From 4a13529748c983ff0d5627a28365ad7737141016 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 18 二月 2022 09:31:49 +0800
Subject: [PATCH] V1.62
---
源码/核心板/MDK-ARM/Project.uvguix.zhyin | 344 +++++++++---------------------
源码/核心板/Src/ExternalDevices/beep.h | 2
源码/核心板/Src/OnChipDevices/Rcc_Nvic_Systick.h | 2
源码/核心板/Src/stm32f10x_it.c | 19 -
源码/核心板/Src/OnChipDevices/Rcc_Nvic_Systick.c | 20
源码/核心板/Src/main.c | 34 +--
源码/核心板/Src/application/serial_at_cmd_app.c | 2
源码/核心板/MDK-ARM/Project.uvoptx | 77 +++---
源码/核心板/Src/ExternalDevices/dw_driver.h | 6
源码/核心板/Src/application/global_param.h | 2
源码/核心板/Src/OnChipDevices/Usart.c | 8
源码/核心板/Src/OnChipDevices/Usart.h | 7
源码/核心板/Src/application/dw_app.c | 109 +++------
13 files changed, 212 insertions(+), 420 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.zhyin" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.zhyin"
index 56a46e8..69918d7 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.zhyin"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.zhyin"
@@ -6,7 +6,7 @@
<Header>### uVision Project, (C) Keil Software</Header>
<PrjGuiSettings>
- <LastAddFilePath>E:\GIT\UWB_SmallModule\婧愮爜\鏍稿績鏉縗Src\application</LastAddFilePath>
+ <LastAddFilePath>E:\GIT\history\UWB_SmallModule--闃叉挒妯″潡\UWB_SmallModule--\婧愮爜\鏍稿績鏉縗Src\application</LastAddFilePath>
</PrjGuiSettings>
<ViewPool/>
@@ -15,17 +15,17 @@
<View>
<WinId>38003</WinId>
<ViewName>Registers</ViewName>
- <TableColWidths>145 141</TableColWidths>
+ <TableColWidths>145 145</TableColWidths>
</View>
<View>
<WinId>346</WinId>
<ViewName>Code Coverage</ViewName>
- <TableColWidths>770 361</TableColWidths>
+ <TableColWidths>770 160</TableColWidths>
</View>
<View>
<WinId>204</WinId>
<ViewName>Performance Analyzer</ViewName>
- <TableColWidths>753 139 139 100</TableColWidths>
+ <TableColWidths>930</TableColWidths>
</View>
</SECTreeCtrl>
@@ -93,25 +93,25 @@
<flags>2</flags>
<showCmd>3</showCmd>
<MinPosition>
- <xPos>-32000</xPos>
- <yPos>-32000</yPos>
+ <xPos>-1</xPos>
+ <yPos>-1</yPos>
</MinPosition>
<MaxPosition>
<xPos>-1</xPos>
<yPos>-1</yPos>
</MaxPosition>
<NormalPosition>
- <Top>-851</Top>
- <Left>-842</Left>
- <Right>705</Right>
- <Bottom>-21</Bottom>
+ <Top>-996</Top>
+ <Left>-738</Left>
+ <Right>809</Right>
+ <Bottom>-166</Bottom>
</NormalPosition>
</WindowPosition>
<MDIClientArea>
<RegID>0</RegID>
<MDITabState>
- <Len>2800</Len>
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index 93e9bfe..2ccb392 100644
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<count>13</count>
<WinNumber>1</WinNumber>
- <ItemText>testt4,0x0A</ItemText>
+ <ItemText>rx_buffer</ItemText>
</Ww>
<Ww>
<count>14</count>
<WinNumber>1</WinNumber>
- <ItemText>testt5,0x0A</ItemText>
+ <ItemText>g_start_send_flag</ItemText>
</Ww>
<Ww>
<count>15</count>
<WinNumber>1</WinNumber>
- <ItemText>m_EUART_TxFrm_FreeFrmLen,0x0A</ItemText>
+ <ItemText>hex_dist,0x0A</ItemText>
</Ww>
<Ww>
<count>16</count>
<WinNumber>1</WinNumber>
- <ItemText>m_EUART_TxFrames</ItemText>
+ <ItemText>rlv,0x0A</ItemText>
</Ww>
<Ww>
<count>17</count>
<WinNumber>1</WinNumber>
- <ItemText>m_bEUARTPushingFrms</ItemText>
+ <ItemText>g_com_map[0X78]</ItemText>
</Ww>
<Ww>
<count>18</count>
<WinNumber>1</WinNumber>
- <ItemText>m_bEUARTCheckingSend</ItemText>
+ <ItemText>g_com_map[0X79]</ItemText>
</Ww>
<Ww>
<count>19</count>
<WinNumber>1</WinNumber>
- <ItemText>testt,0x0A</ItemText>
+ <ItemText>g_com_map</ItemText>
</Ww>
<Ww>
<count>20</count>
<WinNumber>1</WinNumber>
- <ItemText>tagslotpos</ItemText>
+ <ItemText>min_dist,0x0A</ItemText>
</Ww>
<Ww>
<count>21</count>
<WinNumber>1</WinNumber>
- <ItemText>tagpos_binary</ItemText>
+ <ItemText>beep_state</ItemText>
</Ww>
<Ww>
<count>22</count>
<WinNumber>1</WinNumber>
- <ItemText>tyncpoll_time</ItemText>
+ <ItemText>min_dist,0x0A</ItemText>
</Ww>
<Ww>
<count>23</count>
<WinNumber>1</WinNumber>
+ <ItemText>beep_state2</ItemText>
+ </Ww>
+ <Ww>
+ <count>24</count>
+ <WinNumber>1</WinNumber>
<ItemText>g_com_map</ItemText>
</Ww>
+ <Ww>
+ <count>25</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>pack_index</ItemText>
+ </Ww>
</WatchWindow1>
<MemoryWindow1>
<Mm>
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/ExternalDevices/beep.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/ExternalDevices/beep.h"
index aa24f61..a9aa2cb 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/ExternalDevices/beep.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/ExternalDevices/beep.h"
@@ -27,13 +27,11 @@
#define RELAY1_PIN GPIO_Pin_0
#define RELAY1_ON GPIO_WriteBit(RELAY1_GPIO, RELAY1_PIN, Bit_SET)
#define RELAY1_OFF GPIO_WriteBit(RELAY1_GPIO, RELAY1_PIN, Bit_RESET)
-#define READ_RELAY1 GPIO_ReadInputDataBit(RELAY1_GPIO,RELAY1_PIN)
#define RELAY2_GPIO GPIOB
#define RELAY2_PIN GPIO_Pin_1
#define RELAY2_ON GPIO_WriteBit(RELAY2_GPIO, RELAY2_PIN, Bit_SET)
#define RELAY2_OFF GPIO_WriteBit(RELAY2_GPIO, RELAY2_PIN, Bit_RESET)
-#define READ_RELAY2 GPIO_ReadInputDataBit(RELAY2_GPIO,RELAY2_PIN)
void Beep_Init(void);
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/ExternalDevices/dw_driver.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/ExternalDevices/dw_driver.h"
index 820dc73..6e62ff3 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/ExternalDevices/dw_driver.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/ExternalDevices/dw_driver.h"
@@ -9,11 +9,11 @@
#define DW1000_RSTn_GPIO GPIOB
#define DW1000_WAKEUP GPIO_Pin_8
#define DW1000_WAKEUP_GPIO GPIOA
-#define DW1000_IRQ GPIO_Pin_0
+#define DW1000_IRQ GPIO_Pin_1
#define DW1000_IRQ_GPIO GPIOA
-#define DECAIRQ_EXTI EXTI_Line0
+#define DECAIRQ_EXTI EXTI_Line1
#define DECAIRQ_EXTI_PORT GPIO_PortSourceGPIOA
-#define DECAIRQ_EXTI_PIN GPIO_PinSource0
+#define DECAIRQ_EXTI_PIN GPIO_PinSource1
#define deca_sleep(...) delay_ms(__VA_ARGS__)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Rcc_Nvic_Systick.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Rcc_Nvic_Systick.c"
index f96ac62..15cffba 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Rcc_Nvic_Systick.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Rcc_Nvic_Systick.c"
@@ -129,19 +129,19 @@
/* Enable and set EXTI Interrupt to the lowest priority */
NVIC_InitStructure.NVIC_IRQChannel = DECAIRQ_EXTI_IRQn;
- NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
+ NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 15;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
-// NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
-// NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
-// NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
-// NVIC_Init(&NVIC_InitStructure);
-//
-// NVIC_InitStructure.NVIC_IRQChannel = RTCAlarm_IRQn;
-// NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
-// NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
-// NVIC_InitStructure.NVIC_IRQChannelCmd =ENABLE;
+ NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
+ NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
+ NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+ NVIC_Init(&NVIC_InitStructure);
+
+ NVIC_InitStructure.NVIC_IRQChannel = RTCAlarm_IRQn;
+ NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
+ NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
+ NVIC_InitStructure.NVIC_IRQChannelCmd =ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Rcc_Nvic_Systick.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Rcc_Nvic_Systick.h"
index 680e766..f709c5f 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Rcc_Nvic_Systick.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Rcc_Nvic_Systick.h"
@@ -4,7 +4,7 @@
#include "stm32f10x.h"
-#define DECAIRQ_EXTI_IRQn EXTI0_IRQn
+#define DECAIRQ_EXTI_IRQn EXTI2_IRQn
void Rcc_Init(void);
void Nvic_Init(void);
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Usart.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Usart.c"
index 234c307..776f8d1 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Usart.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Usart.c"
@@ -2,7 +2,6 @@
#include <string.h>
#include <stdio.h>
#include "modbus.h"
-
//数据发送队列变量
EUART_Frame m_EUART_TxFrames[EUART_TX_FRM_SIZE]; //数据发送帧队列
volatile int8_t m_EUART_TxFrm_Tail = 0; //数据发送帧队列尾指针
@@ -123,6 +122,7 @@
UART_DMAConfiguration();
}
+
extern u8 cmd_mode;
u8 overrun_flag=0;
u16 t1,t2,t3,t4;
@@ -270,7 +270,6 @@
}
-
#ifndef EXUART_USE_TXDMA
//查询方式发送数据
void UART_CheckSend(void)
@@ -333,7 +332,7 @@
} // */
#else
-
+ /*
//检查是否数据帧需要发送
void UART_CheckSend(void)
{
@@ -361,12 +360,10 @@
if(m_EUART_TxFrm_Head == m_EUART_TxFrm_Tail)
{
m_bEUARTCheckingSend = 0;
- OUT485_DISABLE;
return;
}
//开启一次数据发送
- OUT485_ENABLE;
EUART_TX_DMA_CH->CMAR = (uint32_t)m_EUART_TxFrames[m_EUART_TxFrm_Tail].buf; //要发送的内存地址
EUART_TX_DMA_CH->CNDTR = m_EUART_TxFrames[m_EUART_TxFrm_Tail].len; //要发送的字节数
EUART_TX_DMA_CH->CCR |= 0x01; //开启一次DMA
@@ -401,7 +398,6 @@
m_EUART_TxFrm_Head = 0;
m_EUART_TxFrm_FreeFrmLen--;
m_bEUARTPushingFrms = 0;
- UART_CheckSend();
}
//将最新一帧数据Pop出队列
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Usart.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Usart.h"
index 931f1a8..320c7dc 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Usart.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Usart.h"
@@ -10,7 +10,6 @@
#define OUT485_DISABLE GPIO_WriteBit(EU_485_GPIO, EU_485_PIN, Bit_RESET);
//#define UART_GPIO_REMAP_ENABLE
-#define EXUART_USE_TXDMA
#ifdef UART_GPIO_REMAP_ENABLE
#define UART_GPIO_REMAP GPIO_Remap_USART1
#define EU_RCC_GPIO RCC_APB2Periph_GPIOB
@@ -31,10 +30,8 @@
#define EUART_RX_DMA_CH DMA1_Channel5
#define EUART_TX_DMA_CH DMA1_Channel4
-#define EUART_DMA DMA1
-#define EUART_TX_DMA_IT_TC DMA1_IT_TC4
-#define EUART_TX_FRM_SIZE 25 //发送队列中的最大帧数
-#define EUART_TX_FRMBUF_SIZE 100 //发送队列每帧缓存大小
+#define EUART_TX_FRM_SIZE 14 //发送队列中的最大帧数
+#define EUART_TX_FRMBUF_SIZE 200 //发送队列每帧缓存大小
#define EUART_RX_BUF_SIZE 200 //接收缓存大小
#define EXT_UART USART1
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
index 5b14703..741a0fe 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
@@ -128,8 +128,9 @@
/* Configure DW1000. See NOTE 6 below. */
dwt_configure(&config);//配置DW1000
- dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
-
+
+
+
/* Apply default antenna delay value. See NOTE 1 below. */
dwt_setrxantennadelay(RX_ANT_DLY); //设置接收天线延迟
dwt_settxantennadelay(0); //设置发射天线延迟
@@ -182,11 +183,10 @@
u8 g_start_sync_flag;
void SyncPoll(u8 sync_seq,uint32_t sync_baseid)
{u8 result;
- //g_start_sync_flag=1; //中断模式，退出终端后，需要重新来过
+ g_start_sync_flag=1; //中断模式，退出终端后，需要重新来过
dwt_forcetrxoff(); //关闭接收，以防在RX ON 状态
- tx_sync_msg[GROUP_ID_IDX] = group_id;
tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
memcpy(&tx_sync_msg[ANCHOR_ID_IDX],&sync_baseid,4);
dwt_writetxdata(sizeof(tx_sync_msg), tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
@@ -198,10 +198,6 @@
{ };
}
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清楚标志位
- // UART_CheckSend();
- //dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
- dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
- dwt_rxenable(0);//打开接收
}
uint16_t g_Resttimer;
uint8_t result;
@@ -220,13 +216,13 @@
u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM];
uint8_t trygetnearmsg_times;
-u16 current_slotnum,total_slotnum,target_time,last_time,record_time[10],record_i;
+u16 current_slotnum,total_slotnum,target_time,last_time;
u32 rec_tagpos_binary;
extern uint32_t tagpos_binary;
void SetNextPollTime(u16 time)
{
current_slotnum++;
- if(current_slotnum>=total_slotnum)
+ if(current_slotnum==total_slotnum)
current_slotnum-=total_slotnum;
//time=5;
target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time);
@@ -243,11 +239,7 @@
{target_time-=1000;}
if(target_time<0)
{target_time+=1000;}
-record_time[record_i++]=target_time;
- if(record_i>=10)
- {
- record_i=0;
- }
+
}
u8 FindNearBasePos(u16 baseid)
{
@@ -430,7 +422,7 @@
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
- //if(g_com_map[DEV_ROLE]!=0)
+ if(g_com_map[DEV_ROLE]!=0)
{
sync_timer=temp_sync_timer1;
//// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
@@ -473,10 +465,10 @@
dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//将发送数据写入DW1000
dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
- if(temp_dist!=0x1ffff)
+ if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
{
g_Resttimer=0;
- IWDG_Feed();
+ IWDG_Feed();
#ifdef USART_SINGLE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
@@ -494,7 +486,6 @@
usart_send[14] = button;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
- if(g_com_map[MODBUS_MODE]!=1)
UART_PushFrame(usart_send,21);
#endif
@@ -526,7 +517,7 @@
LED0_BLINK;
// memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
- if(temp_dist!=0x1ffff)
+ if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
{
#ifdef USART_SINGLE_OUTPUT
usart_send[2] = 1;//正常模式
@@ -545,7 +536,6 @@
usart_send[14] = button;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
- if(g_com_map[MODBUS_MODE]!=1)
UART_PushFrame(usart_send,21);
#endif
@@ -727,7 +717,6 @@
{
//LED0_ON;
dwt_forcetrxoff();
- dwt_setinterrupt(DWT_INT_TFRS | DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0);
GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
switch(tag_state)
{
@@ -745,16 +734,12 @@
SetNextPollTime(tyncpoll_time);
g_start_send_flag = 0;
GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
- UART_CheckSend();
- dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
- dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
- dwt_rxenable(0);//打开接收
}
int8_t correction_time,new_tagid=0;
extern uint8_t sync_seq;
u16 taglist_num=0,taglist_pos;
-u16 tagid_list[TAG_NUM_IN_SYS],tagstate_list[TAG_NUM_IN_SYS];
+u16 tagid_list[TAG_NUM_IN_SYS],tagstate_list[TAG_NUM_IN_SYS];;
u8 tagofflinetime[TAG_NUM_IN_SYS];
int32_t tagdist_list[TAG_NUM_IN_SYS];
void TagListUpdate(void)
@@ -878,8 +863,6 @@
// min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
return min_power;
}
-u8 testt[100],testt2[100],testt3[100],testt4[100],testt6[100],ti;
-u16 testt5[100];
u16 smallcar_idlist[10]={0x4052,0x4032,0x4055,0x4034,0x4016,0x4010,0x4036,0x4027,0x4024,0x4047};
extern u16 dist_threshold;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
@@ -934,11 +917,11 @@
dwt_writetxfctrl(22, 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
-testt2[ti]=frame_seq_nb2;
+
if(result==0)
{
- 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接收成功或者出现错误
+ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
{ };
}else{
result++;
@@ -946,7 +929,7 @@
if (status_reg & SYS_STATUS_RXFCG)//接收成功
{
- testt3[ti]=frame_seq_nb2;
+
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//数据长度
dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
@@ -995,8 +978,7 @@
}
g_flag_Taggetdist[taglist_pos]=0;
- testt4[ti]=frame_seq_nb2;
- testt5[ti] = hex_dist/10;
+
if(hex_dist>-100000&&hex_dist<2000000)
{
if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
@@ -1038,9 +1020,6 @@
memcpy(&usart_send[19],&checksum,2);
if(g_com_map[MODBUS_MODE]!=1)
UART_PushFrame(usart_send,21);
- //USART_puts(usart_send,21);
- testt6[ti]=frame_seq_nb2;
- tagstate_list[taglist_pos] = button<<8|battary;
#else
memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
@@ -1071,7 +1050,6 @@
Modbus_HoldReg[i*4+1] = tagstate_list[i];
memcpy(&Modbus_HoldReg[i*4+2],&tagdist_list[i],4);
}
-
}else{
// printf("%d",hex_dist);
misdist_num[taglist_pos]++;
@@ -1087,20 +1065,6 @@
extern u8 flag_syncbase;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
u16 ancidlist_rec[20],ancidlist_send[20],rec_ancidlist[20],rec_ancdistlist[20];
-void Anchor_Start(void)
-{
-
-dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
- g_start_sync_flag=0;
-dwt_setinterrupt(DWT_INT_TFRS | DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
- dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
- dwt_rxenable(0);//打开接收
-// while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误
-// {
-// //IdleTask();
-// };
-}
-
void Anchor_App(void)
{
@@ -1108,24 +1072,23 @@
u16 tempid;
uint32_t rec_syncid;
-// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
-// g_start_sync_flag=0;
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
+ g_start_sync_flag=0;
-// dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
-// dwt_rxenable(0);//打开接收
-//// GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
-// while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误
-// {
-//
-// IdleTask();
-// };
- dwt_setinterrupt(DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0);
- status_reg = dwt_read32bitreg(SYS_STATUS_ID);
+ dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
+ dwt_rxenable(0);//打开接收
+// GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
+ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误
+ {
+
+ IdleTask();
+ };
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
if (status_reg & SYS_STATUS_RXFCG)//成功接收
{ u16 tag_recv_interval;
float temp_tagpos;
-
+
+
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
recpoll_len = frame_len;
@@ -1184,13 +1147,10 @@
case NEAR_POLL:
frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
- testt[ti++]=frame_seq_nb2;
- if(ti>100)
- ti=0;
battary = rx_buffer[BATTARY_IDX];
button = rx_buffer[BUTTON_IDX];
rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
- memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
+ 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);
@@ -1214,7 +1174,8 @@
if(taglist_pos==taglist_num)
{
taglist_pos=taglist_num;
- tagid_list[taglist_num++]=tag_id_recv;
+ tagid_list[taglist_num++]=tag_id_recv;
+
new_tagid=1;
}else{
new_tagid=0;
@@ -1249,13 +1210,9 @@
break;
}
- }
-}else{
+ }else{
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
-UART_CheckSend();
- dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
- dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
- dwt_rxenable(0);//打开接收
+}
}
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
index 00492df..96b3349 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
@@ -28,8 +28,6 @@
#define PAIR_ID 0xD //小于多少距离报警
#define HEARTBEAT 0xE
#define MODBUS_MODE 0xF //MOBUS模式
-#define RELAY1_STATE_INDEX 0x10
-#define RELAY2_STATE_INDEX 0x11
#define MODBUS_ADDRESS 0x10
#define MODBUS_ID1 0x11
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/serial_at_cmd_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/serial_at_cmd_app.c"
index 7c8d571..0fa444b 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/serial_at_cmd_app.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/serial_at_cmd_app.c"
@@ -64,6 +64,7 @@
u8 remotetag_para[30];
u8 remotesend_state=0;
u16 rec_checksum;
+extern u8 cmd_mode;
void UsartParseDataHandler(uint8_t data)
{
static UsartRecvPackState usart_receive_state = UsartReceiveWaitHead0;
@@ -75,6 +76,7 @@
if(usart_receive_state == UsartReceiveWaitChecksum1) { //若收到校验和包.
checksum = 0;
+ cmd_mode = 0;
for(int i = 0; i<pack_length-5; i++) {
checksum += mUsartReceivePack[i];
}
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
index 2220961..3e146c4 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
@@ -46,7 +46,7 @@
RCC_Configuration();
//SystemInit();
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
-
+ Nvic_Init();
// Systick_Init();
TIM3_Int_Init();
Led_Init();
@@ -55,9 +55,8 @@
Uart1_Init();
Spi_Init();
ADC_Configuration();
- //IWDG_Config(IWDG_Prescaler_128 ,4095); //10s
- Nvic_Init();
- IWDG_Feed();
+ IWDG_Config(IWDG_Prescaler_128 ,4095); //10s
+ IWDG_Feed();
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
}
u8 anchor_type;
@@ -100,7 +99,6 @@
if(dist_threshold>15000)
{dist_threshold = 15000;}
}
-extern u8 needanchorrx;
u16 JDQ_time;
int16_t g_commap_antdelay;
void Program_Init(void)
@@ -148,7 +146,7 @@
OUT485_ENABLE;
ComMapCheck();
- g_com_map[VERSION] = 1<<8|62;
+ g_com_map[VERSION] = 1<<8|63;
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];
@@ -171,12 +169,11 @@
if(g_com_map[DEV_ROLE])
{
- needanchorrx = 0;
printf("标签ID: %d .\r\n",dev_id);
printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
}else{
- needanchorrx = 1;
+
anchor_type = dev_id%g_com_map[MAX_REPORT_ANC_NUM];
printf("基站ID: %x .\r\n",dev_id);
printf("基站类型: %c .\r\n",anchor_type+0x41);
@@ -228,7 +225,7 @@
{
UART_CheckReceive();
- // UART_CheckSend();
+ UART_CheckSend();
if(heartbeat_timer>1000)
{
@@ -307,12 +304,9 @@
{
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
-
- g_com_map[RELAY1_STATE_INDEX] = READ_RELAY1;
- g_com_map[RELAY2_STATE_INDEX] = READ_RELAY2;
}
-
+
int main(void)
{
@@ -328,23 +322,19 @@
usart_send[1]=0xAA;
usart_send_anc[0]=0x55;
usart_send_anc[1]=0xAA;
- dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
- dwt_rxenable(0);//打开接收
+
while(1)
{
-// g_start_sync_flag=0;
+ g_start_sync_flag=0;
if(g_start_send_flag)
{
g_start_send_flag = 0;
Tag_App();
- //needanchorrx = 1;
}
IdleTask();
-//if(g_com_map[DEV_ROLE]==0)
-// {needanchorrx = 0;
-// Anchor_App();
-// // Anchor_Start();
-// }
+if(g_com_map[DEV_ROLE]==0)
+ Anchor_App();
+
}
}
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c"
index f595a9d..58eb6ef 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c"
@@ -41,7 +41,6 @@
u8 neartimout_timer=0,flag_syncbase=0,flag_newsecond=0;
extern u16 tyncpoll_time,target_time;
extern uint32_t synclost_timer,current_syncid;
-u8 needanchorrx=1;
void TIM3_IRQHandler(void) //TIM3??
{
if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) //??TIM3????????
@@ -68,7 +67,7 @@
if(g_Resttimer++>10000)
{
- // NVIC_SystemReset();
+ NVIC_SystemReset();
}
@@ -102,14 +101,13 @@
flag_syncbase=1;
}
- if(1)//flag_syncbase) //本模块是同步基站
+ if(flag_syncbase) //本模块是同步基站
{
if(sync_timer==995)
{
current_syncid = g_com_map[DEV_ID];
sync_seq=0;
- SyncPoll(sync_seq,current_syncid);
- // needanchorrx = 1;
+ SyncPoll(sync_seq,current_syncid);
}
}
}else{ //标签同步处理
@@ -143,18 +141,7 @@
}
}
-u32 status_reg;
-void EXTI0_IRQHandler(void)
-{
- if(EXTI_GetITStatus(EXTI_Line0)!= RESET)
- {
- status_reg = dwt_read32bitreg(SYS_STATUS_ID);
- EXTI_ClearITPendingBit(EXTI_Line0);
- Anchor_App();
- needanchorrx = 1;
- }
-}
void USART1_IRQHandler(void)
{
if(USART_GetITStatus(EXT_UART, USART_IT_RXNE) != RESET)//?????????
--
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