增加中断接收模式，未测试。

zhyinch

2021-09-05 c20b80fe9dfe72220649bf1d85550e9f3ebc9549

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -130,7 +130,7 @@
    dwt_configure(&config);//配置DW1000
   

	
     dwt_setinterrupt(DWT_INT_TFRS | 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);
    /* Apply default antenna delay value. See NOTE 1 below. */
    dwt_setrxantennadelay(RX_ANT_DLY);      //设置接收天线延迟
    dwt_settxantennadelay(TX_ANT_DLY);      //设置发射天线延迟
@@ -1059,7 +1059,7 @@
               poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使用32位数据计算
               resp_tx_ts_32 = (uint32_t)resp_tx_ts;
               final_rx_ts_32 = (uint32_t)final_rx_ts;
               time_monitor[1] = sync_timer*1000+TIM3->CNT;	
//               time_monitor[1] = sync_timer*1000+TIM3->CNT;	
               Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
               Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
               Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
@@ -1072,7 +1072,7 @@
               dwt_readdiagnostics(&d1);
//               time_monitor[2] = sync_timer*1000+TIM3->CNT;   
               LOS(&d1);      
               time_monitor[3] = sync_timer*1000+TIM3->CNT;					
//               time_monitor[3] = sync_timer*1000+TIM3->CNT;					
               /*--------------------------以下为非测距逻辑------------------------*/
               //dist_cm=33000;
               GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_RESET);      
@@ -1142,11 +1142,23 @@
extern u16 synclost_count;
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase,waitsync_flag;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num,zero_matrix[100]={0};
u16 ancidlist_rec[20],ancidlist_send[20];
u16 recnearbaselist_id[30];
int32_t recnearbaselist_dist[30];
int16_t rec_tagheight;
void Anchor_Start(void)
{
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
   g_start_sync_flag=0;

   dwt_setrxtimeout(1000);//设定接收超时时间，0位没有超时时间
   dwt_rxenable(0);//打开接收
//    while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误
//   { 
//      //IdleTask();
//   };
}
void Anchor_App(void)
{
   
@@ -1154,21 +1166,22 @@
   u16 tempid;
   uint32_t rec_syncid;
   
   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
   g_start_sync_flag=0;
//   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
//   g_start_sync_flag=0;

   dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
   dwt_rxenable(0);//打开接收
//   GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);	
   while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误
   { 
      IdleTask();
   };
//   dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
//   dwt_rxenable(0);//打开接收
////   GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);	
//   while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误
//   { 
//      IdleTask();
//   };
    status_reg = dwt_read32bitreg(SYS_STATUS_ID);
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);   
   if (status_reg & SYS_STATUS_RXFCG)//成功接收
   { u16 tag_recv_interval;
      float temp_tagpos;
   time_monitor[0] = sync_timer*1000+TIM3->CNT;
   //time_monitor[0] = sync_timer*1000+TIM3->CNT;
      g_Resttimer=0;
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
      frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
@@ -1183,18 +1196,35 @@
            //if (anchor_type == rx_buffer[ANC_TYPE_IDX])
            if(dev_id==anc_id_recv)
            {
                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;
                
                rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
                if(rec_nearbase_num>=30)
                {
                    break;
                }
                battary = rx_buffer[BATTARY_IDX];
                button = rx_buffer[BUTTON_IDX];
                frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
         tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
         tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
               
      ////////////////基站汇总模式数据          
               memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6+4],2);
               memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6],2);
                memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
                memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4+4);
                memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4);
                usart_send[2] = 0x0c;//正常模式 
               usart_send[3] = 15+8*(rec_nearbase_num+1);//数据段长度
               usart_send[3] = 15+8*(rec_nearbase_num);//数据段长度
               memcpy(&usart_send[4],&tag_id_recv,2);
                    usart_send[6] = rx_buffer[SEQUENCE_IDX];
                    usart_send[7] = rx_buffer[SEQUENCEH_IDX];
@@ -1205,14 +1235,15 @@
                    usart_send[13] = tag_slotpos;
                    usart_send[14] = 0;
                    usart_send[15] = 0;
               usart_send[16] = rec_nearbase_num+1;
               usart_send[16] = rec_nearbase_num;
                   
                    memcpy(&usart_send[17],&recnearbaselist_id,2*rec_nearbase_num+2);
                    memcpy(&usart_send[19+rec_nearbase_num*2],&recnearbaselist_dist,4*rec_nearbase_num+4);
					
               checksum = Checksum_u16(&usart_send[2],23+8*rec_nearbase_num);
               memcpy(&usart_send[25+8*rec_nearbase_num],&checksum,2);
               UART_PushFrame(usart_send,27+8*rec_nearbase_num);
                    memcpy(&usart_send[17],&recnearbaselist_id,2*rec_nearbase_num);
                    memcpy(&usart_send[17+rec_nearbase_num*2],&recnearbaselist_dist,4*rec_nearbase_num);
               memcpy(&usart_send[17+rec_nearbase_num*6],zero_matrix,2*rec_nearbase_num);
                    
               checksum = Checksum_u16(&usart_send[2],15+8*rec_nearbase_num);
               memcpy(&usart_send[17+8*rec_nearbase_num],&checksum,2);
               UART_PushFrame(usart_send,19+8*rec_nearbase_num);
            Anchor_RecPoll();
            }
            break;
@@ -1302,6 +1333,10 @@
                temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
            tagpos_rec[(u8)temp_tagpos]=1;
            rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
                if(rec_nearbase_num>30)
                {
                    break;
                }
                battary = rx_buffer[BATTARY_IDX];
                button = rx_buffer[BUTTON_IDX];
                frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];