxenable(0);//打开接收
//SendComMap(50, 0);
while(1)
{
- g_start_sync_flag=0;
- if(g_start_send_flag)
- {
- g_start_send_flag = 0;
- Tag_App();
- }
- IdleTask();
-if(g_com_map[DEV_ROLE]==0)
- Anchor_App();
-
+ IdleTask();
}
}
--
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