#include "main.h"
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#include "stm32l0xx_it.h"
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#include "deca_device_api.h"
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#include "deca_regs.h"
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#include "dw_driver.h"
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#include <math.h>
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#define SPEED_OF_LIGHT 299702547
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#define UUS_TO_DWT_TIME 65536
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#define POLL_TX_TO_RESP_RX_DLY_UUS 150
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#define RESP_RX_TO_FINAL_TX_DLY_UUS 410
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#define RESP_RX_TIMEOUT_UUS 2000
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#define DELAY_BETWEEN_TWO_FRAME_UUS 400
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#define POLL_RX_TO_RESP_TX_DLY_UUS 670
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#define RESP_TX_TO_FINAL_RX_DLY_UUS 10
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#define FINAL_RX_TIMEOUT_UUS 4300
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#define WHITELIST1_START 0x25
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#define WHITELIST1_END 0x26
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#define MODBUS_ID1 0x11
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#define FZ_NEARBASENUM_INDEX 10
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#define FZ_NEARBASEID_INDEX 11
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static uint64_t resp_tx_ts;
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static uint64_t final_rx_ts;
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static uint32_t status_reg,resp_tx_time,tagpos_binary;
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static uint8_t frame_len,recpoll_len,current_syncid,new_tagid,seize_anchor,result,g_start_sync_flag;
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static uint8_t rx_buffer[150];
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static uint16_t anc_id_recv,tag_id_recv;
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static uint8_t flag_syncbase,sync_seq,synclost_timer,temp_nearbaspos;
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static uint16_t sync_timer;
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static uint8_t send_buffer[150];
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static uint8_t frame_seq_nb2,battary,button,rec_nearbase_num,ancidlist_num;
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static uint16_t ancidlist_rec[20],ancidlist_send[20],rec_ancidlist[20],rec_ancdistlist[20];
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static int16_t rec_antdelay;
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static uint16_t taglist_pos,tmp_time;
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uint16_t taglist_num=0;
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uint16_t tagid_list[TAG_NUM_IN_SYS];
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uint8_t tagofflinetime[TAG_NUM_IN_SYS];
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int32_t tagdist_list[TAG_NUM_IN_SYS];
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static uint8_t tagpos_rec[50];
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static uint64_t poll_rx_ts;
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uint8_t g_flag_Taggetdist[TAG_NUM_IN_SYS];
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static uint8_t flag_tag_distsmooth[TAG_NUM_IN_SYS],misdist_num[TAG_NUM_IN_SYS];
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static uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
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static uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
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static double Ra, Rb, Da, Db;
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static int64_t tof_dtu;
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static double tof;
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static double distance, dist_no_bias, dist_cm;
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extern dwt_config_t config;
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static double firstpath_power, rx_power,rec_firstpath_power;
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static double f1, f2, r1, r2;
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static uint16_t F1,F2,F3,N,C;
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const double B = 131072;
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const double A = 121.74;
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double min_power;
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static dwt_rxdiag_t d1;
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static int32_t hex_dist,his_dist[TAG_NUM_IN_SYS];
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extern uint16_t g_Resttimer;
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int32_t filter_dist,g_Tagdist[TAG_NUM_IN_SYS];
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double LOS(dwt_rxdiag_t *dia) {
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F1 = dia->firstPathAmp1;
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F2 = dia->firstPathAmp2;
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F3 = dia->firstPathAmp3;
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N = dia->rxPreamCount;
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C = dia->maxGrowthCIR;
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firstpath_power=10* log10((F1*F1+F2*F2+F3*F3)/(N*N))-A;
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rx_power=10*log10(C*B/(N*N))-A;
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// min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
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return min_power;
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}
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void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
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{
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if(GPIO_Pin==GPIO_PIN_8)
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{
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Anchor_App();
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}
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}
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static uint64_t get_tx_timestamp_u64(void)
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{
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uint8_t ts_tab[5];
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uint64_t ts = 0;
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int i;
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dwt_readtxtimestamp(ts_tab);
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for (i = 4; i >= 0; i--)
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{
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ts <<= 8;
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ts |= ts_tab[i];
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}
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return ts;
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}
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static uint64_t get_rx_timestamp_u64(void)
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{
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uint8_t ts_tab[5];
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uint64_t ts = 0;
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int i;
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dwt_readrxtimestamp(ts_tab);
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for (i = 4; i >= 0; i--)
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{
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ts <<= 8;
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ts |= ts_tab[i];
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}
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return ts;
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}
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static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
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{
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int i;
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for (i = 0; i < FINAL_MSG_TS_LEN; i++)
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{
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ts_field[i] = (uint8_t) ts;
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ts >>= 8;
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}
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}
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static void final_msg_get_ts(const uint8_t *ts_field, uint32_t *ts)
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{
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int i;
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*ts = 0;
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for (i = 0; i < FINAL_MSG_TS_LEN; i++)
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{
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*ts += ts_field[i] << (i * 8);
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}
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}
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void TagListUpdate(void)
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{
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uint16_t i,j=0,temp[TAG_NUM_IN_SYS];
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for(i=0;i<taglist_num;i++)
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{
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if(tagofflinetime[i]++<5)
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{
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tagid_list[j]=tagid_list[i];
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tagofflinetime[j++]=tagofflinetime[i];
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}
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}
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taglist_num=j;
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}
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uint16_t CmpTagInList(uint16_t tagid)
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{uint16_t i;
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for(i=0;i<taglist_num;i++)
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{
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if(memcmp(&tagid,&tagid_list[i],2)==0)
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break;
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}
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tagofflinetime[i] = 0;
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return i;
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}
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/**
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* ðÅÝÅÅÐòÊý×é
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* @param int a[] ÒªÅÅÐòµÄÊý×é
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* @param int n Êý×éÔªËصĸöÊý
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**/
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void bubble_sort(int32_t a[],uint16_t n)
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{
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for(int i=0; i<n-1; i++)
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{
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int isSorted = 1;
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for(int j=0; j<n-1-i; j++)
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{
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if(a[j] > a[j+1])
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{
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isSorted = 0;
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int32_t temp = a[j];//ʱ¼ä
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uint16_t temp1 = tagid_list[j];//id
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uint8_t temp2 = tagofflinetime[j];//id
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// uint16_t temp2 = uwbqueue.fail_num[j];//uwb½ÓÊÜʧ°ÜµÄ´ÎÊý
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// uint8_t temp3 = uwbqueue.flag_newanchor[j];//ÐÂÀÏ»ùÕ¾
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a[j] = a[j+1];
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tagid_list[j]= tagid_list[j+1];
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tagofflinetime[j]= tagofflinetime[j+1];
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// uwbqueue.fail_num[j]= uwbqueue.fail_num[j+1];
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// uwbqueue.flag_newanchor[j]= uwbqueue.flag_newanchor[j+1];
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a[j+1]=temp;
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tagid_list[j+1]=temp1;
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tagofflinetime[j+1]=temp2;
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// uwbqueue.fail_num[j+1]=temp2;
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// uwbqueue.flag_newanchor[j+1]=temp3;
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}
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}
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if(isSorted) break;
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}
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}
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uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos) //0 mainbase 1 first near_base
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{
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uint8_t motorstate;
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memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);
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memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);
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poll_rx_ts = get_rx_timestamp_u64();//»ñµÃPoll°ü½ÓÊÕʱ¼äT2
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resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//¼ÆËãResponse·¢ËÍʱ¼äT3¡£
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dwt_setdelayedtrxtime(resp_tx_time);//ÉèÖÃResponse·¢ËÍʱ¼äT3
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dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//ÉèÖ÷¢ËÍÍê³Éºó¿ªÆô½ÓÊÕÑÓ³Ùʱ¼ä
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dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//½ÓÊÕ³¬Ê±Ê±¼ä
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if(new_tagid)
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{
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tagdist_list[taglist_pos]=0x1ffff;
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memcpy(&send_buffer[DIST_IDX], &tagdist_list[taglist_pos], 4);
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}else{
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memcpy(&send_buffer[DIST_IDX], &tagdist_list[taglist_pos], 4);
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}
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motorstate =0;
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// if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1]||tagdist_list[taglist_pos]<0)
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// {
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// motorstate =0;
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// }
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// else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
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// {
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// if(flag_tag_distsmooth[taglist_pos])
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// {motorstate =2;
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// }else{
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// motorstate =0;
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// }
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// }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
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// {
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// if(flag_tag_distsmooth[taglist_pos])
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// {motorstate =1;
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// }else{
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// motorstate =0;
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// }
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// }
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send_buffer[GROUP_ID_IDX] = group_id;
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//send_buffer[MAINBASE_INDEX]=flag_syncbase;
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send_buffer[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
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send_buffer[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
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send_buffer[MOTORSTATE_INDEX]&=0x0f;
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// if(remotesend_state)
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// {
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// memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
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// dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//дÈë·¢ËÍÊý¾Ý
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// dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//É趨·¢Ëͳ¤¶È
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// }else{
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dwt_writetxdata(24, send_buffer, 0);//дÈë·¢ËÍÊý¾Ý
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dwt_writetxfctrl(24, 0);//É趨·¢Ëͳ¤¶È
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// }
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result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//ÑÓ³Ù·¢ËÍ£¬µÈ´ý½ÓÊÕ
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if(result==0)
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{
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while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///²»¶Ï²éѯоƬ״ֱ̬µ½½ÓÊճɹ¦»òÕß³öÏÖ´íÎó
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{ };
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}else{
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if(g_com_map[MODBUS_ID1]==1)
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{
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#ifdef DBGMSG_OUTPUT
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dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
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SendDbgMsg(dbgmsg,dbgmsg_len);
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#endif
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}
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result++;
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}
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if(!(status_reg& SYS_STATUS_RXFCG))
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{
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dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
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dwt_rxenable(0);
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while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///²»¶Ï²éѯоƬ״ֱ̬µ½½ÓÊճɹ¦»òÕß³öÏÖ´íÎó
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{ };
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}
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if (status_reg & SYS_STATUS_RXFCG)//½ÓÊճɹ¦
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{
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dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ±ê־λ
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frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//Êý¾Ý³¤¶È
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dwt_readrxdata(rx_buffer, frame_len, 0);//¶ÁÈ¡½ÓÊÕÊý¾Ý
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if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2)) //ÇÀÕ¼anchor ʧ°Ü
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{
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if(g_com_map[MODBUS_ID1]==1)
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{
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#ifdef DBGMSG_OUTPUT
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dbgmsg_len = sprintf(dbgmsg,"%s errormsg:%x",__debug_info__,rx_buffer[MESSAGE_TYPE_IDX]);
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SendDbgMsg(dbgmsg,dbgmsg_len);
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#endif
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}
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return 1;
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}
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if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)&&group_id==rx_buffer[GROUP_ID_IDX]) //ÅжÏÊÇ·ñΪFinal°ü
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{
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resp_tx_ts = get_tx_timestamp_u64();//»ñµÃresponse·¢ËÍʱ¼äT3
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final_rx_ts = get_rx_timestamp_u64();//»ñµÃfinal½ÓÊÕʱ¼äT6
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final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//´Ó½ÓÊÕÊý¾ÝÖжÁÈ¡T1£¬T4£¬T5
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final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+ancrec_nearbasepos*4], &resp_rx_ts);
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final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
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// testtime[0] = time32_incr*1000+TIM3->CNT;
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poll_rx_ts_32 = (uint32_t)poll_rx_ts;//ʹÓÃ32λÊý¾Ý¼ÆËã
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resp_tx_ts_32 = (uint32_t)resp_tx_ts;
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final_rx_ts_32 = (uint32_t)final_rx_ts;
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Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
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Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
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Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
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Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
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tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//¼ÆË㹫ʽ
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tof = tof_dtu * DWT_TIME_UNITS;
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distance = tof * SPEED_OF_LIGHT;//¾àÀë=¹âËÙ*·ÉÐÐʱ¼ä
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#ifdef DW3000
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dist_no_bias = distance;
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#else
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dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //¾àÀë¼õÈ¥½ÃÕýϵÊý
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#endif
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dist_cm = dist_no_bias * 1000; //dis Ϊµ¥Î»ÎªcmµÄ¾àÀë
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dwt_readdiagnostics(&d1);
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LOS(&d1);
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/*--------------------------ÒÔÏÂΪ·Ç²â¾àÂß¼------------------------*/
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//dist_cm=33000;
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// LED0_BLINK; //ÿ³É¹¦Ò»´ÎͨѶÔòÉÁ˸һ´Î
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// UWBLED_BLINK;
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dis_after_filter=dist_cm;
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hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
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if(recpoll_len==rec_nearbase_num*4+15)
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{
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hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10-rec_antdelay*10;
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}
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g_flag_Taggetdist[taglist_pos]=0;
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if(hex_dist>-100000&&hex_dist<2000000)
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{
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if(abs(hex_dist-his_dist[taglist_pos])<10000)
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{
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flag_tag_distsmooth[taglist_pos] =1;
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}else{
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flag_tag_distsmooth[taglist_pos] =0;
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}
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if(abs(hex_dist-his_dist[taglist_pos])<10000||misdist_num[taglist_pos]>3)
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{
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uint16_t checksum;
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g_Resttimer=0;
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// IWDG_Feed();
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#ifdef TDFILTER
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NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
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filter_dist = pos_predict[taglist_pos]/10;
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filter_speed = vel_predict[taglist_pos]/10;
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newmeasure = 1;
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#else
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filter_dist=hex_dist/10;
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#endif
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misdist_num[taglist_pos]=0;
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tagdist_list[taglist_pos] = filter_dist;
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his_dist[taglist_pos]=hex_dist;
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// CmpTagInList(tag_id_recv);
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if(hex_dist>0)
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{
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g_Tagdist[taglist_pos]=hex_dist/10;
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}else{
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g_Tagdist[taglist_pos]= 0x2ffff;
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}
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usart_send[0]=0x55;
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usart_send[1]=0xAA;
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usart_send[2] = 1;//Õý³£Ä£Ê½
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usart_send[3] = 17;//Êý¾Ý¶Î³¤¶È
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usart_send[4] = frame_seq_nb2;//Êý¾Ý¶Î³¤¶È
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memcpy(&usart_send[5],&tag_id_recv,2);
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memcpy(&usart_send[7],&dev_id,2);
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if(tagdist_list[taglist_pos]<=0)
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tagdist_list[taglist_pos]=0x2ffff;
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memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
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usart_send[13] = battary;
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usart_send[14] = button;
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usart_send[15] = firstpath_power;
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usart_send[16] = rx_power;
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checksum = Checksum_u16(&usart_send[2],17);
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memcpy(&usart_send[19],&checksum,2);
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USART_puts(usart_send,21);
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}else{
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if(g_com_map[MODBUS_ID1]==1)
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{
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#ifdef DBGMSG_OUTPUT
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dbgmsg_len = sprintf(dbgmsg,"%s errordist:%d",__debug_info__,hex_dist);
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SendDbgMsg(dbgmsg,dbgmsg_len);
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#endif
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}
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// printf("%d",hex_dist);
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misdist_num[taglist_pos]++;
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}
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}
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}
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}else{
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if(g_com_map[MODBUS_ID1]==1)
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{
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#ifdef DBGMSG_OUTPUT
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dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
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SendDbgMsg(dbgmsg,dbgmsg_len);
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#endif
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}
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//printf("%x/n",status_reg);
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dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
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}
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}
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void Anchor_App(void)
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{
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u8 send_len,i;
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u16 tempid;
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uint32_t rec_syncid;
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dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0);
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// delay_us(t23);
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// HAL_NVIC_DisableIRQ(EXTI9_5_IRQn);
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status_reg = dwt_read32bitreg(SYS_STATUS_ID);
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if (status_reg & SYS_STATUS_RXFCG)//³É¹¦½ÓÊÕ
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{ uint16_t tag_recv_interval;
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float temp_tagpos;
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dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//Çå³ý±ê־λ
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frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//»ñµÃ½ÓÊÕÊý¾Ý³¤¶È
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recpoll_len = frame_len;
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dwt_readrxdata(rx_buffer, frame_len, 0);//¶ÁÈ¡½ÓÊÕÊý¾Ý
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memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
|
//½«ÊÕµ½µÄtag_id·Ö±ðдÈë¸÷´ÎͨѶµÄ°üÖУ¬Îª¶à±êǩͨѶ·þÎñ£¬·ÀÖ¹Ò»´ÎͨѶÖнÓÊÕµ½²»Í¬ID±êÇ©µÄÊý¾Ý
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memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
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if(group_id== rx_buffer[GROUP_ID_IDX])
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{
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switch(rx_buffer[MESSAGE_TYPE_IDX])
|
{
|
case NEAR_POLL:
|
frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
|
battary = rx_buffer[BATTARY_IDX];
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button = rx_buffer[BUTTON_IDX];
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rec_nearbase_num=rx_buffer[FZ_NEARBASENUM_INDEX];
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memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
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memcpy(&rec_ancidlist,&rx_buffer[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
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memcpy(&rec_ancdistlist,&rx_buffer[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
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memcpy(&rec_antdelay,&rx_buffer[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
|
#ifdef USART_ALL_OUTPUT
|
usart_send[2] = 0x0c;//Õý³£Ä£Ê½
|
usart_send[3] = 8+rec_nearbase_num*4;//Êý¾Ý¶Î³¤¶È
|
usart_send[4] = frame_seq_nb2;//Êý¾Ý¶Î³¤¶È
|
usart_send[5] = battary;
|
usart_send[6] = button;
|
usart_send[7] = rec_nearbase_num;
|
memcpy(&usart_send[8],&tag_id_recv,2);
|
memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);
|
memcpy(&usart_send[10+rec_nearbase_num*2],&rec_ancdistlist,2*rec_nearbase_num);
|
checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
|
memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
|
UART_PushFrame(usart_send,12+rec_nearbase_num*4);
|
#endif
|
// taglist_num = 30;
|
// tagid_list[29] = 0x5288;
|
taglist_pos=CmpTagInList(tag_id_recv);
|
if(taglist_pos==taglist_num)
|
{
|
taglist_pos=taglist_num;
|
tagid_list[taglist_num++]=tag_id_recv;
|
|
new_tagid=1;
|
}else{
|
new_tagid=0;
|
}
|
tagofflinetime[taglist_pos]=0;
|
temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
|
tagpos_rec[(uint8_t)temp_tagpos]=1;
|
|
|
if(rec_nearbase_num>ancidlist_num)
|
{
|
ancidlist_num=rec_nearbase_num;
|
memcpy(ancidlist_rec,&rx_buffer[FZ_NEARBASEID_INDEX],rec_nearbase_num*2);
|
}
|
|
for(i=0;i<rec_nearbase_num;i++)
|
{
|
memcpy(&tempid,&rx_buffer[FZ_NEARBASEID_INDEX+i*2],2);
|
if(tempid==dev_id)
|
{
|
seize_anchor=0; //·ÇÇÀÕ¼¡£ÒÑ´æÔÚÁбíÖÐ
|
Anchor_RecNearPoll(i);
|
break;
|
}
|
}
|
if(i==rec_nearbase_num)
|
{
|
seize_anchor=1; //ÇÀÕ¼anchor
|
Anchor_RecNearPoll(i);
|
}
|
|
|
break;
|
default:
|
// poscount++;
|
break;
|
}
|
}
|
}else{
|
if(g_com_map[MODBUS_ID1]==1)
|
{
|
#ifdef DBGMSG_OUTPUT
|
dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
|
SendDbgMsg(dbgmsg,dbgmsg_len);
|
#endif
|
}
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR | SYS_STATUS_RXFCG | SYS_STATUS_ALL_TX);
|
|
}
|
dwt_forcetrxoff();
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR | SYS_STATUS_RXFCG | SYS_STATUS_ALL_TX);
|
dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
|
dwt_setrxtimeout(0);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
|
dwt_rxenable(0);
|
}
|
