UWB_SmallModule_F103.git

yincheng.zhong

2023-03-02 0a7ffb3c159918e1df3e0a2ab59c48e00cc48272

V2.53 修改UWB通讯标志位，适配2.56之后的标签。

已修改5个文件

	源码/核心板/MDK-ARM/Project.uvguix.zhyin	184 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/MDK-ARM/Project.uvoptx	4 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/application/dw_app.c	12 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/application/dw_app.h	6 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/main.c	2 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史

 Ô´Âë/ºËÐÄ°å/MDK-ARM/Project.uvguix.zhyin

@@ -15,17 +15,17 @@
    <View>
      <WinId>38003</WinId>
      <ViewName>Registers</ViewName>
      <TableColWidths>116 116</TableColWidths>
      <TableColWidths>116 111</TableColWidths>
    </View>
    <View>
      <WinId>346</WinId>
      <ViewName>Code Coverage</ViewName>
      <TableColWidths>770 160</TableColWidths>
      <TableColWidths>770 515</TableColWidths>
    </View>
    <View>
      <WinId>204</WinId>
      <ViewName>Performance Analyzer</ViewName>
      <TableColWidths>930</TableColWidths>
      <TableColWidths>907 139 139 100</TableColWidths>
    </View>
  </SECTreeCtrl>

@@ -90,8 +90,8 @@
    <sActiveDebugView></sActiveDebugView>
    <WindowPosition>
      <length>44</length>
      <flags>0</flags>
      <showCmd>1</showCmd>
      <flags>2</flags>
      <showCmd>3</showCmd>
      <MinPosition>
        <xPos>-32000</xPos>
        <yPos>-32000</yPos>
@@ -101,17 +101,17 @@
        <yPos>-1</yPos>
      </MaxPosition>
      <NormalPosition>
        <Top>0</Top>
        <Left>-6</Left>
        <Right>1541</Right>
        <Bottom>824</Bottom>
        <Top>102</Top>
        <Left>3</Left>
        <Right>1550</Right>
        <Bottom>923</Bottom>
      </NormalPosition>
    </WindowPosition>
    <MDIClientArea>
      <RegID>0</RegID>
      <MDITabState>
        <Len>2697</Len>
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@@ -134,7 +134,7 @@
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        </Buttons>
        <OriginalItems>
          <Len>898</Len>
@@ -3603,21 +3603,21 @@
    <ActiveMDIGroup>0</ActiveMDIGroup>
    <MDIGroup>
      <Size>100</Size>
      <ActiveTab>1</ActiveTab>
      <ActiveTab>0</ActiveTab>
      <Doc>
        <Name>..\Src\application\dw_app.c</Name>
        <ColumnNumber>60</ColumnNumber>
        <TopLine>386</TopLine>
        <CurrentLine>401</CurrentLine>
        <ColumnNumber>64</ColumnNumber>
        <TopLine>867</TopLine>
        <CurrentLine>874</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\main.c</Name>
        <ColumnNumber>34</ColumnNumber>
        <TopLine>89</TopLine>
        <CurrentLine>99</CurrentLine>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>218</TopLine>
        <CurrentLine>225</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
@@ -3625,8 +3625,8 @@
      <Doc>
        <Name>..\Src\OnChipDevices\Usart.c</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>414</TopLine>
        <CurrentLine>436</CurrentLine>
        <TopLine>129</TopLine>
        <CurrentLine>136</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
@@ -3670,8 +3670,8 @@
      <Doc>
        <Name>..\Src\stm32f10x_it.c</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>63</TopLine>
        <CurrentLine>83</CurrentLine>
        <TopLine>143</TopLine>
        <CurrentLine>152</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
@@ -3705,7 +3705,7 @@
      </Doc>
      <Doc>
        <Name>..\Src\decadriver\deca_device_api.h</Name>
        <ColumnNumber>59</ColumnNumber>
        <ColumnNumber>60</ColumnNumber>
        <TopLine>1423</TopLine>
        <CurrentLine>1424</CurrentLine>
        <Folding>1</Folding>
@@ -3732,9 +3732,9 @@
      </Doc>
      <Doc>
        <Name>..\Src\application\dw_app.h</Name>
        <ColumnNumber>21</ColumnNumber>
        <TopLine>73</TopLine>
        <CurrentLine>83</CurrentLine>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>81</TopLine>
        <CurrentLine>90</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
@@ -3750,7 +3750,7 @@
      </Doc>
      <Doc>
        <Name>..\Src\application\global_param.c</Name>
        <ColumnNumber>58</ColumnNumber>
        <ColumnNumber>60</ColumnNumber>
        <TopLine>16</TopLine>
        <CurrentLine>41</CurrentLine>
        <Folding>1</Folding>

 Ô´Âë/ºËÐÄ°å/MDK-ARM/Project.uvoptx

@@ -103,7 +103,7 @@
        <bEvRecOn>1</bEvRecOn>
        <bSchkAxf>0</bSchkAxf>
        <bTchkAxf>0</bTchkAxf>
        <nTsel>3</nTsel>
        <nTsel>4</nTsel>
        <sDll></sDll>
        <sDllPa></sDllPa>
        <sDlgDll></sDlgDll>
@@ -114,7 +114,7 @@
        <tDlgDll></tDlgDll>
        <tDlgPa></tDlgPa>
        <tIfile></tIfile>
        <pMon>BIN\CMSIS_AGDI.dll</pMon>
        <pMon>Segger\JL2CM3.dll</pMon>
      </DebugOpt>
      <TargetDriverDllRegistry>
        <SetRegEntry>

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -7,7 +7,7 @@
    NEARPOLL,
}tag_state=GETNEARMSG;
static dwt_config_t config = {
    3,               /* Channel number. */
    2,               /* Channel number. */
    DWT_PRF_64M,     /* Pulse repetition frequency. */
    DWT_PLEN_128,    /* Preamble length. */
    DWT_PAC8,        /* Preamble acquisition chunk size. Used in RX only. */
@@ -511,7 +511,7 @@
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
            memcpy(&tx_nearresp_msg[ANC_SIGNALPOWER],&signalpower_list[taglist_pos],2);
            tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
            tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
            tx_nearresp_msg[MESSAGE_TYPE_IDX]=POS_RESPONSE;
            //tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
            waittagconfig_reponse=0;
            finalsend = 0;
@@ -575,7 +575,7 @@
            {
                return 1;
            }
            if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //å¤ææ¯å¦ä¸ºFinalå
            if (rx_buffer[MESSAGE_TYPE_IDX] == POS_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //å¤ææ¯å¦ä¸ºFinalå
                {
                    
                    resp_tx_ts = get_tx_timestamp_u64();//è·å¾responseåéæ¶é´T3
@@ -833,11 +833,11 @@
                    SyncPoll(sync_seq);
            }
                break;
            case NEAR_MSG:
            case POS_MSG:
                if(anc_id_recv==dev_id)
                {
                    rx_buffer[TAGSLOTPOS]=taglist_pos;
                    tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
                    tx_near_msg[MESSAGE_TYPE_IDX] = POS_MSG;
                    memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
                    memcpy(&tx_near_msg[NEARMSG_EMPTYSLOTPOS_INDEX],&tagpos_binary,4);
                    ancidlist_num=g_com_map[NEARBASE_NUM];
@@ -887,7 +887,7 @@
            UART_PushFrame(usart_send,24);
        }
        break;
            case NEAR_POLL:		
            case POS_POLL:		
        //    GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);    
               
                memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.h

@@ -81,6 +81,12 @@
#define SPOLL                                 0x09
#define DISCOVERPOLL                                 0x0a
#define DISCOVERFINAL                                 0x0c

#define POS_MSG                           0x15
#define POS_POLL                           0x16
#define POS_RESPONSE                       0x17
#define POS_FINAL                       0x18

#define REG_POLL                           0x10
#define REG_RESPONSE                   0x11
//General

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -96,7 +96,7 @@
#endif
    OUT485_ENABLE;
    ComMapCheck();
    g_com_map[VERSION] = (2<<8)|52;	
    g_com_map[VERSION] = (2<<8)|53;	
    dev_id = g_com_map[DEV_ID];
    slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
    max_slotpos=g_com_map[COM_INTERVAL]/slottime;

			@@ -103,7 +103,7 @@
			<bEvRecOn>1</bEvRecOn>
			<bSchkAxf>0</bSchkAxf>
			<bTchkAxf>0</bTchkAxf>
			<nTsel>3</nTsel>
			<nTsel>4</nTsel>
			<sDll></sDll>
			<sDllPa></sDllPa>
			<sDlgDll></sDlgDll>
			@@ -114,7 +114,7 @@
			<tDlgDll></tDlgDll>
			<tDlgPa></tDlgPa>
			<tIfile></tIfile>
			<pMon>BIN\CMSIS_AGDI.dll</pMon>
			<pMon>Segger\JL2CM3.dll</pMon>
			</DebugOpt>
			<TargetDriverDllRegistry>
			<SetRegEntry>

			@@ -7,7 +7,7 @@
			NEARPOLL,
			}tag_state=GETNEARMSG;
			static dwt_config_t config = {
			3, /* Channel number. */
			2, /* Channel number. */
			DWT_PRF_64M, /* Pulse repetition frequency. */
			DWT_PLEN_128, /* Preamble length. */
			DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
			@@ -511,7 +511,7 @@
			memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
			memcpy(&tx_nearresp_msg[ANC_SIGNALPOWER],&signalpower_list[taglist_pos],2);
			tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
			tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
			tx_nearresp_msg[MESSAGE_TYPE_IDX]=POS_RESPONSE;
			//tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)\|motorstate;
			waittagconfig_reponse=0;
			finalsend = 0;
			@@ -575,7 +575,7 @@
			{
			return 1;
			}
			if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //å¤ææ¯å¦ä¸ºFinalå
			if (rx_buffer[MESSAGE_TYPE_IDX] == POS_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //å¤ææ¯å¦ä¸ºFinalå
			{

			resp_tx_ts = get_tx_timestamp_u64();//è·å¾responseåéæ¶é´T3
			@@ -833,11 +833,11 @@
			SyncPoll(sync_seq);
			}
			break;
			case NEAR_MSG:
			case POS_MSG:
			if(anc_id_recv==dev_id)
			{
			rx_buffer[TAGSLOTPOS]=taglist_pos;
			tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
			tx_near_msg[MESSAGE_TYPE_IDX] = POS_MSG;
			memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
			memcpy(&tx_near_msg[NEARMSG_EMPTYSLOTPOS_INDEX],&tagpos_binary,4);
			ancidlist_num=g_com_map[NEARBASE_NUM];
			@@ -887,7 +887,7 @@
			UART_PushFrame(usart_send,24);
			}
			break;
			case NEAR_POLL:
			case POS_POLL:
			// GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);

			memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);

			@@ -81,6 +81,12 @@
			#define SPOLL 0x09
			#define DISCOVERPOLL 0x0a
			#define DISCOVERFINAL 0x0c

			#define POS_MSG 0x15
			#define POS_POLL 0x16
			#define POS_RESPONSE 0x17
			#define POS_FINAL 0x18

			#define REG_POLL 0x10
			#define REG_RESPONSE 0x11
			//General

			@@ -96,7 +96,7 @@
			#endif
			OUT485_ENABLE;
			ComMapCheck();
			g_com_map[VERSION] = (2<<8)\|52;
			g_com_map[VERSION] = (2<<8)\|53;
			dev_id = g_com_map[DEV_ID];
			slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
			max_slotpos=g_com_map[COM_INTERVAL]/slottime;