对应发货标签V1.6，更改版本号为V1.1，与一期标签分开，更改了tag的uwb测距配置与DW1000通讯,并将测距接包逻辑单次接包改为打开循环接收

chen

2024-09-20 681567d6d1bd2894eccde5b22a948eac7d3a22a5

 keil/include/drivers/mk_uart.c

@@ -63,51 +63,51 @@
uint32_t SerialKeyPressed(uint8_t *key)//ÅжÏÊý¾ÝÊÇ·ñÊÕµ½µÄ MK8000ÐÞ¸Ä
{
    uint32_t status = uart_handle[1].base->STATUS;
    if (status & UART_STATUS_DR_MSK)
    {
  if (status & UART_STATUS_DR_MSK)
  { 
        //Serial0PutString("³É¹¦½ÓÊÕing");
        //uart_receive(UART_ID1,test_buf,10,NULL);
        *key = (uint8_t)uart_handle[1].base->RX_DATA;
    *key = (uint8_t)uart_handle[1].base->RX_DATA;
        //uart_rx_fifo_clear(UART_ID1);
        return 1;
    }
    else
    {
        return 0;
    }
    return 1;
  }
  else
  {
    return 0;
  }
}
void SerialPutChar(uint8_t c)
{
    while (uart_handle[0].base->TX_FL)
    {
    }
    uart_send(UART_ID1, &c, 1, NULL);
        {
        }
uart_send(UART_ID1, &c, 1, NULL);
}

void Serial_PutString(uint8_t *s)
{
    while (*s != '\0')
    {
        SerialPutChar(*s);
        s++;
    }
  while (*s != '\0')
  {
    SerialPutChar(*s);
    s++;
  }
}
void Serial0PutChar(uint8_t c)
{   //ÅжÏÊý¾Ý»º´æÇøΪ¿Õ¼´ÉÏÒ»¸ö×Ö½ÚÊý¾ÝÒѾ­±»Ë͵½·¢ËͼĴæÆ÷·¢ËͳöÈ¥ÁË
    // wait TX FIFO empty
    while (uart_handle[0].base->TX_FL)
    {
    }
    uart_send(UART_ID0, &c, 1, NULL);
    {//ÅжÏÊý¾Ý»º´æÇøΪ¿Õ¼´ÉÏÒ»¸ö×Ö½ÚÊý¾ÝÒѾ­±»Ë͵½·¢ËͼĴæÆ÷·¢ËͳöÈ¥ÁË
        // wait TX FIFO empty
        while (uart_handle[0].base->TX_FL)
        {
        }
uart_send(UART_ID0, &c, 1, NULL);
}

void Serial0_PutString(uint8_t *s)
{
    while (*s != '\0')
    {
        Serial0PutChar(*s);
        s++;
    }
  while (*s != '\0')
  {
    Serial0PutChar(*s);
    s++;
  }
}
static const struct UART_DIVISOR_T baud_table[] = {
    {89, 6, 32},  // 1200
@@ -139,37 +139,37 @@
    // update state
    switch (uart_handle[id].state)
    {
    case UART_STATE_READY:
        uart_handle[id].state = state;
        break;
    case UART_STATE_BUSY_RX:
        if (state == UART_STATE_BUSY_TX)
        {
            uart_handle[id].state = UART_STATE_BUSY_TX_RX;
        }
        else
        {
        case UART_STATE_READY:
            uart_handle[id].state = state;
            break;
        case UART_STATE_BUSY_RX:
            if (state == UART_STATE_BUSY_TX)
            {
                uart_handle[id].state = UART_STATE_BUSY_TX_RX;
            }
            else
            {
                ret = DRV_BUSY;
            }
            break;
        case UART_STATE_BUSY_TX:
            if (state == UART_STATE_BUSY_RX)
            {
                uart_handle[id].state = UART_STATE_BUSY_TX_RX;
            }
            else
            {
                ret = DRV_BUSY;
            }
            break;
        case UART_STATE_BUSY_TX_RX:
            ret = DRV_BUSY;
        }
        break;
    case UART_STATE_BUSY_TX:
        if (state == UART_STATE_BUSY_RX)
        {
            uart_handle[id].state = UART_STATE_BUSY_TX_RX;
        }
        else
        {
            ret = DRV_BUSY;
        }
        break;
    case UART_STATE_BUSY_TX_RX:
        ret = DRV_BUSY;
        break;
    case UART_STATE_RESET:
    case UART_STATE_TIMEOUT:
    case UART_STATE_ERROR:
        ret = DRV_ERROR;
        break;
            break;
        case UART_STATE_RESET:
        case UART_STATE_TIMEOUT:
        case UART_STATE_ERROR:
            ret = DRV_ERROR;
            break;
    }
    int_unlock(lock);

@@ -784,105 +784,105 @@
        switch (iid)
        {
            // modem status
        case 0x0:
            // clear int
            uart_handle[id].base->INTR_CLR = UART_INTR_CLR_MSR_INT_CLR_MSK;
            err_code = UART_ERR_MODEM | iid;
            break;
            case 0x0:
                // clear int
                uart_handle[id].base->INTR_CLR = UART_INTR_CLR_MSR_INT_CLR_MSK;
                err_code = UART_ERR_MODEM | iid;
                break;

            // no interrupt pending
        case 0x1:
            break;
            case 0x1:
                break;

            // TX_DATA empty
        case 0x2:
            // clear int
            uart_handle[id].base->INTR_CLR = UART_INTR_CLR_THRE_INT_CLR_MSK;
            if ((uart_handle[id].state == UART_STATE_BUSY_TX) || (uart_handle[id].state == UART_STATE_BUSY_TX_RX))
            {
                if (uart_handle[id].tx_count == uart_handle[id].tx_size)
            case 0x2:
                // clear int
                uart_handle[id].base->INTR_CLR = UART_INTR_CLR_THRE_INT_CLR_MSK;
                if ((uart_handle[id].state == UART_STATE_BUSY_TX) || (uart_handle[id].state == UART_STATE_BUSY_TX_RX))
                {
                    // TX done - disable interrupt
                    uart_handle[id].base->INTR_EN &= ~UART_INTR_EN_ETBEI_MSK;
                    usr_callback = uart_handle[id].tx_callback;
                    if (uart_handle[id].tx_count == uart_handle[id].tx_size)
                    {
                        // TX done - disable interrupt
                        uart_handle[id].base->INTR_EN &= ~UART_INTR_EN_ETBEI_MSK;
                        usr_callback = uart_handle[id].tx_callback;

                    // update state
                    uart_state_clear(id, UART_STATE_BUSY_TX);
                        // update state
                        uart_state_clear(id, UART_STATE_BUSY_TX);

                    uart_handle[id].tx_buff = NULL;
                    uart_handle[id].tx_callback = NULL;
                    uart_handle[id].tx_count = 0;
                    uart_handle[id].tx_size = 0;
                        uart_handle[id].tx_buff = NULL;
                        uart_handle[id].tx_callback = NULL;
                        uart_handle[id].tx_count = 0;
                        uart_handle[id].tx_size = 0;
                    }
                    else
                    {
                        // TX continue - write data to FIFO
                        while ((uart_handle[id].tx_count < uart_handle[id].tx_size) && (uart_handle[id].base->STATUS & UART_STATUS_TFNF_MSK))
                        {
                            uart_handle[id].base->TX_DATA = uart_handle[id].tx_buff[uart_handle[id].tx_count++];
                        }
                    }
                }
                else
                {
                    // TX continue - write data to FIFO
                    while ((uart_handle[id].tx_count < uart_handle[id].tx_size) && (uart_handle[id].base->STATUS & UART_STATUS_TFNF_MSK))
                    {
                        uart_handle[id].base->TX_DATA = uart_handle[id].tx_buff[uart_handle[id].tx_count++];
                    }
                    // should not get this interrupt in any other state
                    ASSERT(0, "Uart %d state goes wrong %d", id, uart_handle[id].state);
                }
            }
            else
            {
                // should not get this interrupt in any other state
                ASSERT(0, "Uart %d state goes wrong %d", id, uart_handle[id].state);
            }
            break;
                break;

            // timeout
        case 0xc:
            case 0xc:
            // No characters in or out of the RCVR FIFO during the last 4 character times and
            // there is at least 1 character in it during this time

            // received data available
        case 0x4:
            if ((uart_handle[id].state == UART_STATE_BUSY_RX) || (uart_handle[id].state == UART_STATE_BUSY_TX_RX))
            {
                // uint8_t len = uart_handle[id].base->RX_FL;
                while ((uart_handle[id].rx_count < uart_handle[id].rx_size) && (uart_handle[id].base->STATUS & UART_STATUS_RFNE_MSK))
            case 0x4:
                if ((uart_handle[id].state == UART_STATE_BUSY_RX) || (uart_handle[id].state == UART_STATE_BUSY_TX_RX))
                {
                    uint8_t data = (uint8_t)uart_handle[id].base->RX_DATA;
                    uart_handle[id].rx_buff[uart_handle[id].rx_count++] = data;
                }
                    // uint8_t len = uart_handle[id].base->RX_FL;
                    while ((uart_handle[id].rx_count < uart_handle[id].rx_size) && (uart_handle[id].base->STATUS & UART_STATUS_RFNE_MSK))
                    {
                        uint8_t data = (uint8_t)uart_handle[id].base->RX_DATA;
                        uart_handle[id].rx_buff[uart_handle[id].rx_count++] = data;
                    }

                if (uart_handle[id].rx_count == uart_handle[id].rx_size)
                    if (uart_handle[id].rx_count == uart_handle[id].rx_size)
                    {
                        // RX done - disable interrupts
                        uart_handle[id].base->INTR_EN &= ~(UART_INTR_EN_ELSI_MSK | UART_INTR_EN_ERBFI_MSK);
                        usr_callback = uart_handle[id].rx_callback;

                        // update state
                        uart_state_clear(id, UART_STATE_BUSY_RX);

                        uart_handle[id].rx_buff = NULL;
                        uart_handle[id].rx_callback = NULL;
                        uart_handle[id].rx_count = 0;
                        uart_handle[id].rx_size = 0;
                    }
                }
                else
                {
                    // RX done - disable interrupts
                    uart_handle[id].base->INTR_EN &= ~(UART_INTR_EN_ELSI_MSK | UART_INTR_EN_ERBFI_MSK);
                    usr_callback = uart_handle[id].rx_callback;

                    // update state
                    uart_state_clear(id, UART_STATE_BUSY_RX);

                    uart_handle[id].rx_buff = NULL;
                    uart_handle[id].rx_callback = NULL;
                    uart_handle[id].rx_count = 0;
                    uart_handle[id].rx_size = 0;
                    // received unexpected data
                }
            }
            else
            {
                // received unexpected data
            }
            break;
                break;

            // receiver line status
        case 0x6:
            // clear int
            uart_handle[id].base->INTR_CLR = UART_INTR_CLR_LSR_INT_CLR_MSK;
            err_code = UART_ERR_LINE | iid;
            break;
            case 0x6:
                // clear int
                uart_handle[id].base->INTR_CLR = UART_INTR_CLR_LSR_INT_CLR_MSK;
                err_code = UART_ERR_LINE | iid;
                break;

            // busy detect
        case 0x7:
            // clear int
            uart_handle[id].base->INTR_CLR = UART_INTR_CLR_BUSY_INT_CLR_MSK;
            err_code = UART_ERR_BUSY | iid;
            break;
            case 0x7:
                // clear int
                uart_handle[id].base->INTR_CLR = UART_INTR_CLR_BUSY_INT_CLR_MSK;
                err_code = UART_ERR_BUSY | iid;
                break;

        default:
            break;
            default:
                break;
        }
#endif
    }