From e129a69147731a8ff302413e009b792afee5fb2c Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 04 十二月 2019 21:50:09 +0800
Subject: [PATCH] 配临近算法初步完成，未测试
---
源码/核心板/Src/main.c | 158 +++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 124 insertions(+), 34 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 21cdfa8..3a40269 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"
@@ -6,29 +6,90 @@
#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"
+#include "ADC.h"
-//#define WORK_MODE_TAG
-#define WORK_MODE_ANCHOR
-#define START_ALARM_DIST_CM 500
-#define BEEM_ON_TIME_MS 200
-
-float dis_after_filter = 0;
+#define DEBUG_MODE
void Device_Init(void)
{
-// Rcc_Init();
- SystemInit();
+ 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();
- Usart_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;
+u16 slottime,max_slotpos;
+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;
+#endif
+ OUT485_ENABLE;
+ g_com_map[VERSION] = 0x0107;
+ dev_id = g_com_map[DEV_ID];
+ slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*4/3);
+ max_slotpos=g_com_map[COM_INTERVAL]/slottime;
+ tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
+
+ 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;
+ }
}
/*! ------------------------------------------------------------------------------------------------------------------
@@ -40,38 +101,67 @@
*
* @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)
{
- LPFilter_Frac* p_Dis_Filter;
-
+
Device_Init();
+ Program_Init();
Dw1000_Init();
- p_Dis_Filter = New_LP_Frac(0.9);
-
+ 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;
+
while(1)
{
-#ifdef WORK_MODE_TAG
+
+ if(g_start_send_flag)
+ {
+ g_start_send_flag = 0;
Tag_App();
-#else
+ }
+ IdleTask();
+if(g_com_map[DEV_ROLE]==0)
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 <= START_ALARM_DIST_CM)
- {
- 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;
- }
- else
- {
- g_beep_on_time = 0;
- g_beep_off_time = 0;
- }
-
}
}
--
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