1

zhyinch

2019-11-23 c23f343e74095a5a90bfa3fd262c201063c90096

1

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

@@ -1,7 +1,7 @@
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  <Header>### uVision Project, (C) Keil Software</Header>

@@ -11,17 +11,17 @@
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      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
      <PathWithFileName>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_flash.c</PathWithFileName>
@@ -761,6 +810,7 @@
      <FileNumber>31</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <Focus>1</Focus>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
      <PathWithFileName>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_fsmc.c</PathWithFileName>
@@ -773,6 +823,7 @@
      <FileNumber>32</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <Focus>1</Focus>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
      <PathWithFileName>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_gpio.c</PathWithFileName>
@@ -785,6 +836,7 @@
      <FileNumber>33</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <Focus>1</Focus>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
      <PathWithFileName>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_i2c.c</PathWithFileName>
@@ -797,6 +849,7 @@
      <FileNumber>34</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <Focus>1</Focus>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
      <PathWithFileName>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_iwdg.c</PathWithFileName>
@@ -809,6 +862,7 @@
      <FileNumber>35</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <Focus>1</Focus>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
      <PathWithFileName>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_pwr.c</PathWithFileName>
@@ -821,6 +875,7 @@
      <FileNumber>36</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <Focus>1</Focus>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
      <PathWithFileName>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_rcc.c</PathWithFileName>
@@ -833,6 +888,7 @@
      <FileNumber>37</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <Focus>1</Focus>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
      <PathWithFileName>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_rtc.c</PathWithFileName>
@@ -845,6 +901,7 @@
      <FileNumber>38</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <Focus>1</Focus>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
      <PathWithFileName>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_sdio.c</PathWithFileName>
@@ -857,6 +914,7 @@
      <FileNumber>39</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <Focus>1</Focus>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
      <PathWithFileName>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_spi.c</PathWithFileName>
@@ -869,6 +927,7 @@
      <FileNumber>40</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <Focus>1</Focus>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
      <PathWithFileName>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_tim.c</PathWithFileName>
@@ -881,6 +940,7 @@
      <FileNumber>41</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <Focus>1</Focus>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
      <PathWithFileName>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_usart.c</PathWithFileName>
@@ -893,6 +953,7 @@
      <FileNumber>42</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <Focus>1</Focus>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
      <PathWithFileName>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_wwdg.c</PathWithFileName>
@@ -913,6 +974,7 @@
      <FileNumber>43</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <Focus>1</Focus>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
      <PathWithFileName>..\Src\Libraries\CMSIS\CM3\CoreSupport\core_cm3.c</PathWithFileName>
@@ -925,6 +987,7 @@
      <FileNumber>44</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <Focus>1</Focus>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
      <PathWithFileName>..\Src\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\system_stm32f10x.c</PathWithFileName>
@@ -937,6 +1000,7 @@
      <FileNumber>45</FileNumber>
      <FileType>2</FileType>
      <tvExp>0</tvExp>
      <Focus>1</Focus>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
      <PathWithFileName>..\Src\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_md.s</PathWithFileName>

 Ô´Âë/ºËÐÄ°å/MDK-ARM/Project.uvprojx

@@ -10,12 +10,11 @@
      <TargetName>STM32</TargetName>
      <ToolsetNumber>0x4</ToolsetNumber>
      <ToolsetName>ARM-ADS</ToolsetName>
      <pCCUsed>5060422::V5.06 update 4 (build 422)::ARMCC</pCCUsed>
      <TargetOption>
        <TargetCommonOption>
          <Device>STM32F103C8</Device>
          <Vendor>STMicroelectronics</Vendor>
          <PackID>Keil.STM32F1xx_DFP.2.2.0</PackID>
          <PackID>Keil.STM32F1xx_DFP.2.3.0</PackID>
          <PackURL>http://www.keil.com/pack/</PackURL>
          <Cpu>IRAM(0x20000000,0x5000) IROM(0x08000000,0x10000) CPUTYPE("Cortex-M3") CLOCK(12000000) ELITTLE</Cpu>
          <FlashUtilSpec></FlashUtilSpec>
@@ -85,8 +84,6 @@
            <UserProg2Name></UserProg2Name>
            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
            <nStopA1X>0</nStopA1X>
            <nStopA2X>0</nStopA2X>
          </AfterMake>
          <SelectedForBatchBuild>0</SelectedForBatchBuild>
          <SVCSIdString></SVCSIdString>
@@ -125,6 +122,47 @@
            <HexOffset>0</HexOffset>
            <Oh166RecLen>16</Oh166RecLen>
          </OPTHX>
          <Simulator>
            <UseSimulator>0</UseSimulator>
            <LoadApplicationAtStartup>1</LoadApplicationAtStartup>
            <RunToMain>1</RunToMain>
            <RestoreBreakpoints>1</RestoreBreakpoints>
            <RestoreWatchpoints>1</RestoreWatchpoints>
            <RestoreMemoryDisplay>1</RestoreMemoryDisplay>
            <RestoreFunctions>1</RestoreFunctions>
            <RestoreToolbox>1</RestoreToolbox>
            <LimitSpeedToRealTime>0</LimitSpeedToRealTime>
            <RestoreSysVw>1</RestoreSysVw>
          </Simulator>
          <Target>
            <UseTarget>1</UseTarget>
            <LoadApplicationAtStartup>1</LoadApplicationAtStartup>
            <RunToMain>1</RunToMain>
            <RestoreBreakpoints>1</RestoreBreakpoints>
            <RestoreWatchpoints>1</RestoreWatchpoints>
            <RestoreMemoryDisplay>1</RestoreMemoryDisplay>
            <RestoreFunctions>0</RestoreFunctions>
            <RestoreToolbox>1</RestoreToolbox>
            <RestoreTracepoints>0</RestoreTracepoints>
            <RestoreSysVw>1</RestoreSysVw>
          </Target>
          <RunDebugAfterBuild>0</RunDebugAfterBuild>
          <TargetSelection>6</TargetSelection>
          <SimDlls>
            <CpuDll></CpuDll>
            <CpuDllArguments></CpuDllArguments>
            <PeripheralDll></PeripheralDll>
            <PeripheralDllArguments></PeripheralDllArguments>
            <InitializationFile></InitializationFile>
          </SimDlls>
          <TargetDlls>
            <CpuDll></CpuDll>
            <CpuDllArguments></CpuDllArguments>
            <PeripheralDll></PeripheralDll>
            <PeripheralDllArguments></PeripheralDllArguments>
            <InitializationFile></InitializationFile>
            <Driver>Segger\JL2CM3.dll</Driver>
          </TargetDlls>
        </DebugOption>
        <Utilities>
          <Flash1>
@@ -189,7 +227,6 @@
            <useUlib>1</useUlib>
            <EndSel>0</EndSel>
            <uLtcg>0</uLtcg>
            <nSecure>0</nSecure>
            <RoSelD>3</RoSelD>
            <RwSelD>3</RwSelD>
            <CodeSel>0</CodeSel>
@@ -324,13 +361,6 @@
            <uSurpInc>0</uSurpInc>
            <uC99>1</uC99>
            <useXO>0</useXO>
            <v6Lang>1</v6Lang>
            <v6LangP>1</v6LangP>
            <vShortEn>1</vShortEn>
            <vShortWch>1</vShortWch>
            <v6Lto>0</v6Lto>
            <v6WtE>0</v6WtE>
            <v6Rtti>0</v6Rtti>
            <VariousControls>
              <MiscControls></MiscControls>
              <Define>USE_STDPERIPH_DRIVER,__CC_ARM</Define>
@@ -348,7 +378,6 @@
            <NoWarn>0</NoWarn>
            <uSurpInc>0</uSurpInc>
            <useXO>0</useXO>
            <uClangAs>0</uClangAs>
            <VariousControls>
              <MiscControls></MiscControls>
              <Define></Define>
@@ -644,11 +673,5 @@
      </Groups>
    </Target>
  </Targets>

  <RTE>
    <apis/>
    <components/>
    <files/>
  </RTE>

</Project>

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -319,21 +319,21 @@
    dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);            //设置发送后开启接收，并设定延迟时间
    dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);        
    tag_succ_times = 0;
    tx_poll_msg[BATTARY_IDX] = Get_Battary();
    tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
    tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
    tx_poll_msg[NEARBASENUM_INDEX] = nearbase_num;
    memcpy(&tx_poll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
	
    tx_poll_msg[ANC_TYPE_IDX] = i;	
    dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
    dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//设置超宽带发送数据长度
    tx_near_msg[BATTARY_IDX] = Get_Battary();
    tx_near_msg[BUTTON_IDX] = !READ_KEY0;
    tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
    tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
    memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
    tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;	
    memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);	
    dwt_writetxdata(sizeof(tx_near_msg), tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
    dwt_writetxfctrl(sizeof(tx_near_msg), 0);//设置超宽带发送数据长度
    dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置

    neartimout_timer=0;
    recbase_num=0;
    timeout=nearbase_num/4+2;
            while(neartimout_timer<timeout&&recbase_num<nearbase_num)
            while(neartimout_timer<timeout&&recbase_num<nearbase_num+1)
            {
                    while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
                    { 
@@ -351,6 +351,7 @@
                            {    u16 rec_nearbaseid,rec_nearbasepos;
                                poll_tx_ts = get_tx_timestamp_u64();                                        //获得POLL发送时间T1
                                resp_rx_ts = get_rx_timestamp_u64();                                        //获得RESPONSE接收时间T4    
                                recbase_num++;
                                memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
                                rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                                if(rec_nearbaseid==mainbase_id)
@@ -376,15 +377,17 @@
                                    final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num) * UUS_TO_DWT_TIME)) >> 8;
                                    dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
                                    final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
                                    final_msg_set_ts(&tx_final_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
                                    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);//将发送数据写入DW1000
                                    dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度
                                    final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
                                    final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
                                    final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
                                    tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
                                    dwt_writetxdata(sizeof(tx_near_msg), tx_near_msg, 0);//将发送数据写入DW1000
                                    dwt_writetxfctrl(sizeof(tx_near_msg), 0);//设定发送数据长度
                                    result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送            
                                }else{
                                    final_msg_set_ts(&tx_final_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+rec_nearbasepos*4], resp_rx_ts);								
                                    final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+rec_nearbasepos*4], resp_rx_ts);								
                                    memcpy(&nearbase_distlist[rec_nearbasepos],&rx_buffer[DIST_IDX],4);
                                    dwt_writetxdata(sizeof(tx_near_msg), tx_near_msg, 0);//将发送数据写入DW1000
                                }                                
                            }
                        }            
@@ -449,8 +452,10 @@
        if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
        {
            nearbase_num=rx_buffer[NEARBASENUM_INDEX];
            tagslotpos=rx_buffer[TAGSLOTPOS];
            memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
            slottime=ceil((nearbase_num+2)*0.3)+1;
            tyncpoll_time=tagslotpos*slottime;
            tag_state=NEARPOLL;
        }
    }
@@ -509,18 +514,18 @@
            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);

            memcpy(&tx_resp_msg[TAGSLOTPOS],&taglist_pos,1);
			
            poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2

            resp_tx_time = (poll_rx_ts + (POLL_RX_TO_RESP_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
            dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
            dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS);//设置发送完成后开启接收延迟时间
            dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间

            if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
            memcpy(&tx_resp_msg[DIST_IDX], &anchor_dist_last_frm[tag_id_recv-TAG_ID_START], 4);
		
			
            memcpy(&tx_resp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);			
            memcpy(&tx_resp_msg[TAG_ID_IDX],&tag_id_recv,2);
			
            dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//写入发送数据
            dwt_writetxfctrl(sizeof(tx_resp_msg), 0);//设定发送长度
            result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
@@ -581,9 +586,9 @@
void Anchor_RecNearPoll(u8 ancrec_nearbasepos)
{
            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);
            memcpy(&tx_near_msg[ANCTIMEMS],&sync_timer,2);
            memcpy(&tx_near_msg[ANCTIMEUS],&tmp_time,2);
            memcpy(&tx_near_msg[TAGSLOTPOS],&taglist_pos,1);

            poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2

@@ -592,10 +597,10 @@
            dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(nearbase_num-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
            dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间

            memcpy(&tx_resp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
		
            dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//写入发送数据
            dwt_writetxfctrl(sizeof(tx_resp_msg), 0);//设定发送长度
            memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
            tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
            dwt_writetxdata(sizeof(tx_near_msg), tx_near_msg, 0);//写入发送数据
            dwt_writetxfctrl(sizeof(tx_near_msg), 0);//设定发送长度
            result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收

            battary = rx_buffer[BATTARY_IDX];
@@ -708,6 +713,8 @@
            case NEAR_MSG:
                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);
                    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);

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

@@ -45,6 +45,7 @@
        g_com_map[CNT_RESTART]=0;
        g_com_map[CNT_REBOOT]=0;
        g_com_map[CNT_UPDATE]=0;
        g_com_map[NEARBASE_NUM]=0;
        save_com_map_to_flash();
    }    
}

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -11,7 +11,7 @@
#include "global_param.h"
#include "ADC.h"

//#define DEBUG_MODE
#define DEBUG_MODE

void Device_Init(void)
{
@@ -55,7 +55,7 @@
    //deca_sleep(1000);
    HeartBeatInit();
#ifdef DEBUG_MODE
    g_com_map[DEV_ROLE]=1;
    g_com_map[DEV_ROLE]=0;
        g_com_map[DEV_ID]=4;
    g_com_map[COM_INTERVAL]=100;
    g_com_map[MAX_REPORT_ANC_NUM]=3;