| 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 | |
| 源码/核心板/Src/stm32f10x_it.c | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 |
Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c
@@ -79,6 +79,7 @@ //respose #define ANCTIMEMS 14 #define ANCTIMEUS 16 #define TAGSLOTPOS 18 #define POLL 0x01 #define RESPONSE 0x02 @@ -107,7 +108,7 @@ static uint8_t tx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; //static uint8_t rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0}; static uint8_t tx_resp_msg[20] = {0}; static uint8_t tx_resp_msg[22] = {0}; //static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; /* Frame sequence number, incremented after each transmission. */ @@ -319,6 +320,7 @@ extern uint16_t sync_timer; u16 tmp_time; int32_t temp_dist; u16 tagslotpos; void Tag_App(void)//åé模å¼(TAGæ ç¾) { uint32_t frame_len; @@ -386,6 +388,7 @@ 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) { @@ -395,6 +398,9 @@ {sync_timer=0;} } TIM3->CNT=tmp_time; if(tagslotpos>max_slotpos) tagslotpos=tagslotpos%(max_slotpos+1); tyncpoll_time=(tagslotpos-1)*slottime; } memcpy(&anchor_dist_last_frm[0], &rx_buffer[DIST_IDX], 4); memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4); @@ -464,19 +470,47 @@ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR); random_delay_tim = DFT_RAND_DLY_TIM_MS; } // deca_sleep(10); } // dwt_entersleep(); if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM]) { //poll_timer +=time32_incr&0x7+3; } /* Execute a delay between ranging exchanges. */ if(getsync_flag==0) { tagslotpos--; if(tagslotpos==0||tagslotpos>max_slotpos) { tagslotpos=max_slotpos; } tyncpoll_time=(tagslotpos-1)*slottime; } } int8_t correction_time; extern uint8_t sync_seq; u16 taglist_num=0,taglist_pos; u16 tagid_list[TAG_NUM_IN_SYS]; u8 tagofflinetime[TAG_NUM_IN_SYS]; void TagListUpdate(void) { u16 i,j=0,temp[TAG_NUM_IN_SYS]; for(i=0;i<taglist_num;i++) { if(tagofflinetime[i]++<QUIT_SLOT_TIME) { tagid_list[j]=tagid_list[i]; tagofflinetime[j++]=tagofflinetime[i]; } } taglist_num=j; } u16 CmpTagInList(u16 tagid) {u16 i; for(i=0;i<taglist_num;i++) { if(memcmp(&tagid,&tagid_list[i],2)==0) return i+1; } return 0; } void Anchor_App(void) { @@ -515,19 +549,19 @@ //tag_id_recv = rx_buffer[TAG_ID_IDX]; memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],4); memcpy(&tx_resp_msg[TAG_ID_IDX],&tag_id_recv,4); //tx_resp_msg[TAG_ID_IDX] = tag_id_recv; // if(tag_recv_timer>tag_time_recv[tag_id_recv-TAG_ID_START]) // { tag_recv_interval = tag_recv_timer - tag_time_recv[tag_id_recv]; // }else{ // tag_recv_interval = tag_recv_timer + 65535 - tag_time_recv[tag_id_recv]; // } taglist_pos=CmpTagInList(tag_id_recv); if(taglist_pos==0) { tagid_list[taglist_num++]=tag_id_recv; taglist_pos=taglist_num; } tagofflinetime[taglist_pos-1]=0; if (rx_buffer[MESSAGE_TYPE_IDX] == POLL&&(anchor_type == rx_buffer[ANC_TYPE_IDX])) //å¤ææ¯å¦æ¯pollå æ°æ® { tmp_time=TIM3->CNT; memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2); memcpy(&tx_resp_msg[ANCTIMEUS],&tmp_time,2); memcpy(&tx_resp_msg[TAGSLOTPOS],&taglist_pos,2); // if(correction_time>10) // {correction_time++;} @@ -613,7 +647,6 @@ //dist_cm=33000; LED0_BLINK; //æ¯æåä¸æ¬¡é讯åéªçä¸æ¬¡ g_UWB_com_interval = 0; dis_after_filter=dist_cm; hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]; if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS) @@ -636,10 +669,6 @@ checksum = Checksum_u16(&usart_send[2],17); memcpy(&usart_send[19],&checksum,2); UART_PushFrame(usart_send,21); //dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm); } }else{ /* Clear RX error events in the DW1000 status register. */ Ô´Âë/ºËÐÄ°å/Src/application/dw_app.h
@@ -19,6 +19,8 @@ #define GROUP_TAG_NUM 2 #define TAG_NUM_IN_SYS 256 #define DFT_RAND_DLY_TIM_MS 1 #define QUIT_SLOT_TIME 5 extern u16 slottime,tyncpoll_time,max_slotpos; extern u16 poll_timer,tag_timer; extern int8_t tag_delaytime; extern u32 dev_id; @@ -41,4 +43,6 @@ extern uint8_t g_flag_Taggetdist[256]; extern void TagDistClear(void); void Dw1000_App_Init(void); void TagListUpdate(void); void SyncPoll(u8 sync_seq); #endif Ô´Âë/ºËÐÄ°å/Src/main.c
@@ -11,6 +11,7 @@ #include "global_param.h" #include "ADC.h" #define DEBUG_MODE void Device_Init(void) { @@ -44,18 +45,34 @@ memcpy(&hbsend[14],&checksum,2); } u16 tyncpoll_time; u16 slottime,max_slotpos; void Program_Init(void) {uint16_t i; { float temp; u16 temp2; uint16_t i; Usart1ParseDataCallback = UsartParseDataHandler; parameter_init(); //deca_sleep(1000); HeartBeatInit(); dev_id = g_com_map[DEV_ID]; // g_com_map[DEV_ROLE]=1; // g_com_map[DEV_ID]=1; // g_com_map[COM_INTERVAL]=10; #ifdef DEBUG_MODE g_com_map[DEV_ROLE]=1; g_com_map[DEV_ID]=4; g_com_map[COM_INTERVAL]=100; g_com_map[MAX_REPORT_ANC_NUM]=3; #endif OUT485_ENABLE; g_com_map[VERSION] = 0x0105; g_com_map[VERSION] = 0x0106; dev_id = g_com_map[DEV_ID]; temp=(float)g_com_map[MAX_REPORT_ANC_NUM]*4/3; temp2=g_com_map[MAX_REPORT_ANC_NUM]*4/3; if(temp2<temp) { temp2++; } slottime=temp2; max_slotpos=g_com_map[COM_INTERVAL]/slottime; tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime; if(g_com_map[DEV_ROLE]) { tyncpoll_time=g_com_map[DEV_ID]*g_com_map[MAX_REPORT_ANC_NUM]*4/3; @@ -117,6 +134,9 @@ result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2); __enable_irq(); printf("è¿å ¥å级模å¼\r\n"); g_com_map[CNT_UPDATE]=0; save_com_map_to_flash(); delay_ms(100); // STMFLASH_Write_NoCheck(0x8004A38,0xAAAA); // Delay_ms(100); SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软å¤ä½åå°bootloader @@ -138,13 +158,13 @@ while(1) { IdleTask(); if(g_start_send_flag) { g_start_send_flag = 0; Tag_App(); } IdleTask(); if(g_com_map[DEV_ROLE]==0) Anchor_App(); } Ô´Âë/ºËÐÄ°å/Src/stm32f10x_it.c
@@ -44,20 +44,21 @@ if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) //??TIM3???????? { TIM_ClearITPendingBit(TIM3, TIM_IT_Update ); //??TIMx?????? time32_incr++; g_UWB_com_interval++; time32_incr++; heartbeat_timer++; poll_timer++; if(tag_timer++>=g_com_map[COM_INTERVAL]) {tag_timer=0;} sync_timer++; if(sync_timer>=1010) {sync_timer=0;} if(g_Resttimer++>2000) { NVIC_SystemReset(); } sync_timer++; if(!g_com_map[DEV_ROLE]) //åºç« { @@ -65,33 +66,22 @@ TagDistClear(); if(g_com_map[ALARM_DEV]!=0) main_logic(); if(sync_timer==10) { GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_SET); }else{ GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET); } if(sync_timer>500&&dev_id!=0) { sync_seq=0xff; } if(sync_timer>=1010) { sync_timer=0; if(dev_id==0) if(sync_timer==0) { SyncPoll(0); TagListUpdate(); if(dev_id==0) SyncPoll(0); } } }else{ //æ ç¾åæ¥å¤ç if(sync_timer>=1010) {sync_timer=0;} if((sync_timer-10)%g_com_map[COM_INTERVAL]==tyncpoll_time) if((sync_timer-10)%g_com_map[COM_INTERVAL]==tyncpoll_time&&sync_timer>=10) { GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_SET); } if((sync_timer-10)%g_com_map[COM_INTERVAL]==tyncpoll_time) { g_start_send_flag=1; }
