From f5f5c53c2475c18131a4171f60e07e18c3aa1590 Mon Sep 17 00:00:00 2001
From: guanjiao <sqrgj@163.com>
Date: 星期六, 08 九月 2018 18:04:41 +0800
Subject: [PATCH] 加入串口发送接收
---
源码/核心板/Src/main.c | 79 ++++++++++++++++++++++++++++++++++++++-
1 files changed, 77 insertions(+), 2 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 b9fae62..2f3ac86 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"
@@ -6,22 +6,36 @@
#include "beep.h"
#include "dw_driver.h"
#include "dw_app.h"
+#include "filters.h"
+#include "stm32f10x_it.h"
+#include "serial_at_cmd_app.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;
void Device_Init(void)
{
- Rcc_Init();
+// Rcc_Init();
+ SystemInit();
Nvic_Init();
Systick_Init();
Led_Init();
Beep_Init();
DW_GPIO_Init();
- Usart_Init();
+ Uart1_Init();
Spi_Init();
+
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
+}
+
+void Parameter_Init(void)
+{
+ Usart1ParseDataCallback = UsartParseDataHandler;
}
/*! ------------------------------------------------------------------------------------------------------------------
@@ -35,9 +49,12 @@
*/
int main(void)
{
+ LPFilter_Frac* p_Dis_Filter;
Device_Init();
+ Parameter_Init();
Dw1000_Init();
+ p_Dis_Filter = New_LP_Frac(0.7);
/* Loop forever initiating ranging exchanges. */
while(1)
@@ -46,8 +63,66 @@
Tag_App();
#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;
+ }
+ }
+
+
}
}
--
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