From d56da5b9006bfb55a4c7ae2dbb00c026fa3148ae Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期日, 15 十二月 2019 11:08:21 +0800
Subject: [PATCH] 增加跟踪微分器
---
源码/核心板/Src/main.c | 139 +++++++++++++++++++++++++++++++++++++--------
1 files changed, 113 insertions(+), 26 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 6bde235..43f6f36 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"
@@ -9,39 +9,91 @@
#include "stm32f10x_it.h"
#include "serial_at_cmd_app.h"
#include "global_param.h"
+#include "ADC.h"
-
+//#define DEBUG_MODE
void Device_Init(void)
{
RCC_Configuration();
//SystemInit();
+ NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
Nvic_Init();
- Systick_Init();
+// Systick_Init();
+ TIM3_Int_Init();
Led_Init();
Beep_Init();
DW_GPIO_Init();
Uart1_Init();
Spi_Init();
-
+ ADC_Configuration();
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
}
-
+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;
+TrackingDiffClass *pUWBDistanceTrackingDiff;
void Program_Init(void)
{uint16_t i;
+ float temp;
+ u16 temp2;
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();
- #ifdef WORK_MODE_TAG
- printf("DEVICE MODE: TAG .\r\n");
- printf("DEVICE ID: %d .\r\n",g_com_map[DEV_ID]);
- printf("DEVICE INTERVAL: %d .\r\n",g_com_map[COM_INTERVAL]);
- #else
- printf("DEVICE MODE: ANCHOR .\r\n");
- printf("DEVICE ID: %d .\r\n",g_com_map[DEV_ID]);
- 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]);
- #endif
+ //deca_sleep(1000);
+ HeartBeatInit();
+// g_com_map[DEV_ROLE]=1;
+// g_com_map[DEV_ID]=1;
+// g_com_map[COM_INTERVAL]=10;
+ OUT485_ENABLE;
+
+#ifdef DEBUG_MODE
+
+ g_com_map[COM_INTERVAL]=50;
+ g_com_map[MAX_REPORT_ANC_NUM]=3;
+ g_com_map[DEV_ID]=1;
+ g_com_map[ANC_POLL]=0;
+ g_com_map[ALARM_DISTANCE1]=100;
+#endif
+ pUWBDistanceTrackingDiff = NewTrackingDiffClass(2, 4, 0.1);
+ dev_id = g_com_map[DEV_ID];
+ g_com_map[VERSION] = 0x010b;
+ temp=(float)g_com_map[MAX_REPORT_ANC_NUM]*4/3;
+ temp2=g_com_map[DEV_ID]*g_com_map[MAX_REPORT_ANC_NUM]*4/3;
+ if(temp2<temp)
+ {
+ temp2++;
+ }
+ tyncpoll_time=g_com_map[DEV_ID]*(temp2);
+ 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]);
+
+
for(i=0;i<255;i++)
{
g_Tagdist[i]=0xffff;
@@ -57,35 +109,70 @@
*
* @return none
*/
+void HeatBeat(void)
+{
+UART_PushFrame(hbsend,16);
+}
+extern u8 g_start_sync_flag;
+u16 heartbeat_timer,poll_timer,sync_timer;
+void IdleTask(void)
+{
+ g_start_sync_flag=0;
+ 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[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
+ }
+
+ }
int main(void)
{
Device_Init();
Program_Init();
Dw1000_Init();
- delay_ms(1000);
-#ifdef WORK_MODE_TAG
- RTC_Configuration(g_com_map[COM_INTERVAL]*20);
- tag_sleep_configuraion();
-#endif
+ 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;
+ Modbus_RegMap();
while(1)
{
-#ifdef WORK_MODE_TAG
if(g_start_send_flag)
{
- g_start_send_flag = 0;
+ g_start_send_flag = 0;
Tag_App();
- }
-// UART_CheckReceive();
- PWR_EnterSTOPMode(PWR_Regulator_LowPower, PWR_STOPEntry_WFI);
-#else
+ }//else{
+ IdleTask();
+// }
+//
+if(g_com_map[DEV_ROLE]==0)
Anchor_App();
-#endif
+
}
}
--
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