UWB_SmallModule_F103.git

zhyinch

2022-03-28 34b038b96a86f70e96ea29c537c87fe8a168ea9b

V1.69

1.修改馈线长度bug。 2.去掉标签端需要防撞距离1bug。

已修改4个文件

	源码/核心板/MDK-ARM/Project.uvguix.zhyin	161 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/MDK-ARM/Project.uvoptx	45 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/application/dw_app.c	23 ●●●●● 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

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          <Len>583</Len>
@@ -3579,7 +3579,7 @@
        <Name>Debug</Name>
        <Buttons>
          <Len>2362</Len>
          <Data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ata>
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        </Buttons>
        <OriginalItems>
          <Len>898</Len>
@@ -3606,26 +3606,26 @@
      <ActiveTab>0</ActiveTab>
      <Doc>
        <Name>..\Src\main.c</Name>
        <ColumnNumber>33</ColumnNumber>
        <TopLine>139</TopLine>
        <CurrentLine>148</CurrentLine>
        <ColumnNumber>53</ColumnNumber>
        <TopLine>129</TopLine>
        <CurrentLine>134</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\application\dw_app.c</Name>
        <ColumnNumber>18</ColumnNumber>
        <TopLine>902</TopLine>
        <CurrentLine>922</CurrentLine>
        <ColumnNumber>40</ColumnNumber>
        <TopLine>512</TopLine>
        <CurrentLine>525</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\application\global_param.c</Name>
        <ColumnNumber>10</ColumnNumber>
        <TopLine>36</TopLine>
        <ColumnNumber>16</ColumnNumber>
        <TopLine>33</TopLine>
        <CurrentLine>49</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
@@ -3643,7 +3643,7 @@
      <Doc>
        <Name>..\Src\application\global_param.h</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>54</TopLine>
        <TopLine>48</TopLine>
        <CurrentLine>67</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
@@ -3652,7 +3652,7 @@
      <Doc>
        <Name>..\Src\OnChipDevices\Rcc_Nvic_Systick.c</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>190</TopLine>
        <TopLine>183</TopLine>
        <CurrentLine>209</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
@@ -3661,7 +3661,7 @@
      <Doc>
        <Name>..\Src\OnChipDevices\Usart.c</Name>
        <ColumnNumber>15</ColumnNumber>
        <TopLine>297</TopLine>
        <TopLine>295</TopLine>
        <CurrentLine>310</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
@@ -3670,8 +3670,8 @@
      <Doc>
        <Name>..\Src\application\dw_app.h</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>81</TopLine>
        <CurrentLine>89</CurrentLine>
        <TopLine>105</TopLine>
        <CurrentLine>109</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
@@ -3688,7 +3688,7 @@
      <Doc>
        <Name>..\Src\OnChipDevices\Spi.c</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>148</TopLine>
        <TopLine>142</TopLine>
        <CurrentLine>161</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
@@ -3706,7 +3706,7 @@
      <Doc>
        <Name>..\Src\ExternalDevices\beep.h</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>15</TopLine>
        <TopLine>8</TopLine>
        <CurrentLine>28</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
@@ -3721,6 +3721,15 @@
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\ExternalDevices\dw_driver.c</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>94</TopLine>
        <CurrentLine>123</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
    </MDIGroup>
  </MDIGroups>


 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>
@@ -125,7 +125,7 @@
        <SetRegEntry>
          <Number>0</Number>
          <Key>DLGUARM</Key>
          <Name></Name>
          <Name>d</Name>
        </SetRegEntry>
        <SetRegEntry>
          <Number>0</Number>
@@ -158,7 +158,24 @@
          <Name>-T0</Name>
        </SetRegEntry>
      </TargetDriverDllRegistry>
      <Breakpoint/>
      <Breakpoint>
        <Bp>
          <Number>0</Number>
          <Type>0</Type>
          <LineNumber>315</LineNumber>
          <EnabledFlag>1</EnabledFlag>
          <Address>134263812</Address>
          <ByteObject>0</ByteObject>
          <HtxType>0</HtxType>
          <ManyObjects>0</ManyObjects>
          <SizeOfObject>0</SizeOfObject>
          <BreakByAccess>0</BreakByAccess>
          <BreakIfRCount>1</BreakIfRCount>
          <Filename>E:\GIT\UWB_SmallModule\å©§æ®ç\Src\main.c</Filename>
          <ExecCommand></ExecCommand>
          <Expression>\\UWB_Projects\../Src/main.c\315</Expression>
        </Bp>
      </Breakpoint>
      <WatchWindow1>
        <Ww>
          <count>0</count>
@@ -305,6 +322,26 @@
          <WinNumber>1</WinNumber>
          <ItemText>dist_threshold,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>29</count>
          <WinNumber>1</WinNumber>
          <ItemText>hex_dist,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>30</count>
          <WinNumber>1</WinNumber>
          <ItemText>rec_antdelay,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>31</count>
          <WinNumber>1</WinNumber>
          <ItemText>recpoll_len,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>32</count>
          <WinNumber>1</WinNumber>
          <ItemText>tx_nearpoll_msg</ItemText>
        </Ww>
      </WatchWindow1>
      <MemoryWindow1>
        <Mm>

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -344,6 +344,7 @@
    tx_nearpoll_msg[BUTTON_IDX] = !READ_KEY0;
    tx_nearpoll_msg[SEQUENCE_IDX] = frame_seq_nb++;
    tx_nearpoll_msg[NEARBASENUM_INDEX] = nearbase_num;
    
    memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
    for(i=0;i<nearbase_num;i++)
    { memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*2+i*2],&nearbase_distlist[i],2);}
@@ -464,7 +465,7 @@
                                    dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//å°åéæ°æ®åå¥DW1000
                                    dwt_writetxfctrl(28+nearbase_num*4, 0);//è®¾å®åéæ°æ®é¿åº¦
                                    memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
                                if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
                                if(temp_dist!=0x1ffff)
                                    {
                                        g_Resttimer=0;
                                        IWDG_Feed();
@@ -472,14 +473,10 @@
                                        usart_send[2] = 1;//æ£å¸¸æ¨¡å¼
                                        usart_send[3] = 17;//æ°æ®æ®µé¿åº¦
                                        usart_send[4] = frame_seq_nb;//æ°æ®æ®µé¿åº¦
                                        if(g_com_map[DEV_ROLE])
                                        {

                                        memcpy(&usart_send[5],&dev_id,2);
                                        memcpy(&usart_send[7],&rec_nearbaseid,2);        
                                        }else{
                                        memcpy(&usart_send[5],&rec_nearbaseid,2);
                                        memcpy(&usart_send[7],&dev_id,2);	
                                        }											
										
                                        memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
                                        usart_send[13] = battary;
                                        usart_send[14] = button;
@@ -516,20 +513,16 @@
                                    LED0_BLINK;
//                                    memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
//                                    tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
                                    if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
                                    if(temp_dist!=0x1ffff)
                                    {
                                        #ifdef USART_SINGLE_OUTPUT
                                        usart_send[2] = 1;//æ£å¸¸æ¨¡å¼
                                        usart_send[3] = 17;//æ°æ®æ®µé¿åº¦
                                        usart_send[4] = frame_seq_nb;//æ°æ®æ®µé¿åº¦
                                        if(g_com_map[DEV_ROLE])
                                        {
                                        memcpy(&usart_send[5],&dev_id,2);
                                        memcpy(&usart_send[7],&rec_nearbaseid,2);		
                                        }else{
			
                                        memcpy(&usart_send[5],&rec_nearbaseid,2);
                                        memcpy(&usart_send[7],&dev_id,2);    
                                        }											
																					
                                        memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
                                        usart_send[13] = battary;
                                        usart_send[14] = button;
@@ -1138,7 +1131,7 @@
                memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
                memcpy(&rec_ancidlist,&rx_buffer[NEARBASEID_INDEX],2*rec_nearbase_num);
                memcpy(&rec_ancdistlist,&rx_buffer[NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
                memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+nearbase_num*4],2);
                memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*4],2);
            #ifdef USART_ALL_OUTPUT
                    usart_send[2] = 0x0c;//æ£å¸¸æ¨¡å¼ 
                    usart_send[3] = 8+rec_nearbase_num*4;//æ°æ®æ®µé¿åº¦

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -145,7 +145,7 @@
        
    OUT485_ENABLE;
        
    g_com_map[VERSION] = (1<<8)|(67);
    g_com_map[VERSION] = (1<<8)|(69);
    FLASH_Read(FLASH_HARDWARE_FLAG, (uint8_t*)&g_com_map[HARDWAREFLAG_INDEX], 16);
    dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]);
    g_commap_antdelay = g_com_map[ANT_LENGTH];

			@@ -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>
			@@ -125,7 +125,7 @@
			<SetRegEntry>
			<Number>0</Number>
			<Key>DLGUARM</Key>
			<Name></Name>
			<Name>d</Name>
			</SetRegEntry>
			<SetRegEntry>
			<Number>0</Number>
			@@ -158,7 +158,24 @@
			<Name>-T0</Name>
			</SetRegEntry>
			</TargetDriverDllRegistry>
			<Breakpoint/>
			<Breakpoint>
			<Bp>
			<Number>0</Number>
			<Type>0</Type>
			<LineNumber>315</LineNumber>
			<EnabledFlag>1</EnabledFlag>
			<Address>134263812</Address>
			<ByteObject>0</ByteObject>
			<HtxType>0</HtxType>
			<ManyObjects>0</ManyObjects>
			<SizeOfObject>0</SizeOfObject>
			<BreakByAccess>0</BreakByAccess>
			<BreakIfRCount>1</BreakIfRCount>
			<Filename>E:\GIT\UWB_SmallModule\å©§æ®ç\Src\main.c</Filename>
			<ExecCommand></ExecCommand>
			<Expression>\\UWB_Projects\../Src/main.c\315</Expression>
			</Bp>
			</Breakpoint>
			<WatchWindow1>
			<Ww>
			<count>0</count>
			@@ -305,6 +322,26 @@
			<WinNumber>1</WinNumber>
			<ItemText>dist_threshold,0x0A</ItemText>
			</Ww>
			<Ww>
			<count>29</count>
			<WinNumber>1</WinNumber>
			<ItemText>hex_dist,0x0A</ItemText>
			</Ww>
			<Ww>
			<count>30</count>
			<WinNumber>1</WinNumber>
			<ItemText>rec_antdelay,0x0A</ItemText>
			</Ww>
			<Ww>
			<count>31</count>
			<WinNumber>1</WinNumber>
			<ItemText>recpoll_len,0x0A</ItemText>
			</Ww>
			<Ww>
			<count>32</count>
			<WinNumber>1</WinNumber>
			<ItemText>tx_nearpoll_msg</ItemText>
			</Ww>
			</WatchWindow1>
			<MemoryWindow1>
			<Mm>

			@@ -344,6 +344,7 @@
			tx_nearpoll_msg[BUTTON_IDX] = !READ_KEY0;
			tx_nearpoll_msg[SEQUENCE_IDX] = frame_seq_nb++;
			tx_nearpoll_msg[NEARBASENUM_INDEX] = nearbase_num;

			memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
			for(i=0;i<nearbase_num;i++)
			{ memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num2+i2],&nearbase_distlist[i],2);}
			@@ -464,7 +465,7 @@
			dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//å°åéæ°æ®åå¥DW1000
			dwt_writetxfctrl(28+nearbase_num*4, 0);//è®¾å®åéæ°æ®é¿åº¦
			memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
			if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
			if(temp_dist!=0x1ffff)
			{
			g_Resttimer=0;
			IWDG_Feed();
			@@ -472,14 +473,10 @@
			usart_send[2] = 1;//æ£å¸¸æ¨¡å¼
			usart_send[3] = 17;//æ°æ®æ®µé¿åº¦
			usart_send[4] = frame_seq_nb;//æ°æ®æ®µé¿åº¦
			if(g_com_map[DEV_ROLE])
			{

			memcpy(&usart_send[5],&dev_id,2);
			memcpy(&usart_send[7],&rec_nearbaseid,2);
			}else{
			memcpy(&usart_send[5],&rec_nearbaseid,2);
			memcpy(&usart_send[7],&dev_id,2);
			}

			memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
			usart_send[13] = battary;
			usart_send[14] = button;
			@@ -516,20 +513,16 @@
			LED0_BLINK;
			// memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
			// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
			if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
			if(temp_dist!=0x1ffff)
			{
			#ifdef USART_SINGLE_OUTPUT
			usart_send[2] = 1;//æ£å¸¸æ¨¡å¼
			usart_send[3] = 17;//æ°æ®æ®µé¿åº¦
			usart_send[4] = frame_seq_nb;//æ°æ®æ®µé¿åº¦
			if(g_com_map[DEV_ROLE])
			{
			memcpy(&usart_send[5],&dev_id,2);
			memcpy(&usart_send[7],&rec_nearbaseid,2);
			}else{

			memcpy(&usart_send[5],&rec_nearbaseid,2);
			memcpy(&usart_send[7],&dev_id,2);
			}

			memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
			usart_send[13] = battary;
			usart_send[14] = button;
			@@ -1138,7 +1131,7 @@
			memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
			memcpy(&rec_ancidlist,&rx_buffer[NEARBASEID_INDEX],2*rec_nearbase_num);
			memcpy(&rec_ancdistlist,&rx_buffer[NEARBASEID_INDEX+2rec_nearbase_num],2rec_nearbase_num);
			memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+nearbase_num*4],2);
			memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*4],2);
			#ifdef USART_ALL_OUTPUT
			usart_send[2] = 0x0c;//æ£å¸¸æ¨¡å¼
			usart_send[3] = 8+rec_nearbase_num*4;//æ°æ®æ®µé¿åº¦

			@@ -145,7 +145,7 @@

			OUT485_ENABLE;

			g_com_map[VERSION] = (1<<8)\|(67);
			g_com_map[VERSION] = (1<<8)\|(69);
			FLASH_Read(FLASH_HARDWARE_FLAG, (uint8_t*)&g_com_map[HARDWAREFLAG_INDEX], 16);
			dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]);
			g_commap_antdelay = g_com_map[ANT_LENGTH];