UWB_SmallModule_F103.git

zhyinch

2020-06-08 66596268c0f602ecc7ccbb34ea2b649108179eea

V1.15

1.增加标签位置注册查询
2.增加MSG包

已修改4个文件

	源码/核心板/MDK-ARM/Project.uvguix.Administrator	180 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/MDK-ARM/Project.uvoptx	26 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/application/dw_app.c	90 ●●●●● 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.Administrator

@@ -15,17 +15,17 @@
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        </Buttons>
        <OriginalItems>
          <Len>1423</Len>
@@ -3563,7 +3563,7 @@
        <Name>Build</Name>
        <Buttons>
          <Len>970</Len>
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        </Buttons>
        <OriginalItems>
          <Len>583</Len>
@@ -3579,7 +3579,7 @@
        <Name>Debug</Name>
        <Buttons>
          <Len>2362</Len>
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        <OriginalItems>
          <Len>898</Len>
@@ -3603,30 +3603,30 @@
    <ActiveMDIGroup>0</ActiveMDIGroup>
    <MDIGroup>
      <Size>100</Size>
      <ActiveTab>0</ActiveTab>
      <ActiveTab>2</ActiveTab>
      <Doc>
        <Name>..\Src\application\dw_app.c</Name>
        <ColumnNumber>13</ColumnNumber>
        <TopLine>875</TopLine>
        <CurrentLine>904</CurrentLine>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>290</TopLine>
        <CurrentLine>306</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\stm32f10x_it.c</Name>
        <ColumnNumber>22</ColumnNumber>
        <TopLine>86</TopLine>
        <CurrentLine>100</CurrentLine>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>95</TopLine>
        <CurrentLine>102</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\main.c</Name>
        <ColumnNumber>19</ColumnNumber>
        <TopLine>119</TopLine>
        <CurrentLine>133</CurrentLine>
        <ColumnNumber>29</ColumnNumber>
        <TopLine>62</TopLine>
        <CurrentLine>68</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
@@ -3642,8 +3642,8 @@
      </Doc>
      <Doc>
        <Name>..\Src\application\dw_app.h</Name>
        <ColumnNumber>1</ColumnNumber>
        <TopLine>90</TopLine>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>97</TopLine>
        <CurrentLine>104</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
@@ -3679,17 +3679,17 @@
      <Doc>
        <Name>..\Src\OnChipDevices\Spi.c</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>138</TopLine>
        <CurrentLine>152</CurrentLine>
        <TopLine>141</TopLine>
        <CurrentLine>148</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\OnChipDevices\Usart.c</Name>
        <ColumnNumber>46</ColumnNumber>
        <TopLine>81</TopLine>
        <CurrentLine>95</CurrentLine>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>135</TopLine>
        <CurrentLine>142</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
@@ -3697,7 +3697,7 @@
      <Doc>
        <Name>E:\GIT\UWB_SmallModule\æºç \æ ¸å¿æ¿\MDK-ARM\1</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>891</TopLine>
        <TopLine>869</TopLine>
        <CurrentLine>906</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>

 Ô´Âë/ºËÐÄ°å/MDK-ARM/Project.uvoptx

@@ -125,7 +125,7 @@
        <SetRegEntry>
          <Number>0</Number>
          <Key>DLGUARM</Key>
          <Name>d</Name>
          <Name></Name>
        </SetRegEntry>
        <SetRegEntry>
          <Number>0</Number>
@@ -158,24 +158,7 @@
          <Name>-T0</Name>
        </SetRegEntry>
      </TargetDriverDllRegistry>
      <Breakpoint>
        <Bp>
          <Number>0</Number>
          <Type>0</Type>
          <LineNumber>606</LineNumber>
          <EnabledFlag>1</EnabledFlag>
          <Address>0</Address>
          <ByteObject>0</ByteObject>
          <HtxType>0</HtxType>
          <ManyObjects>0</ManyObjects>
          <SizeOfObject>0</SizeOfObject>
          <BreakByAccess>0</BreakByAccess>
          <BreakIfRCount>0</BreakIfRCount>
          <Filename>E:\GIT\UWB_SmallModule\æºç \æ ¸å¿æ¿\MDK-ARM\1</Filename>
          <ExecCommand></ExecCommand>
          <Expression></Expression>
        </Bp>
      </Breakpoint>
      <Breakpoint/>
      <WatchWindow1>
        <Ww>
          <count>0</count>
@@ -267,6 +250,11 @@
          <WinNumber>1</WinNumber>
          <ItemText>nearbase_distlist</ItemText>
        </Ww>
        <Ww>
          <count>18</count>
          <WinNumber>1</WinNumber>
          <ItemText>rx_buffer</ItemText>
        </Ww>
      </WatchWindow1>
      <MemoryWindow1>
        <Mm>

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -251,10 +251,31 @@
//        change_base_count=0;
//    }
//}
u8 GetRandomSlotPos(uint32_t emptyslot)
{
    u8 i;
    for(i=dev_id%32;i<max_slotpos;i++)
    {
        if(((emptyslot>>i)&0x1)==0)
        {
            return i;
        }
    }
	
        for(i=1;i<max_slotpos;i++)
    {
        if(((emptyslot>>i)&0x1)==0)
        {
            return i;
        }
    }
return max_slotpos-1;
}
u8 test=0;
u8 anclost_times=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;;
u16 temp_sync_timer1,temp_sync_timer2;
u32 rec_tagpos_binary;
void NearPoll(void)
{
    static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
@@ -383,6 +404,9 @@
                                    tx_nearfinal_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
                                    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);
                                    tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
									
                                    if(temp_dist!=0x1ffff)
                                    {
                                    #ifndef USART_INTEGRATE_OUTPUT
@@ -460,22 +484,21 @@
            j=0;
            if(exsistbase_list[0]==0)
            {
             u8 temp_adc,random_value;
                random_value=0;
                for(i=0;i<8;i++)
                {
                    temp_adc=Get_ADC_Value();
                    random_value=random_value|((temp_adc&0x01)<<i);
                }
                tyncpoll_time=(random_value%max_slotpos)*slottime;	
//             u8 temp_adc,random_value;
//                random_value=0;
//                for(i=0;i<8;i++)
//                {
//                    temp_adc=Get_ADC_Value();
//                    random_value=random_value|((temp_adc&0x01)<<i);
//                }
                tyncpoll_time = (tagslotpos%max_slotpos)*slottime;	
            }
        //    tyncpoll_time=0;
            next_nearbase_num=0;
            for(i=0;i<last_nearbase_num+get_newbase;i++)
            {
                if(exsistbase_list[i]>0)
                {
				
                {		
                    next_nearbase_num++;
                    true_exsistbase_list[j]=exsistbase_list[i];
                    true_nearbase_idlist[j]=nearbaseid_list[i];            
@@ -553,8 +576,7 @@


}
u8 nearmsg_mainbase=0;
u32 rec_tagpos_binary;
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
void GetNearMsg(void)
{
    u32 start_poll,frame_len;
@@ -591,9 +613,9 @@
        {
            next_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
            memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
            tagslotpos=rx_buffer[TAGSLOTPOS];
            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)*0.3)+1;
            tyncpoll_time=tagslotpos*slottime;
            tag_state=NEARPOLL;
        }
@@ -610,13 +632,11 @@
            
            break;
        case GETNEARMSG:
            GetNearMsg();
              GetNearMsg();
            break;
        case NEARPOLL:
                NearPoll();
            break;
	
	
    }

}
@@ -836,12 +856,10 @@
                    }
                }
            }
		
            }else{
                    //printf("%x/n",status_reg);
                dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
            }
	
}
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase;
@@ -871,16 +889,16 @@
        dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//æ¸é¤æ å¿ä½
        frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//è·å¾æ¥æ¶æ°æ®é¿åº¦
        dwt_readrxdata(rx_buffer, frame_len, 0);//è¯»åæ¥æ¶æ°æ®
        memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
        //å°æ¶å°çtag_idåå«åå¥åæ¬¡éè®¯çåä¸ï¼ä¸ºå¤æ ç¾éè®¯æå¡ï¼é²æ¢ä¸æ¬¡éè®¯ä¸æ¥æ¶å°ä¸åIDæ ç¾çæ°æ®
        //tag_id_recv = rx_buffer[TAG_ID_IDX];
        tag_id_recv = rx_buffer[TAG_ID_IDX];
        switch(rx_buffer[MESSAGE_TYPE_IDX])
        {
//            case POLL:
//                if (anchor_type == rx_buffer[ANC_TYPE_IDX])
//                Anchor_RecPoll();
//                break;
            case SYNC:
				
            case SYNC:			
                memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
                if(rec_syncid<current_syncid)
                {
@@ -921,10 +939,8 @@
                }
                break;
        
            case NEAR_POLL:
				
            case NEAR_POLL:			
                memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
                memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
                taglist_pos=CmpTagInList(tag_id_recv);
                if(taglist_pos==taglist_num)
                {
@@ -936,10 +952,16 @@
                    new_tagid=0;
                }
                tagofflinetime[taglist_pos]=0;
             temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
            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>ancidlist_num)
                    {
                        ancidlist_num=rec_nearbase_num;
                        memcpy(ancidlist_rec,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
                    }
					
                for(i=0;i<rec_nearbase_num;i++)
                {
                     memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
@@ -955,19 +977,11 @@
                        seize_anchor=1;   //æ¢å anchor
                        Anchor_RecNearPoll(i);    
                    }
                    if(rec_nearbase_num>ancidlist_num)
                    {
                        ancidlist_num=rec_nearbase_num;
                        memcpy(ancidlist_rec,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
                    }

                
                break;
		
        }
		
    }
    else
    {
                break;		
        }	
    }else{
        dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
    }
}

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -65,7 +65,7 @@
        save_com_map_to_flash();
#endif
    OUT485_ENABLE;
    g_com_map[VERSION] = 0x010e;	
    g_com_map[VERSION] = 0x010f;	
    dev_id = g_com_map[DEV_ID];
    slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]/4)+4;
    max_slotpos=g_com_map[COM_INTERVAL]/slottime;

			@@ -125,7 +125,7 @@
			<SetRegEntry>
			<Number>0</Number>
			<Key>DLGUARM</Key>
			<Name>d</Name>
			<Name></Name>
			</SetRegEntry>
			<SetRegEntry>
			<Number>0</Number>
			@@ -158,24 +158,7 @@
			<Name>-T0</Name>
			</SetRegEntry>
			</TargetDriverDllRegistry>
			<Breakpoint>
			<Bp>
			<Number>0</Number>
			<Type>0</Type>
			<LineNumber>606</LineNumber>
			<EnabledFlag>1</EnabledFlag>
			<Address>0</Address>
			<ByteObject>0</ByteObject>
			<HtxType>0</HtxType>
			<ManyObjects>0</ManyObjects>
			<SizeOfObject>0</SizeOfObject>
			<BreakByAccess>0</BreakByAccess>
			<BreakIfRCount>0</BreakIfRCount>
			<Filename>E:\GIT\UWB_SmallModule\æºç \æ ¸å¿æ¿\MDK-ARM\1</Filename>
			<ExecCommand></ExecCommand>
			<Expression></Expression>
			</Bp>
			</Breakpoint>
			<Breakpoint/>
			<WatchWindow1>
			<Ww>
			<count>0</count>
			@@ -267,6 +250,11 @@
			<WinNumber>1</WinNumber>
			<ItemText>nearbase_distlist</ItemText>
			</Ww>
			<Ww>
			<count>18</count>
			<WinNumber>1</WinNumber>
			<ItemText>rx_buffer</ItemText>
			</Ww>
			</WatchWindow1>
			<MemoryWindow1>
			<Mm>

			@@ -251,10 +251,31 @@
			// change_base_count=0;
			// }
			//}
			u8 GetRandomSlotPos(uint32_t emptyslot)
			{
			u8 i;
			for(i=dev_id%32;i<max_slotpos;i++)
			{
			if(((emptyslot>>i)&0x1)==0)
			{
			return i;
			}
			}

			for(i=1;i<max_slotpos;i++)
			{
			if(((emptyslot>>i)&0x1)==0)
			{
			return i;
			}
			}
			return max_slotpos-1;
			}
			u8 test=0;
			u8 anclost_times=0;
			u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;;
			u16 temp_sync_timer1,temp_sync_timer2;
			u32 rec_tagpos_binary;
			void NearPoll(void)
			{
			static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
			@@ -383,6 +404,9 @@
			tx_nearfinal_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
			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);
			tagslotpos=GetRandomSlotPos(rec_tagpos_binary);

			if(temp_dist!=0x1ffff)
			{
			#ifndef USART_INTEGRATE_OUTPUT
			@@ -460,22 +484,21 @@
			j=0;
			if(exsistbase_list[0]==0)
			{
			u8 temp_adc,random_value;
			random_value=0;
			for(i=0;i<8;i++)
			{
			temp_adc=Get_ADC_Value();
			random_value=random_value\|((temp_adc&0x01)<<i);
			}
			tyncpoll_time=(random_value%max_slotpos)*slottime;
			// u8 temp_adc,random_value;
			// random_value=0;
			// for(i=0;i<8;i++)
			// {
			// temp_adc=Get_ADC_Value();
			// random_value=random_value\|((temp_adc&0x01)<<i);
			// }
			tyncpoll_time = (tagslotpos%max_slotpos)*slottime;
			}
			// tyncpoll_time=0;
			next_nearbase_num=0;
			for(i=0;i<last_nearbase_num+get_newbase;i++)
			{
			if(exsistbase_list[i]>0)
			{

			{
			next_nearbase_num++;
			true_exsistbase_list[j]=exsistbase_list[i];
			true_nearbase_idlist[j]=nearbaseid_list[i];
			@@ -553,8 +576,7 @@


			}
			u8 nearmsg_mainbase=0;
			u32 rec_tagpos_binary;
			u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
			void GetNearMsg(void)
			{
			u32 start_poll,frame_len;
			@@ -591,9 +613,9 @@
			{
			next_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
			memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
			tagslotpos=rx_buffer[TAGSLOTPOS];
			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)*0.3)+1;
			tyncpoll_time=tagslotpos*slottime;
			tag_state=NEARPOLL;
			}
			@@ -610,13 +632,11 @@

			break;
			case GETNEARMSG:
			GetNearMsg();
			GetNearMsg();
			break;
			case NEARPOLL:
			NearPoll();
			break;


			}

			}
			@@ -836,12 +856,10 @@
			}
			}
			}

			}else{
			//printf("%x/n",status_reg);
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			}

			}
			uint32_t current_syncid=0xffffffff,synclost_timer;
			extern u8 flag_syncbase;
			@@ -871,16 +889,16 @@
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//æ¸é¤æ å¿ä½
			frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//è·å¾æ¥æ¶æ°æ®é¿åº¦
			dwt_readrxdata(rx_buffer, frame_len, 0);//è¯»åæ¥æ¶æ°æ®
			memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
			//å°æ¶å°çtag_idåå«åå¥åæ¬¡éè®¯çåä¸ï¼ä¸ºå¤æ ç¾éè®¯æå¡ï¼é²æ¢ä¸æ¬¡éè®¯ä¸æ¥æ¶å°ä¸åIDæ ç¾çæ°æ®
			//tag_id_recv = rx_buffer[TAG_ID_IDX];
			tag_id_recv = rx_buffer[TAG_ID_IDX];
			switch(rx_buffer[MESSAGE_TYPE_IDX])
			{
			// case POLL:
			// if (anchor_type == rx_buffer[ANC_TYPE_IDX])
			// Anchor_RecPoll();
			// break;
			case SYNC:

			case SYNC:
			memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
			if(rec_syncid<current_syncid)
			{
			@@ -921,10 +939,8 @@
			}
			break;

			case NEAR_POLL:

			case NEAR_POLL:
			memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
			memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
			taglist_pos=CmpTagInList(tag_id_recv);
			if(taglist_pos==taglist_num)
			{
			@@ -936,10 +952,16 @@
			new_tagid=0;
			}
			tagofflinetime[taglist_pos]=0;
			temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
			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>ancidlist_num)
			{
			ancidlist_num=rec_nearbase_num;
			memcpy(ancidlist_rec,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
			}

			for(i=0;i<rec_nearbase_num;i++)
			{
			memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
			@@ -955,19 +977,11 @@
			seize_anchor=1; //æ¢å anchor
			Anchor_RecNearPoll(i);
			}
			if(rec_nearbase_num>ancidlist_num)
			{
			ancidlist_num=rec_nearbase_num;
			memcpy(ancidlist_rec,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
			}


			break;

			}

			}
			else
			{
			break;
			}
			}else{
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			}
			}

			@@ -65,7 +65,7 @@
			save_com_map_to_flash();
			#endif
			OUT485_ENABLE;
			g_com_map[VERSION] = 0x010e;
			g_com_map[VERSION] = 0x010f;
			dev_id = g_com_map[DEV_ID];
			slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]/4)+4;
			max_slotpos=g_com_map[COM_INTERVAL]/slottime;