UWB_SmallModule_F103.git

zhyinch

2019-10-29 bbb68fd93739963f866d0c95246191962b6a7f72

增加基站时间同步，等待systick换成基础定时器

已修改6个文件

	源码/核心板/MDK-ARM/Project.uvguix.Administrator	74 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/OnChipDevices/Usart.c	2 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/application/dw_app.c	33 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/application/global_param.c	4 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/main.c	4 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/stm32f10x_it.c	32 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史

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

@@ -73,27 +73,27 @@
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          <Data>00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000004001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000000001E00000000000000000000000000000000010000000100000001809E8A0000000000001F0000000000000000000000000000000001000000010000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA00000000000000000000000000000000000000000000000001000000010000009600000003002050000000000553544D3332960000000000000001000553544D3332000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64CF010000</Data>
          <Data>00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000000001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000000001E00000000000000000000000000000000010000000100000001809E8A0000000000001F0000000000000000000000000000000001000000010000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA00000000000000000000000000000000000000000000000001000000010000009600000003002050000000000553544D3332960000000000000001000553544D3332000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64CF010000</Data>
        </Buttons>
        <OriginalItems>
          <Len>583</Len>
@@ -2585,21 +2585,30 @@
    <ActiveMDIGroup>0</ActiveMDIGroup>
    <MDIGroup>
      <Size>100</Size>
      <ActiveTab>5</ActiveTab>
      <ActiveTab>1</ActiveTab>
      <Doc>
        <Name>..\Src\application\beep_logic_app.c</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>15</TopLine>
        <CurrentLine>16</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\stm32f10x_it.c</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>35</TopLine>
        <CurrentLine>37</CurrentLine>
        <TopLine>61</TopLine>
        <CurrentLine>70</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\main.c</Name>
        <ColumnNumber>14</ColumnNumber>
        <TopLine>122</TopLine>
        <CurrentLine>149</CurrentLine>
        <ColumnNumber>0</ColumnNumber>
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        <CurrentLine>8</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
@@ -2607,7 +2616,7 @@
      <Doc>
        <Name>..\Src\OnChipDevices\Spi.c</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>142</TopLine>
        <TopLine>144</TopLine>
        <CurrentLine>161</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
@@ -2615,9 +2624,9 @@
      </Doc>
      <Doc>
        <Name>..\Src\application\dw_app.c</Name>
        <ColumnNumber>3</ColumnNumber>
        <TopLine>423</TopLine>
        <CurrentLine>432</CurrentLine>
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        <TopLine>278</TopLine>
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        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
@@ -2625,8 +2634,8 @@
      <Doc>
        <Name>..\Src\application\global_param.h</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>11</TopLine>
        <CurrentLine>16</CurrentLine>
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        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
@@ -2634,7 +2643,7 @@
      <Doc>
        <Name>..\Src\application\dw_app.h</Name>
        <ColumnNumber>18</ColumnNumber>
        <TopLine>1</TopLine>
        <TopLine>13</TopLine>
        <CurrentLine>14</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
@@ -2642,24 +2651,15 @@
      </Doc>
      <Doc>
        <Name>..\Src\application\global_param.c</Name>
        <ColumnNumber>30</ColumnNumber>
        <TopLine>22</TopLine>
        <CurrentLine>31</CurrentLine>
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        <TopLine>30</TopLine>
        <CurrentLine>37</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\application\serial_at_cmd_app.c</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>1</TopLine>
        <CurrentLine>1</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\application\beep_logic_app.c</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>1</TopLine>
        <CurrentLine>1</CurrentLine>

 Ô´Âë/ºËÐÄ°å/Src/OnChipDevices/Usart.c

@@ -88,7 +88,7 @@
    GPIO_Init(EU_RX_GPIO, &GPIO_InitStructure);
    
    GPIO_InitStructure.GPIO_Pin = EU_TX_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;                            //Txæ¨æ½å¤ç¨è¾åº
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;//GPIO_Mode_AF_PP;                            //Txæ¨æ½å¤ç¨è¾åº
    GPIO_Init(EU_TX_GPIO, &GPIO_InitStructure);
    
#ifdef UART_GPIO_REMAP_ENABLE

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -64,6 +64,8 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4

#define SYNC_SEQ_IDX                5

#define GROUP_ID_IDX                   0
#define ANCHOR_ID_IDX                1
#define TAG_ID_IDX                    5
@@ -80,6 +82,7 @@
#define POLL                         0x01
#define RESPONSE                     0x02
#define FINAL                       0x03
#define SYNC                           0x04

/*------------------------------------ Variables ------------------------------------------*/
/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
@@ -98,6 +101,7 @@

/* Frames used in the ranging process. See NOTE 2 below. */
static uint8_t tx_poll_msg[20] = {0};
static uint8_t tx_sync_msg[14] = {0};
//static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
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};
    
@@ -268,10 +272,12 @@
    tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
    tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
    tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
    tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
	
    memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 4);
    memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 4);
    memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 4);
	
    memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 4);
}    
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len) 
{
@@ -291,6 +297,17 @@
{
    dwt_configuresleep(0x940, 0x7);
    dwt_entersleep();
}
extern uint8_t g_start_send_flag;
u8 g_start_sync_flag;
void SyncPoll(u8 sync_seq)
{
    g_start_sync_flag=1;
    dwt_forcetrxoff();
    tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
    dwt_writetxdata(sizeof(tx_sync_msg), tx_sync_msg, 0);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
    dwt_writetxfctrl(sizeof(tx_sync_msg), 0);//è®¾ç½®è¶å®½å¸¦åéæ°æ®é¿åº¦
    dwt_starttx(DWT_START_TX_IMMEDIATE);
}
uint16_t g_Resttimer;
uint8_t result;
@@ -442,7 +459,8 @@
    
}
int8_t correction_time;
extern uint8_t g_start_send_flag;
extern uint8_t sync_seq;
extern uint16_t sync_timer;
void Anchor_App(void)
{
    uint32_t frame_len;
@@ -455,7 +473,7 @@
    dwt_rxenable(0);//æå¼æ¥æ¶

    /* Poll for reception of a frame or error/timeout. See NOTE 7 below. */
    while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag)//ä¸ææ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæèåºç°éè¯¯
    while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//ä¸ææ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæèåºç°éè¯¯
    { 
        IdleTask();
        g_Resttimer=0;
@@ -608,6 +626,15 @@
                /* Clear RX error events in the DW1000 status register. */
                dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
            }
        }else if(rx_buffer[MESSAGE_TYPE_IDX] == SYNC)
        {
            if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
            {
                sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
                SysTick->VAL   =00;
                sync_timer=0;
                SyncPoll(sync_seq);
            }
        }
    }
    else

 Ô´Âë/ºËÐÄ°å/Src/application/global_param.c

@@ -33,9 +33,9 @@
        g_com_map[MIN_REPORT_ANC_NUM]=2;
        g_com_map[DIST_OFFSET]=-26;
        #ifdef WORK_MODE_TAG
            g_com_map[DEV_ROLE] =0x1;
            g_com_map[DEV_ROLE] =0x1;  //æ ç¾
        #else
            g_com_map[DEV_ROLE] =0x0;
            g_com_map[DEV_ROLE] =0x0;  //åºç«
        #endif
        g_com_map[ANC_POLL]=0;
        g_com_map[ALARM_DEV] = 1;

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -83,9 +83,11 @@
{ 
UART_PushFrame(hbsend,16);
}
u16 heartbeat_timer,poll_timer;
extern u8 g_start_sync_flag;
u16 heartbeat_timer,poll_timer,sync_timer;
void IdleTask(void)
{
    g_start_sync_flag=0;
            UART_CheckReceive();
        UART_CheckSend();
    if(heartbeat_timer>1000)

 Ô´Âë/ºËÐÄ°å/Src/stm32f10x_it.c

@@ -28,17 +28,19 @@
#include "beep_logic_app.h"
#include "led.h"
#include "Usart.h"
#include "dw_app.h"
/* Tick timer count. */
volatile uint32_t time32_incr;
uint8_t tt=0;
uint8_t g_start_send_flag = 0;
uint8_t g_start_send_flag = 0,sync_seq=0;
uint16_t sysscal;
u16 tag_recv_timer, tag_timer;
extern uint16_t g_Resttimer,heartbeat_timer;
extern uint16_t g_Resttimer,heartbeat_timer,sync_timer;
extern uint8_t g_pairstart;

void SysTick_Handler(void)
{
	
  time32_incr++;
    g_UWB_com_interval++;
    heartbeat_timer++;
@@ -56,11 +58,31 @@
//        dis_after_filter = DEFAULT_DISTANCE;
//    }
//#ifdef WORK_MODE_ANCHOR
    if(!g_com_map[DEV_ROLE])
    {tag_recv_timer++;
    if(!g_com_map[DEV_ROLE])  //åºç«
    {
        tag_recv_timer++;
    TagDistClear();
        sync_timer++;
        if(sync_timer==30)
        {
            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>=1000)
    {
        sync_timer=0;	
        if(dev_id==0)
        {
            SyncPoll(0);
        }
    }
    //if(g_pairstart!=1)
        main_logic();
        //main_logic();
    }
//#endif

			@@ -88,7 +88,7 @@
			GPIO_Init(EU_RX_GPIO, &GPIO_InitStructure);

			GPIO_InitStructure.GPIO_Pin = EU_TX_PIN;
			GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //Txæ¨æ½å¤ç¨è¾åº
			GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;//GPIO_Mode_AF_PP; //Txæ¨æ½å¤ç¨è¾åº
			GPIO_Init(EU_TX_GPIO, &GPIO_InitStructure);

			#ifdef UART_GPIO_REMAP_ENABLE

			@@ -64,6 +64,8 @@
			#define FINAL_MSG_FINAL_TX_TS_IDX 18
			#define FINAL_MSG_TS_LEN 4

			#define SYNC_SEQ_IDX 5

			#define GROUP_ID_IDX 0
			#define ANCHOR_ID_IDX 1
			#define TAG_ID_IDX 5
			@@ -80,6 +82,7 @@
			#define POLL 0x01
			#define RESPONSE 0x02
			#define FINAL 0x03
			#define SYNC 0x04

			/------------------------------------ Variables ------------------------------------------/
			/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
			@@ -98,6 +101,7 @@

			/* Frames used in the ranging process. See NOTE 2 below. */
			static uint8_t tx_poll_msg[20] = {0};
			static uint8_t tx_sync_msg[14] = {0};
			//static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
			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};

			@@ -268,10 +272,12 @@
			tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
			tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
			tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
			tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;

			memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 4);
			memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 4);
			memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 4);

			memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 4);
			}
			uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
			{
			@@ -291,6 +297,17 @@
			{
			dwt_configuresleep(0x940, 0x7);
			dwt_entersleep();
			}
			extern uint8_t g_start_send_flag;
			u8 g_start_sync_flag;
			void SyncPoll(u8 sync_seq)
			{
			g_start_sync_flag=1;
			dwt_forcetrxoff();
			tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
			dwt_writetxdata(sizeof(tx_sync_msg), tx_sync_msg, 0);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
			dwt_writetxfctrl(sizeof(tx_sync_msg), 0);//è®¾ç½®è¶å®½å¸¦åéæ°æ®é¿åº¦
			dwt_starttx(DWT_START_TX_IMMEDIATE);
			}
			uint16_t g_Resttimer;
			uint8_t result;
			@@ -442,7 +459,8 @@

			}
			int8_t correction_time;
			extern uint8_t g_start_send_flag;
			extern uint8_t sync_seq;
			extern uint16_t sync_timer;
			void Anchor_App(void)
			{
			uint32_t frame_len;
			@@ -455,7 +473,7 @@
			dwt_rxenable(0);//æå¼æ¥æ¶

			/* Poll for reception of a frame or error/timeout. See NOTE 7 below. */
			while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG \| SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag)//ä¸ææ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæèåºç°éè¯¯
			while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG \| SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//ä¸ææ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæèåºç°éè¯¯
			{
			IdleTask();
			g_Resttimer=0;
			@@ -608,6 +626,15 @@
			/* Clear RX error events in the DW1000 status register. */
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			}
			}else if(rx_buffer[MESSAGE_TYPE_IDX] == SYNC)
			{
			if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
			{
			sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
			SysTick->VAL =00;
			sync_timer=0;
			SyncPoll(sync_seq);
			}
			}
			}
			else

			@@ -33,9 +33,9 @@
			g_com_map[MIN_REPORT_ANC_NUM]=2;
			g_com_map[DIST_OFFSET]=-26;
			#ifdef WORK_MODE_TAG
			g_com_map[DEV_ROLE] =0x1;
			g_com_map[DEV_ROLE] =0x1; //æ ç¾
			#else
			g_com_map[DEV_ROLE] =0x0;
			g_com_map[DEV_ROLE] =0x0; //åºç«
			#endif
			g_com_map[ANC_POLL]=0;
			g_com_map[ALARM_DEV] = 1;

			@@ -83,9 +83,11 @@
			{
			UART_PushFrame(hbsend,16);
			}
			u16 heartbeat_timer,poll_timer;
			extern u8 g_start_sync_flag;
			u16 heartbeat_timer,poll_timer,sync_timer;
			void IdleTask(void)
			{
			g_start_sync_flag=0;
			UART_CheckReceive();
			UART_CheckSend();
			if(heartbeat_timer>1000)

			@@ -28,17 +28,19 @@
			#include "beep_logic_app.h"
			#include "led.h"
			#include "Usart.h"
			#include "dw_app.h"
			/* Tick timer count. */
			volatile uint32_t time32_incr;
			uint8_t tt=0;
			uint8_t g_start_send_flag = 0;
			uint8_t g_start_send_flag = 0,sync_seq=0;
			uint16_t sysscal;
			u16 tag_recv_timer, tag_timer;
			extern uint16_t g_Resttimer,heartbeat_timer;
			extern uint16_t g_Resttimer,heartbeat_timer,sync_timer;
			extern uint8_t g_pairstart;

			void SysTick_Handler(void)
			{

			time32_incr++;
			g_UWB_com_interval++;
			heartbeat_timer++;
			@@ -56,11 +58,31 @@
			// dis_after_filter = DEFAULT_DISTANCE;
			// }
			//#ifdef WORK_MODE_ANCHOR
			if(!g_com_map[DEV_ROLE])
			{tag_recv_timer++;
			if(!g_com_map[DEV_ROLE]) //åºç«
			{
			tag_recv_timer++;
			TagDistClear();
			sync_timer++;
			if(sync_timer==30)
			{
			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>=1000)
			{
			sync_timer=0;
			if(dev_id==0)
			{
			SyncPoll(0);
			}
			}
			//if(g_pairstart!=1)
			main_logic();
			//main_logic();
			}
			//#endif