| 源码/核心板/MDK-ARM/Project.uvguix.Administrator | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| 源码/核心板/MDK-ARM/Project.uvoptx | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| 源码/核心板/Src/application/dw_app.c | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| 源码/核心板/Src/application/dw_app.h | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| 源码/核心板/Src/main.c | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 |
Ô´Âë/ºËÐÄ°å/MDK-ARM/Project.uvguix.Administrator
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</Buttons> <OriginalItems> <Len>898</Len> @@ -3603,11 +3603,11 @@ <ActiveMDIGroup>0</ActiveMDIGroup> <MDIGroup> <Size>100</Size> <ActiveTab>2</ActiveTab> <ActiveTab>5</ActiveTab> <Doc> <Name>..\Src\application\serial_at_cmd_app.c</Name> <ColumnNumber>0</ColumnNumber> <TopLine>1</TopLine> <TopLine>9</TopLine> <CurrentLine>50</CurrentLine> <Folding>1</Folding> <ContractedFolders></ContractedFolders> @@ -3624,9 +3624,9 @@ </Doc> <Doc> <Name>..\Src\main.c</Name> <ColumnNumber>16</ColumnNumber> <TopLine>210</TopLine> <CurrentLine>227</CurrentLine> <ColumnNumber>0</ColumnNumber> <TopLine>200</TopLine> <CurrentLine>224</CurrentLine> <Folding>1</Folding> <ContractedFolders></ContractedFolders> <PaneID>0</PaneID> @@ -3651,18 +3651,18 @@ </Doc> <Doc> <Name>..\Src\application\dw_app.c</Name> <ColumnNumber>36</ColumnNumber> <TopLine>630</TopLine> <CurrentLine>1127</CurrentLine> <ColumnNumber>48</ColumnNumber> <TopLine>1189</TopLine> <CurrentLine>1198</CurrentLine> <Folding>1</Folding> <ContractedFolders></ContractedFolders> <PaneID>0</PaneID> </Doc> <Doc> <Name>..\Src\application\dw_app.h</Name> <ColumnNumber>2</ColumnNumber> <TopLine>1</TopLine> <CurrentLine>24</CurrentLine> <ColumnNumber>0</ColumnNumber> <TopLine>90</TopLine> <CurrentLine>107</CurrentLine> <Folding>1</Folding> <ContractedFolders></ContractedFolders> <PaneID>0</PaneID> @@ -3670,8 +3670,8 @@ <Doc> <Name>..\Src\OnChipDevices\Spi.c</Name> <ColumnNumber>0</ColumnNumber> <TopLine>86</TopLine> <CurrentLine>98</CurrentLine> <TopLine>120</TopLine> <CurrentLine>161</CurrentLine> <Folding>1</Folding> <ContractedFolders></ContractedFolders> <PaneID>0</PaneID> @@ -3696,8 +3696,8 @@ </Doc> <Doc> <Name>..\Src\stm32f10x_it.c</Name> <ColumnNumber>3</ColumnNumber> <TopLine>109</TopLine> <ColumnNumber>5</ColumnNumber> <TopLine>73</TopLine> <CurrentLine>74</CurrentLine> <Folding>1</Folding> <ContractedFolders></ContractedFolders> @@ -3748,6 +3748,15 @@ <ContractedFolders></ContractedFolders> <PaneID>0</PaneID> </Doc> <Doc> <Name>..\Src\application\global_param.h</Name> <ColumnNumber>0</ColumnNumber> <TopLine>12</TopLine> <CurrentLine>29</CurrentLine> <Folding>1</Folding> <ContractedFolders></ContractedFolders> <PaneID>0</PaneID> </Doc> </MDIGroup> </MDIGroups>
@@ -103,7 +103,7 @@ <bEvRecOn>1</bEvRecOn> <bSchkAxf>0</bSchkAxf> <bTchkAxf>0</bTchkAxf> <nTsel>6</nTsel> <nTsel>12</nTsel> <sDll></sDll> <sDllPa></sDllPa> <sDlgDll></sDlgDll> @@ -114,7 +114,7 @@ <tDlgDll></tDlgDll> <tDlgPa></tDlgPa> <tIfile></tIfile> <pMon>Segger\JL2CM3.dll</pMon> <pMon>BIN\CMSIS_AGDI.dll</pMon> </DebugOpt> <TargetDriverDllRegistry> <SetRegEntry> @@ -125,7 +125,7 @@ <SetRegEntry> <Number>0</Number> <Key>DLGUARM</Key> <Name>d</Name> <Name></Name> </SetRegEntry> <SetRegEntry> <Number>0</Number> @@ -162,130 +162,18 @@ <Bp> <Number>0</Number> <Type>0</Type> <LineNumber>235</LineNumber> <LineNumber>1201</LineNumber> <EnabledFlag>1</EnabledFlag> <Address>134260338</Address> <Address>134241922</Address> <ByteObject>0</ByteObject> <HtxType>0</HtxType> <ManyObjects>0</ManyObjects> <SizeOfObject>0</SizeOfObject> <BreakByAccess>0</BreakByAccess> <BreakIfRCount>1</BreakIfRCount> <Filename>E:\GIT\UWB_SmallModule\婧æ®ç\Src\main.c</Filename> <Filename>E:\GIT\UWB_SmallModule\婧æ®ç\Src\application\dw_app.c</Filename> <ExecCommand></ExecCommand> <Expression>\\UWB_Projects\../Src/main.c\235</Expression> </Bp> <Bp> <Number>1</Number> <Type>0</Type> <LineNumber>103</LineNumber> <EnabledFlag>1</EnabledFlag> <Address>134255514</Address> <ByteObject>0</ByteObject> <HtxType>0</HtxType> <ManyObjects>0</ManyObjects> <SizeOfObject>0</SizeOfObject> <BreakByAccess>0</BreakByAccess> <BreakIfRCount>1</BreakIfRCount> <Filename>E:\GIT\UWB_SmallModule\婧æ®ç\Src\application\serial_at_cmd_app.c</Filename> <ExecCommand></ExecCommand> <Expression>\\UWB_Projects\../Src/application/serial_at_cmd_app.c\103</Expression> </Bp> <Bp> <Number>2</Number> <Type>0</Type> <LineNumber>130</LineNumber> <EnabledFlag>1</EnabledFlag> <Address>134255670</Address> <ByteObject>0</ByteObject> <HtxType>0</HtxType> <ManyObjects>0</ManyObjects> <SizeOfObject>0</SizeOfObject> <BreakByAccess>0</BreakByAccess> <BreakIfRCount>1</BreakIfRCount> <Filename>E:\GIT\UWB_SmallModule\婧æ®ç\Src\application\serial_at_cmd_app.c</Filename> <ExecCommand></ExecCommand> <Expression>\\UWB_Projects\../Src/application/serial_at_cmd_app.c\130</Expression> </Bp> <Bp> <Number>3</Number> <Type>0</Type> <LineNumber>59</LineNumber> <EnabledFlag>1</EnabledFlag> <Address>134251924</Address> <ByteObject>0</ByteObject> <HtxType>0</HtxType> <ManyObjects>0</ManyObjects> <SizeOfObject>0</SizeOfObject> <BreakByAccess>0</BreakByAccess> <BreakIfRCount>1</BreakIfRCount> <Filename>E:\GIT\UWB_SmallModule\婧æ®ç\Src\application\serial_at_cmd_app.c</Filename> <ExecCommand></ExecCommand> <Expression>\\UWB_Projects\../Src/application/serial_at_cmd_app.c\59</Expression> </Bp> <Bp> <Number>4</Number> <Type>0</Type> <LineNumber>218</LineNumber> <EnabledFlag>1</EnabledFlag> <Address>134247746</Address> <ByteObject>0</ByteObject> <HtxType>0</HtxType> <ManyObjects>0</ManyObjects> <SizeOfObject>0</SizeOfObject> <BreakByAccess>0</BreakByAccess> <BreakIfRCount>1</BreakIfRCount> <Filename>E:\GIT\UWB_SmallModule\婧æ®ç\Src\main.c</Filename> <ExecCommand></ExecCommand> <Expression>\\UWB_Projects\../Src/main.c\218</Expression> </Bp> <Bp> <Number>5</Number> <Type>0</Type> <LineNumber>50</LineNumber> <EnabledFlag>1</EnabledFlag> <Address>134251868</Address> <ByteObject>0</ByteObject> <HtxType>0</HtxType> <ManyObjects>0</ManyObjects> <SizeOfObject>0</SizeOfObject> <BreakByAccess>0</BreakByAccess> <BreakIfRCount>1</BreakIfRCount> <Filename>E:\GIT\UWB_SmallModule\婧æ®ç\Src\application\serial_at_cmd_app.c</Filename> <ExecCommand></ExecCommand> <Expression>\\UWB_Projects\../Src/application/serial_at_cmd_app.c\50</Expression> </Bp> <Bp> <Number>6</Number> <Type>0</Type> <LineNumber>54</LineNumber> <EnabledFlag>1</EnabledFlag> <Address>134251882</Address> <ByteObject>0</ByteObject> <HtxType>0</HtxType> <ManyObjects>0</ManyObjects> <SizeOfObject>0</SizeOfObject> <BreakByAccess>0</BreakByAccess> <BreakIfRCount>1</BreakIfRCount> <Filename>E:\GIT\UWB_SmallModule\婧æ®ç\Src\application\serial_at_cmd_app.c</Filename> <ExecCommand></ExecCommand> <Expression>\\UWB_Projects\../Src/application/serial_at_cmd_app.c\54</Expression> </Bp> <Bp> <Number>7</Number> <Type>0</Type> <LineNumber>56</LineNumber> <EnabledFlag>1</EnabledFlag> <Address>134251900</Address> <ByteObject>0</ByteObject> <HtxType>0</HtxType> <ManyObjects>0</ManyObjects> <SizeOfObject>0</SizeOfObject> <BreakByAccess>0</BreakByAccess> <BreakIfRCount>1</BreakIfRCount> <Filename>E:\GIT\UWB_SmallModule\婧æ®ç\Src\application\serial_at_cmd_app.c</Filename> <ExecCommand></ExecCommand> <Expression>\\UWB_Projects\../Src/application/serial_at_cmd_app.c\56</Expression> <Expression>\\UWB_Projects\../Src/application/dw_app.c\1201</Expression> </Bp> </Breakpoint> <WatchWindow1> @@ -339,6 +227,16 @@ <WinNumber>1</WinNumber> <ItemText>mUsartReceivePack</ItemText> </Ww> <Ww> <count>10</count> <WinNumber>1</WinNumber> <ItemText>rx_buffer[9]</ItemText> </Ww> <Ww> <count>11</count> <WinNumber>1</WinNumber> <ItemText>g_com_map[NEARBASE_ID1]</ItemText> </Ww> </WatchWindow1> <MemoryWindow1> <Mm> Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c
@@ -173,6 +173,7 @@ dwt_configuresleep(0x940, 0x7); dwt_entersleep(); } extern uint8_t g_start_send_flag; u8 g_start_sync_flag; void SyncPoll(u8 sync_seq,uint32_t sync_baseid) @@ -313,6 +314,162 @@ u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0; u16 temp_sync_timer1,temp_sync_timer2; void Poll(void) { uint32_t frame_len; uint32_t final_tx_time; u32 start_poll; int32_t mindist=999999,minid=-1,temp_dist; u8 i,getsync_flag=0; dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置åéåå¼å¯æ¥æ¶ï¼å¹¶è®¾å®å»¶è¿æ¶é´ dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS); tag_succ_times = 0; GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET); for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++) { /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */ tx_poll_msg[ANC_TYPE_IDX] = i; dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//å°Pollå æ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå» dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//è®¾ç½®è¶ å®½å¸¦åéæ°æ®é¿åº¦ dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//å¼å¯åéï¼åéå®æåçå¾ ä¸æ®µæ¶é´å¼å¯æ¥æ¶ï¼çå¾ æ¶é´å¨dwt_setrxaftertxdelayä¸è®¾ç½® start_poll = time32_incr; /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//ä¸ææ¥è¯¢è¯çç¶æç´å°æåæ¥æ¶æè åçé误 { if(time32_incr - start_poll>20) NVIC_SystemReset(); }; if(status_reg==0xffffffff) { NVIC_SystemReset(); } if (status_reg & SYS_STATUS_RXFCG)//å¦ææåæ¥æ¶ { dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//æ¸ æ¥å¯åå¨æ å¿ä½ frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //è·å¾æ¥æ¶å°çæ°æ®é¿åº¦ dwt_readrxdata(rx_buffer, frame_len, 0); //读åæ¥æ¶æ°æ® if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //å¤ææ¥æ¶å°çæ°æ®æ¯å¦æ¯responseæ°æ® { poll_tx_ts = get_tx_timestamp_u64(); //è·å¾POLLåéæ¶é´T1 resp_rx_ts = get_rx_timestamp_u64(); //è·å¾RESPONSEæ¥æ¶æ¶é´T4 if(getsync_flag==0) { getsync_flag=1; memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2); memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2); memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2); tmp_time=tmp_time+450; if(tmp_time>999) { tmp_time-=999; sync_timer++; if(sync_timer>=1010) {sync_timer=0;} } TIM3->CNT=tmp_time; if(tagslotpos>max_slotpos) tagslotpos=tagslotpos%(max_slotpos+1); tyncpoll_time=(tagslotpos-1)*slottime; } memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4); memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4); /* Compute final message transmission time. See NOTE 9 below. */ final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计ç®finalå åéæ¶é´ï¼T5=T4+Treply2 dwt_setdelayedtrxtime(final_tx_time);//设置finalå åéæ¶é´T5 final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//finalå å®é åéæ¶é´æ¯è®¡ç®æ¶é´å ä¸åé天线delay final_msg_set_ts(&tx_final_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//å°T1ï¼T4ï¼T5åå ¥åéæ°æ® final_msg_set_ts(&tx_final_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts); final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts); dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//å°åéæ°æ®åå ¥DW1000 dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设å®åéæ°æ®é¿åº¦ result=dwt_starttx(DWT_START_TX_DELAYED);//设å®ä¸ºå»¶è¿åé tag_succ_times++; LED0_BLINK; if(temp_dist<mindist) { memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4); tag_state=GETNEARMSG; trygetnearmsg_times=5; mindist=temp_dist; } if(result==0) {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//ä¸ææ¥è¯¢è¯çç¶æç´å°åéå®æ { }; } /* Clear TXFRS event. */ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//æ¸ é¤æ å¿ä½ random_delay_tim = 0; } else { random_delay_tim = DFT_RAND_DLY_TIM_MS; //å¦æé讯失败ï¼å°é´éæ¶é´å¢å 5msï¼é¿å¼å 为å¤æ ç¾åæ¶åéå¼èµ·çå²çªã } } else { dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR); random_delay_tim = DFT_RAND_DLY_TIM_MS; } } if(getsync_flag==0) { tagslotpos--; if(tagslotpos==0||tagslotpos>max_slotpos) { tagslotpos=max_slotpos; } tyncpoll_time=(tagslotpos-1)*slottime; } mainbase_id=minid; } u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32]; void GetNearMsg(void) { u32 start_poll,frame_len; memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2); memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2); tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG; dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置åéåå¼å¯æ¥æ¶ï¼å¹¶è®¾å®å»¶è¿æ¶é´ dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS); dwt_writetxdata(12, tx_near_msg, 0);//å°Pollå æ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå» dwt_writetxfctrl(12, 0);//è®¾ç½®è¶ å®½å¸¦åéæ°æ®é¿åº¦ dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED); start_poll = time32_incr; /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//ä¸ææ¥è¯¢è¯çç¶æç´å°æåæ¥æ¶æè åçé误 { if(time32_incr - start_poll>20) NVIC_SystemReset(); }; if(status_reg==0xffffffff) { NVIC_SystemReset(); } if (status_reg & SYS_STATUS_RXFCG)//å¦ææåæ¥æ¶ { dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//æ¸ æ¥å¯åå¨æ å¿ä½ frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //è·å¾æ¥æ¶å°çæ°æ®é¿åº¦ dwt_readrxdata(rx_buffer, frame_len, 0); //读åæ¥æ¶æ°æ® if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //å¤ææ¥æ¶å°çæ°æ®æ¯å¦æ¯responseæ°æ® { next_nearbase_num=rx_buffer[NEARBASENUM_INDEX]; memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4); tagslotpos=GetRandomSlotPos(rec_tagpos_binary); //tagslotpos=rx_buffer[TAGSLOTPOS]; memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],next_nearbase_num*2); //slottime=ceil((nearbase_num+2)*0.4)+2; tyncpoll_time=tagslotpos*slottime; tag_state=NEARPOLL; }else{ tyncpoll_time = (tagslotpos--%max_slotpos)*slottime; } }else{ tyncpoll_time = (tagslotpos--%max_slotpos)*slottime; } } void NearPoll(void) { static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon; @@ -456,6 +613,7 @@ memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4); if(temp_dist!=0x1ffff) { #ifdef TAG_OUTPUT #ifndef USART_INTEGRATE_OUTPUT usart_send[2] = 1;//æ£å¸¸æ¨¡å¼ usart_send[3] = 17;//æ°æ®æ®µé¿åº¦ @@ -473,8 +631,9 @@ usart_send[14] = button; checksum = Checksum_u16(&usart_send[2],17); memcpy(&usart_send[19],&checksum,2); // UART_PushFrame(usart_send,21); UART_PushFrame(usart_send,21); #endif #endif //dwt_setdelayedtrxtime(final_tx_time);//设置finalå åéæ¶é´T5 // result=dwt_starttx(DWT_START_TX_DELAYED);//设å®ä¸ºå»¶è¿åé @@ -508,6 +667,7 @@ // tagslotpos=GetRandomSlotPos(rec_tagpos_binary); if(temp_dist!=0x1ffff) { #ifdef TAG_OUTPUT #ifndef USART_INTEGRATE_OUTPUT usart_send[2] = 1;//æ£å¸¸æ¨¡å¼ usart_send[3] = 17;//æ°æ®æ®µé¿åº¦ @@ -525,9 +685,9 @@ usart_send[14] = button; checksum = Checksum_u16(&usart_send[2],17); memcpy(&usart_send[19],&checksum,2); //UART_PushFrame(usart_send,21); UART_PushFrame(usart_send,21); #endif #endif //dwt_setdelayedtrxtime(final_tx_time);//设置finalå åéæ¶é´T5 // result=dwt_starttx(DWT_START_TX_DELAYED);//设å®ä¸ºå»¶è¿åé //dwt_writetxdata(4,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//å°åéæ°æ®åå ¥DW1000 @@ -652,57 +812,6 @@ dwt_forcetrxoff(); dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG); } u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32]; void GetNearMsg(void) { u32 start_poll,frame_len; if(nearmsg_mainbase) {nearmsg_mainbase=0; }else{ nearmsg_mainbase=1; } memcpy(&tx_near_msg[ANCHOR_ID_IDX],&nearmsg_mainbase,2); memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2); tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG; dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置åéåå¼å¯æ¥æ¶ï¼å¹¶è®¾å®å»¶è¿æ¶é´ dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS); dwt_writetxdata(12, tx_near_msg, 0);//å°Pollå æ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå» dwt_writetxfctrl(12, 0);//è®¾ç½®è¶ å®½å¸¦åéæ°æ®é¿åº¦ dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED); start_poll = time32_incr; /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//ä¸ææ¥è¯¢è¯çç¶æç´å°æåæ¥æ¶æè åçé误 { if(time32_incr - start_poll>20) NVIC_SystemReset(); }; if(status_reg==0xffffffff) { NVIC_SystemReset(); } if (status_reg & SYS_STATUS_RXFCG)//å¦ææåæ¥æ¶ { dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//æ¸ æ¥å¯åå¨æ å¿ä½ frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //è·å¾æ¥æ¶å°çæ°æ®é¿åº¦ dwt_readrxdata(rx_buffer, frame_len, 0); //读åæ¥æ¶æ°æ® if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //å¤ææ¥æ¶å°çæ°æ®æ¯å¦æ¯responseæ°æ® { next_nearbase_num=rx_buffer[NEARBASENUM_INDEX]; memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4); tagslotpos=GetRandomSlotPos(rec_tagpos_binary); //tagslotpos=rx_buffer[TAGSLOTPOS]; memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],next_nearbase_num*2); //slottime=ceil((nearbase_num+2)*0.4)+2; tyncpoll_time=tagslotpos*slottime; tag_state=NEARPOLL; }else{ tyncpoll_time = (tagslotpos--%max_slotpos)*slottime; } }else{ tyncpoll_time = (tagslotpos--%max_slotpos)*slottime; } } void Tag_App(void)//åé模å¼(TAGæ ç¾) { @@ -713,7 +822,7 @@ switch(tag_state) { case DISCPOLL: Poll(); break; case GETNEARMSG: GetNearMsg(); @@ -1050,10 +1159,10 @@ memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2); switch(rx_buffer[MESSAGE_TYPE_IDX]) { // case POLL: // if (anchor_type == rx_buffer[ANC_TYPE_IDX]) // Anchor_RecPoll(); // break; case POLL: if (anchor_type == rx_buffer[ANC_TYPE_IDX]) Anchor_RecPoll(); break; case SYNC: memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4); if(rec_syncid<current_syncid) @@ -1080,14 +1189,15 @@ } break; case NEAR_MSG: if(anc_id_recv==flag_syncbase) if(anc_id_recv==dev_id) { rx_buffer[TAGSLOTPOS]=taglist_pos; tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG; memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2); memcpy(&tx_near_msg[NEARMSG_EMPTYSLOTPOS_INDEX],&tagpos_binary,4); tx_near_msg[NEARBASENUM_INDEX]=ancidlist_num; memcpy(&tx_near_msg[NEARBASEID_INDEX],&ancidlist_send,ancidlist_num*2); ancidlist_num=g_com_map[NEARBASE_NUM]; tx_near_msg[NEARBASENUM_INDEX]=g_com_map[NEARBASE_NUM]; memcpy(&tx_near_msg[NEARBASEID_INDEX],&g_com_map[NEARBASE_ID1],g_com_map[NEARBASE_NUM]*2); send_len=11+ancidlist_num*2+2; dwt_writetxdata(send_len, tx_near_msg, 0);//å°Pollå æ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå» dwt_writetxfctrl(send_len, 0);//è®¾ç½®è¶ å®½å¸¦åéæ°æ®é¿åº¦ @@ -1128,11 +1238,12 @@ break; } } if(i==rec_nearbase_num) { seize_anchor=1; //æ¢å anchor Anchor_RecNearPoll(i); } //æ¢å æ¨¡å¼ // if(i==rec_nearbase_num) // { // seize_anchor=1; //æ¢å anchor // Anchor_RecNearPoll(i); // } break; Ô´Âë/ºËÐÄ°å/Src/application/dw_app.h
@@ -20,7 +20,7 @@ #include <math.h> //#define USART_INTEGRATE_OUTPUT //#define TAG_OUTPUT //#define DEBUG_INF //#define NEWBOARD //#define TAG_OUTPUT @@ -111,7 +111,7 @@ #define BUTTON_IDX 7 #define REMOTEPARA_LEN 18 #define THRESHOLD_CHANGE_MAINBASE_DIST 5 #define THRESHOLD_CHANGE_MAINBASE_DIST 500 extern u8 neartimout_timer; extern u16 slottime,tyncpoll_time,max_slotpos; extern u16 poll_timer,tag_timer; Ô´Âë/ºËÐÄ°å/Src/main.c
@@ -98,7 +98,7 @@ tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime; module_power = g_com_map[POWER]; total_slotnum = 1000/g_com_map[COM_INTERVAL]; anchor_type = dev_id%3; if(g_com_map[DEV_ROLE]) { @@ -107,7 +107,6 @@ printf("å次é讯åºç«æ°é: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]); }else{ anchor_type = dev_id%g_com_map[MAX_REPORT_ANC_NUM]; printf("åºç«ID: %x .\r\n",dev_id); printf("åºç«ç±»å: %c .\r\n",anchor_type+0x41); printf("å次é讯åºç«æ°é: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
