From 8bb29b81dd7462af85db79164c280966c6f713b2 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <zhyinch@gmail.com>
Date: 星期四, 21 十一月 2019 20:25:54 +0800
Subject: [PATCH] 配临近开发，未完成
---
源码/核心板/Src/application/dw_app.h | 81 +
源码/核心板/Src/main.c | 8
源码/核心板/MDK-ARM/Project.uvprojx | 61
源码/核心板/Src/stm32f10x_it.c | 4
源码/核心板/MDK-ARM/Project.uvoptx | 82 -
源码/核心板/Src/application/global_param.h | 12
源码/核心板/MDK-ARM/Project.uvguix.Administrator | 2058 ++++++++++-----------------------------
源码/核心板/Src/application/dw_app.c | 705 +++++++------
8 files changed, 1,043 insertions(+), 1,968 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
index 5dc01d1..96f704a 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
@@ -1,7 +1,7 @@
<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
<ProjectGui xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_guix.xsd">
- <SchemaVersion>-5.1</SchemaVersion>
+ <SchemaVersion>-6.1</SchemaVersion>
<Header>### uVision Project, (C) Keil Software</Header>
@@ -11,17 +11,17 @@
<View>
<WinId>38003</WinId>
<ViewName>Registers</ViewName>
- <TableColWidths>115 221</TableColWidths>
+ <TableColWidths>115 102</TableColWidths>
</View>
<View>
<WinId>346</WinId>
<ViewName>Code Coverage</ViewName>
- <TableColWidths>370 299</TableColWidths>
+ <TableColWidths>665 160</TableColWidths>
</View>
<View>
<WinId>204</WinId>
<ViewName>Performance Analyzer</ViewName>
- <TableColWidths>411 79 79 100</TableColWidths>
+ <TableColWidths>825</TableColWidths>
</View>
</SECTreeCtrl>
@@ -30,25 +30,25 @@
<WinId>1506</WinId>
<ViewName>Symbols</ViewName>
<UserString></UserString>
- <TableColWidths>133 133 133</TableColWidths>
+ <TableColWidths>56 56 56</TableColWidths>
</View>
<View>
<WinId>1936</WinId>
<ViewName>Watch 1</ViewName>
<UserString></UserString>
- <TableColWidths>133 133 133</TableColWidths>
+ <TableColWidths>56 56 56</TableColWidths>
</View>
<View>
<WinId>1937</WinId>
<ViewName>Watch 2</ViewName>
<UserString></UserString>
- <TableColWidths>133 133 133</TableColWidths>
+ <TableColWidths>56 56 56</TableColWidths>
</View>
<View>
<WinId>1935</WinId>
<ViewName>Call Stack + Locals</ViewName>
<UserString></UserString>
- <TableColWidths>133 133 133</TableColWidths>
+ <TableColWidths>56 56 56</TableColWidths>
</View>
<View>
<WinId>2506</WinId>
@@ -57,6 +57,8 @@
<TableColWidths>75 135 130 95 70 230 200 150</TableColWidths>
</View>
</TreeListPane>
+
+ <CompViewPool/>
<WindowSettings>
<LogicAnalizer>
@@ -83,17 +85,17 @@
<yPos>-1</yPos>
</MaxPosition>
<NormalPosition>
- <Top>62</Top>
- <Left>88</Left>
- <Right>1048</Right>
- <Bottom>543</Bottom>
+ <Top>-8</Top>
+ <Left>-8</Left>
+ <Right>1374</Right>
+ <Bottom>735</Bottom>
</NormalPosition>
</WindowPosition>
<MDIClientArea>
<RegID>0</RegID>
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- <Name>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_flash.c</Name>
- <ColumnNumber>0</ColumnNumber>
- <TopLine>1595</TopLine>
- <CurrentLine>1596</CurrentLine>
- <Folding>1</Folding>
- <ContractedFolders></ContractedFolders>
- <PaneID>0</PaneID>
- </Doc>
- <Doc>
- <Name>..\Src\application\serial_at_cmd_app.c</Name>
- <ColumnNumber>0</ColumnNumber>
- <TopLine>55</TopLine>
- <CurrentLine>56</CurrentLine>
+ <Name>..\Src\application\dw_app.h</Name>
+ <ColumnNumber>18</ColumnNumber>
+ <TopLine>77</TopLine>
+ <CurrentLine>85</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
index 80ba326..2fe35d1 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
@@ -78,33 +78,6 @@
<IsCurrentTarget>1</IsCurrentTarget>
</OPTFL>
<CpuCode>18</CpuCode>
- <Books>
- <Book>
- <Number>0</Number>
- <Title>Quick Start Guide (MCBSTM32E)</Title>
- <Path>d:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Boards/Keil/MCBSTM32E/Documentation/STM32E_QSG.pdf</Path>
- </Book>
- <Book>
- <Number>1</Number>
- <Title>Base Board Schematics (MCBSTM32E)</Title>
- <Path>d:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Boards/Keil/MCBSTM32E/Documentation/mcbstm32e-base-board-schematics.pdf</Path>
- </Book>
- <Book>
- <Number>2</Number>
- <Title>Display Board Schematics (MCBSTM32E)</Title>
- <Path>d:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Boards/Keil/MCBSTM32E/Documentation/mcbstm32e-display-board-schematics.pdf</Path>
- </Book>
- <Book>
- <Number>3</Number>
- <Title>User Manual (MCBSTM32E)</Title>
- <Path>d:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Boards/Keil/MCBSTM32E/Documentation/mcbstm32e.chm</Path>
- </Book>
- <Book>
- <Number>4</Number>
- <Title>MCBSTM32E Evaluation Board Web Page (MCBSTM32E)</Title>
- <Path>http://www.keil.com/mcbstm32e/</Path>
- </Book>
- </Books>
<DebugOpt>
<uSim>0</uSim>
<uTrg>1</uTrg>
@@ -127,7 +100,8 @@
<tRSysVw>1</tRSysVw>
<sRunDeb>0</sRunDeb>
<sLrtime>0</sLrtime>
- <nTsel>6</nTsel>
+ <bEvRecOn>1</bEvRecOn>
+ <nTsel>3</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@@ -352,6 +326,13 @@
</DebugFlag>
<LintExecutable></LintExecutable>
<LintConfigFile></LintConfigFile>
+ <bLintAuto>0</bLintAuto>
+ <bAutoGenD>0</bAutoGenD>
+ <LntExFlags>0</LntExFlags>
+ <pMisraName></pMisraName>
+ <pszMrule></pszMrule>
+ <pSingCmds></pSingCmds>
+ <pMultCmds></pMultCmds>
<DebugDescription>
<Enable>1</Enable>
<EnableLog>0</EnableLog>
@@ -372,7 +353,6 @@
<FileNumber>1</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\application\dw_app.c</PathWithFileName>
@@ -385,7 +365,6 @@
<FileNumber>2</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\application\serial_at_cmd_app.c</PathWithFileName>
@@ -398,7 +377,6 @@
<FileNumber>3</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\application\beep_logic_app.c</PathWithFileName>
@@ -411,7 +389,6 @@
<FileNumber>4</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\application\global_param.c</PathWithFileName>
@@ -432,7 +409,6 @@
<FileNumber>5</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\main.c</PathWithFileName>
@@ -445,7 +421,6 @@
<FileNumber>6</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\stm32f10x_it.c</PathWithFileName>
@@ -466,7 +441,6 @@
<FileNumber>7</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\algorithm\filters.c</PathWithFileName>
@@ -487,7 +461,6 @@
<FileNumber>8</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\decadriver\deca_device.c</PathWithFileName>
@@ -500,7 +473,6 @@
<FileNumber>9</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\decadriver\deca_params_init.c</PathWithFileName>
@@ -513,7 +485,6 @@
<FileNumber>10</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\decadriver\deca_range_tables.c</PathWithFileName>
@@ -534,7 +505,6 @@
<FileNumber>11</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\ExternalDevices\dw_driver.c</PathWithFileName>
@@ -547,7 +517,6 @@
<FileNumber>12</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\ExternalDevices\led.c</PathWithFileName>
@@ -560,7 +529,6 @@
<FileNumber>13</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\ExternalDevices\beep.c</PathWithFileName>
@@ -581,7 +549,6 @@
<FileNumber>14</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\OnChipDevices\Usart.c</PathWithFileName>
@@ -594,7 +561,6 @@
<FileNumber>15</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\OnChipDevices\Spi.c</PathWithFileName>
@@ -607,7 +573,6 @@
<FileNumber>16</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\OnChipDevices\Rcc_Nvic_Systick.c</PathWithFileName>
@@ -620,7 +585,6 @@
<FileNumber>17</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\OnChipDevices\RTC.c</PathWithFileName>
@@ -633,7 +597,6 @@
<FileNumber>18</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\OnChipDevices\Flash.c</PathWithFileName>
@@ -646,7 +609,6 @@
<FileNumber>19</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\OnChipDevices\ADC.c</PathWithFileName>
@@ -667,7 +629,6 @@
<FileNumber>20</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\misc.c</PathWithFileName>
@@ -680,7 +641,6 @@
<FileNumber>21</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_adc.c</PathWithFileName>
@@ -693,7 +653,6 @@
<FileNumber>22</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_bkp.c</PathWithFileName>
@@ -706,7 +665,6 @@
<FileNumber>23</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_can.c</PathWithFileName>
@@ -719,7 +677,6 @@
<FileNumber>24</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_cec.c</PathWithFileName>
@@ -732,7 +689,6 @@
<FileNumber>25</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_crc.c</PathWithFileName>
@@ -745,7 +701,6 @@
<FileNumber>26</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_dac.c</PathWithFileName>
@@ -758,7 +713,6 @@
<FileNumber>27</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_dbgmcu.c</PathWithFileName>
@@ -771,7 +725,6 @@
<FileNumber>28</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_dma.c</PathWithFileName>
@@ -784,7 +737,6 @@
<FileNumber>29</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_exti.c</PathWithFileName>
@@ -797,7 +749,6 @@
<FileNumber>30</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
- <Focus>1</Focus>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_flash.c</PathWithFileName>
@@ -810,7 +761,6 @@
<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>
@@ -823,7 +773,6 @@
<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>
@@ -836,7 +785,6 @@
<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>
@@ -849,7 +797,6 @@
<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>
@@ -862,7 +809,6 @@
<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>
@@ -875,7 +821,6 @@
<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>
@@ -888,7 +833,6 @@
<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>
@@ -901,7 +845,6 @@
<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>
@@ -914,7 +857,6 @@
<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>
@@ -927,7 +869,6 @@
<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>
@@ -940,7 +881,6 @@
<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>
@@ -953,7 +893,6 @@
<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>
@@ -974,7 +913,6 @@
<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>
@@ -987,7 +925,6 @@
<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>
@@ -1000,7 +937,6 @@
<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>
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvprojx" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvprojx"
index 82cdf7d..0410b48 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvprojx"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvprojx"
@@ -10,11 +10,12 @@
<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.2.3.0</PackID>
+ <PackID>Keil.STM32F1xx_DFP.2.2.0</PackID>
<PackURL>http://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000,0x5000) IROM(0x08000000,0x10000) CPUTYPE("Cortex-M3") CLOCK(12000000) ELITTLE</Cpu>
<FlashUtilSpec></FlashUtilSpec>
@@ -84,6 +85,8 @@
<UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+ <nStopA1X>0</nStopA1X>
+ <nStopA2X>0</nStopA2X>
</AfterMake>
<SelectedForBatchBuild>0</SelectedForBatchBuild>
<SVCSIdString></SVCSIdString>
@@ -122,47 +125,6 @@
<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>
@@ -227,6 +189,7 @@
<useUlib>1</useUlib>
<EndSel>0</EndSel>
<uLtcg>0</uLtcg>
+ <nSecure>0</nSecure>
<RoSelD>3</RoSelD>
<RwSelD>3</RwSelD>
<CodeSel>0</CodeSel>
@@ -361,6 +324,13 @@
<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>
@@ -378,6 +348,7 @@
<NoWarn>0</NoWarn>
<uSurpInc>0</uSurpInc>
<useXO>0</useXO>
+ <uClangAs>0</uClangAs>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
@@ -674,4 +645,10 @@
</Target>
</Targets>
+ <RTE>
+ <apis/>
+ <components/>
+ <files/>
+ </RTE>
+
</Project>
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 82c7da6..641cc02 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"
@@ -1,93 +1,10 @@
-
-/*! ----------------------------------------------------------------------------
- * @file main.c
- * @brief Double-sided two-way ranging (DS TWR) initiator example code
- *
- *
- *
- * @attention
- *
- * Copyright 2015 (c) Decawave Ltd, Dublin, Ireland.
- *
- * All rights reserved.
- *
- * @author Decawave
- */
-
-#include <string.h>
#include "dw_app.h"
-#include "deca_device_api.h"
-#include "deca_regs.h"
-#include "dw_driver.h"
-#include "Spi.h"
-#include "led.h"
-#include "serial_at_cmd_app.h"
-#include "Usart.h"
-#include "global_param.h"
-#include "filters.h"
-#include <stdio.h>
-#include "beep.h"
-
-
-/*------------------------------------ Marcos ------------------------------------------*/
-/* Inter-ranging delay period, in milliseconds. */
-#define RNG_DELAY_MS 100
-
-/* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */
-#define TX_ANT_DLY 0
-#define RX_ANT_DLY 32899
-
-/* UWB microsecond (uus) to device time unit (dtu, around 15.65 ps) conversion factor.
- * 1 uus = 512 / 499.2 祍 and 1 祍 = 499.2 * 128 dtu. */
-#define UUS_TO_DWT_TIME 65536
-
-/* Delay between frames, in UWB microseconds. See NOTE 4 below. */
-/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
-#define POLL_TX_TO_RESP_RX_DLY_UUS 150
-/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
- * frame length of approximately 2.66 ms with above configuration. */
-#define RESP_RX_TO_FINAL_TX_DLY_UUS 400
-/* Receive response timeout. See NOTE 5 below. */
-#define RESP_RX_TIMEOUT_UUS 600
-
-#define POLL_RX_TO_RESP_TX_DLY_UUS 420
-/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
-#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
-/* Receive final timeout. See NOTE 5 below. */
-#define FINAL_RX_TIMEOUT_UUS 4300
-
-#define SPEED_OF_LIGHT 299702547
-
-/* Indexes to access some of the fields in the frames defined above. */
-#define FINAL_MSG_POLL_TX_TS_IDX 10
-#define FINAL_MSG_RESP_RX_TS_IDX 14
-#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
-#define MESSAGE_TYPE_IDX 9
-#define DIST_IDX 10
-//Poll
-#define ANC_TYPE_IDX 14
-#define BATTARY_IDX 15
-#define BUTTON_IDX 16
-#define SEQUENCE_IDX 17
-//respose
-#define ANCTIMEMS 14
-#define ANCTIMEUS 16
-#define TAGSLOTPOS 18
-
-#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). */
+enum enumtagstate
+{
+ DISCPOLL,
+ GETNEARMSG,
+ NEARPOLL,
+}tag_state;
static dwt_config_t config = {
2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
@@ -100,67 +17,34 @@
DWT_PHRMODE_STD, /* PHY header mode. */
(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};
-
-/* 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};
-
-//static uint8_t rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
+static uint8_t tx_final_msg[60] = {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. */
+static uint8_t tx_near_msg[32] = {0};
+
static uint32_t frame_seq_nb = 0;
-
-/* Hold copy of status register state here for reference, so reader can examine it at a breakpoint. */
static uint32_t status_reg = 0;
-
-/* Buffer to store received response message.
- * Its size is adjusted to longest frame that this example code is supposed to handle. */
-#define RX_BUF_LEN 24
-static uint8_t rx_buffer[RX_BUF_LEN];
-
-/* Time-stamps of frames transmission/reception, expressed in device time units.
- * As they are 40-bit wide, we need to define a 64-bit int type to handle them. */
+static uint8_t rx_buffer[100];
static uint64_t poll_tx_ts;
static uint64_t resp_rx_ts;
static uint64_t final_tx_ts;
-
-/* Length of the common part of the message (up to and including the function code, see NOTE 2 below). */
static uint64_t poll_rx_ts;
static uint64_t resp_tx_ts;
static uint64_t final_rx_ts;
-
static double tof;
-
int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
uint32_t tag_id = 0;
uint32_t tag_id_recv = 0;
+uint32_t anc_id_recv = 0;
uint8_t random_delay_tim = 0;
-
double distance, dist_no_bias, dist_cm;
-
uint32_t g_UWB_com_interval = 0;
float dis_after_filter; //当前距离值
LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
-
uint16_t g_Tagdist[TAG_NUM_IN_SYS];
uint8_t g_flag_Taggetdist[256];
-/*------------------------------------ Functions ------------------------------------------*/
-
-/*! ------------------------------------------------------------------------------------------------------------------
- * @fn get_tx_timestamp_u64()
- *
- * @brief Get the TX time-stamp in a 64-bit variable.
- * /!\ This function assumes that length of time-stamps is 40 bits, for both TX and RX!
- *
- * @param none
- *
- * @return 64-bit value of the read time-stamp.
- */
static uint64_t get_tx_timestamp_u64(void)
{
uint8_t ts_tab[5];
@@ -175,16 +59,6 @@
return ts;
}
-/*! ------------------------------------------------------------------------------------------------------------------
- * @fn get_rx_timestamp_u64()
- *
- * @brief Get the RX time-stamp in a 64-bit variable.
- * /!\ This function assumes that length of time-stamps is 40 bits, for both TX and RX!
- *
- * @param none
- *
- * @return 64-bit value of the read time-stamp.
- */
static uint64_t get_rx_timestamp_u64(void)
{
uint8_t ts_tab[5];
@@ -199,17 +73,6 @@
return ts;
}
-/*! ------------------------------------------------------------------------------------------------------------------
- * @fn final_msg_set_ts()
- *
- * @brief Fill a given timestamp field in the final message with the given value. In the timestamp fields of the final
- * message, the least significant byte is at the lower address.
- *
- * @param ts_field pointer on the first byte of the timestamp field to fill
- * ts timestamp value
- *
- * @return none
- */
static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
{
int i;
@@ -271,15 +134,18 @@
void Dw1000_App_Init(void)
{
//g_com_map[DEV_ID] = 0x0b;
+ tag_state=DISCPOLL;
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);
+ memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 2);
+ memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
+ memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
+ memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 2);
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX], &dev_id, 2);
+ memcpy(&tx_near_msg[TAG_ID_IDX], &dev_id, 2);
}
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
{
@@ -321,68 +187,49 @@
u16 tmp_time;
int32_t temp_dist;
u16 tagslotpos;
-void Tag_App(void)//发送模式(TAG标签)
+
+u16 anclist_num=0,anclist_pos; //list 总数量和当前位置
+u16 ancid_list[TAG_NUM_IN_SYS];
+u8 nearbase_num;
+u16 nearbaseid_list[10],mainbase_id;
+int32_t mainbase_dist,nearbase_distlist[10];
+void Poll(void)
{
uint32_t frame_len;
uint32_t final_tx_time;
u32 start_poll;
+ int32_t mindist=999999,minid=-1,temp_dist;
u8 i,getsync_flag=0;
- //LED0_ON;
- dwt_forcetrxoff();
- g_Resttimer=0;
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++;
GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);
for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
{
/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
- tx_poll_msg[ANC_TYPE_IDX] = i;
-
+ 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
-
- /* Start transmission, indicating that a response is expected so that reception is enabled automatically after the frame is sent and the delay
- * set by dwt_setrxaftertxdelay() has elapsed. */
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
start_poll = time32_incr;
/* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
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
{ if(time32_incr - start_poll>20)
NVIC_SystemReset();
- UART_CheckReceive();
-
};
-
- /* Increment frame sequence number after transmission of the poll message (modulo 256). */
if(status_reg==0xffffffff)
{
NVIC_SystemReset();
}
-
if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
{
- /* Clear good RX frame event and TX frame sent in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
-
- /* A frame has been received, read it into the local buffer. */
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
-
dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
-
-
- /* Check that the frame is the expected response from the companion "DS TWR responder" example.
- * As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
-
- if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据
+ if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
{
- /* Retrieve poll transmission and response reception timestamp. */
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
-
+ resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
if(getsync_flag==0)
{
getsync_flag=1;
@@ -402,61 +249,33 @@
tagslotpos=tagslotpos%(max_slotpos+1);
tyncpoll_time=(tagslotpos-1)*slottime;
}
- memcpy(&anchor_dist_last_frm[0], &rx_buffer[DIST_IDX], 4);
+
+ memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4);
memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
/* Compute final message transmission time. See NOTE 9 below. */
final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计算final包发送时间，T5=T4+Treply2
dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
-
- /* Final TX timestamp is the transmission time we programmed plus the TX antenna delay. */
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
-
- /* Write all timestamps in the final message. See NOTE 10 below. */
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);
-
- /* Write and send final message. See NOTE 7 below. */
-
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
- result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
-
- tag_succ_times++;
-
+ result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+ tag_succ_times++;
LED0_BLINK;
-// temp_dist=anchor_dist_last_frm[0];
-// if(anchor_dist_last_frm[0]>1000000)
-// {
-// temp_dist=anchor_dist_last_frm[0]-0xffffffff;
-// temp_dist+=0xffff;
-// anchor_dist_last_frm[0]=temp_dist;
-// }
-
-
- usart_send[2] = 1;//正常模式
- usart_send[3] = 17;//数据段长度
- usart_send[4] = frame_seq_nb;//数据段长度
- memcpy(&usart_send[5],&dev_id,2);
- memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);
- hex_dist = anchor_dist_last_frm[0]+(int16_t)g_com_map[DIST_OFFSET];
- memcpy(&usart_send[9],&hex_dist,4);
- usart_send[13] = battary;
- usart_send[14] = button;
- checksum = Checksum_u16(&usart_send[2],17);
- memcpy(&usart_send[19],&checksum,2);
- UART_PushFrame(usart_send,21);
-
- /* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
+
+ if(temp_dist<mindist)
+ {
+ memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
+ tag_state=GETNEARMSG;
+ }
if(result==0)
{while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
{ };
}
/* Clear TXFRS event. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清除标志位
-
- /* Increment frame sequence number after transmission of the final message (modulo 256). */
-
random_delay_tim = 0;
}
else
@@ -466,22 +285,193 @@
}
else
{
- /* Clear RX error events in the DW1000 status register. */
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
random_delay_tim = DFT_RAND_DLY_TIM_MS;
}
}
-
-if(getsync_flag==0)
-{
-tagslotpos--;
- if(tagslotpos==0||tagslotpos>max_slotpos)
- {
- tagslotpos=max_slotpos;
+ if(getsync_flag==0)
+ {
+ tagslotpos--;
+ if(tagslotpos==0||tagslotpos>max_slotpos)
+ {
+ tagslotpos=max_slotpos;
+ }
+ tyncpoll_time=(tagslotpos-1)*slottime;
}
- tyncpoll_time=(tagslotpos-1)*slottime;
+ mainbase_id=minid;
}
+
+u8 FindNearBasePos(u16 baseid)
+{
+ u8 i;
+ for(i=0;i<nearbase_num;i++)
+ {
+ if(baseid==nearbaseid_list[i])
+ return i;
+ }
+}
+void NearPoll(void)
+{
+ uint32_t frame_len;
+ uint32_t final_tx_time;
+ u32 start_poll;
+ u8 i,getsync_flag=0,recbase_num,timeout;
+ 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
+ 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 (!((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
+ {
+ };
+ if(status_reg==0xffffffff)
+ {
+ NVIC_SystemReset();
+ }
+ if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
+ {
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
+ frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
+ dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
+ if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
+ { 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
+ memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
+ rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
+ if(rec_nearbaseid==mainbase_id)
+ {
+ //时间同步
+ 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)
+ {
+ tmp_time-=999;
+ sync_timer++;
+ if(sync_timer>=1010)
+ {sync_timer=0;}
+ }
+ TIM3->CNT=tmp_time;
+ if(tagslotpos>max_slotpos)
+ tagslotpos=tagslotpos%(max_slotpos+1);
+ tyncpoll_time=(tagslotpos-1)*slottime;
+ ////////////////////////////
+ memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
+ 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
+ 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);
+ memcpy(&nearbase_distlist[rec_nearbasepos],&rx_buffer[DIST_IDX],4);
+ }
+ }
+ }
+ }
+ if(result==0)
+ {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
+ { };
+
+ }
+ else
+ {
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ random_delay_tim = DFT_RAND_DLY_TIM_MS;
+ }
+
+}
+void NearAncSelect(void)
+{
+ int32_t nearbase_mindist=99999, nearbase_minpos;
+ u8 i;
+ for(i=0;i<nearbase_num;i++)
+ {
+ if(nearbase_mindist<nearbase_distlist[i])
+ {
+ nearbase_mindist=nearbase_distlist[i];
+ nearbase_minpos=i;
+ }
+ }
+ if(nearbase_mindist<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST)
+ {
+ mainbase_id=nearbaseid_list[nearbase_minpos];
+ tag_state=GETNEARMSG;
+ }
+}
+void GetNearMsg(void)
+{
+ u32 start_poll,frame_len;
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
+ memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
+ tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
+
+ 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);
+ dwt_writetxdata(12, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(12, 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);
+ start_poll = time32_incr;
+ /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
+ 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
+ { if(time32_incr - start_poll>20)
+ NVIC_SystemReset();
+ };
+ if(status_reg==0xffffffff)
+ {
+ NVIC_SystemReset();
+ }
+ if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
+ {
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
+ frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
+ dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
+ 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];
+ memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
+ slottime=ceil((nearbase_num+2)*0.3)+1;
+ tag_state=NEARPOLL;
+ }
+ }
+}
+void Tag_App(void)//发送模式(TAG标签)
+{
+ //LED0_ON;
+ dwt_forcetrxoff();
+ g_Resttimer=0;
+ switch(tag_state)
+ {
+ case DISCPOLL:
+ Poll();
+ break;
+ case GETNEARMSG:
+ GetNearMsg();
+ break;
+ case NEARPOLL:
+ NearPoll();
+ break;
+ }
}
int8_t correction_time;
@@ -489,6 +479,7 @@
u16 taglist_num=0,taglist_pos;
u16 tagid_list[TAG_NUM_IN_SYS];
u8 tagofflinetime[TAG_NUM_IN_SYS];
+int32_t tagdist_list[TAG_NUM_IN_SYS];
void TagListUpdate(void)
{
u16 i,j=0,temp[TAG_NUM_IN_SYS];
@@ -511,72 +502,22 @@
}
return 0;
}
-
-void Anchor_App(void)
+uint32_t frame_len;
+uint32_t resp_tx_time;
+void Anchor_RecPoll(void)
{
- uint32_t frame_len;
- uint32_t resp_tx_time;
-
- /* Clear reception timeout to start next ranging process. */
- dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
-
- /* Activate reception immediately. */
- dwt_rxenable(0);//打开接收
-
- /* 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&&!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();
- g_Resttimer=0;
- };
-
- if (status_reg & SYS_STATUS_RXFCG)//成功接收
- { u16 tag_recv_interval;
- /* Clear good RX frame event in the DW1000 status register. */
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
-
- /* A frame has been received, read it into the local buffer. */
- frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
-
- dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
-
-
- /* Check that the frame is a poll sent by "DS TWR initiator" example.
- * As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
-
-
- //将收到的tag_id分别写入各次通讯的包中，为多标签通讯服务，防止一次通讯中接收到不同ID标签的数据
- //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);
- 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])) //判断是否是poll包数据
- {
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++;}
-
- /* Retrieve poll reception timestamp. */
+
poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
- /* Set send time for response. See NOTE 8 below. */
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
-
- /* Set expected delay and timeout for final message reception. */
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
- /* Write and send the response message. See NOTE 9 below.*/
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);
@@ -587,46 +528,27 @@
battary = rx_buffer[BATTARY_IDX];
button = rx_buffer[BUTTON_IDX];
frame_seq_nb = rx_buffer[SEQUENCE_IDX];
- /* We assume that the transmission is achieved correctly, now poll for reception of expected "final" frame or error/timeout.
- * See NOTE 7 below. */
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
{ };
}
- /* Increment frame sequence number after transmission of the response message (modulo 256). */
-
if (status_reg & SYS_STATUS_RXFCG)//接收成功
{
- /* Clear good RX frame event and TX frame sent in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位
-
- /* A frame has been received, read it into the local buffer. */
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
-
-
- /* Check that the frame is a final message sent by "DS TWR initiator" example.
- * As the sequence number field of the frame is not used in this example, it can be zeroed to ease the validation of the frame. */
-
- if (rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,4)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,4)) //判断是否为Final包
+ if (rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //判断是否为Final包
{
uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
double Ra, Rb, Da, Db;
int64_t tof_dtu;
-
- /* Retrieve response transmission and final reception timestamps. */
resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
-
- /* Get timestamps embedded in the final message. */
final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5
final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_TS_IDX], &resp_rx_ts);
final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
-
- /* Compute time of flight. 32-bit subtractions give correct answers even if clock has wrapped. See NOTE 10 below. */
poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使用32位数据计算
resp_tx_ts_32 = (uint32_t)resp_tx_ts;
final_rx_ts_32 = (uint32_t)final_rx_ts;
@@ -635,35 +557,101 @@
Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//计算公式
-
tof = tof_dtu * DWT_TIME_UNITS;
distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数
-
- dist_cm = dist_no_bias * 100; //dis 为单位为cm的距离
-// dist[TAG_ID] = LP(dis, TAG_ID); //LP 为低通滤波器，让数据更稳定
-
+ dist_cm = dist_no_bias * 100; //dis 为单位为cm的距离
/*--------------------------以下为非测距逻辑------------------------*/
//dist_cm=33000;
LED0_BLINK; //每成功一次通讯则闪烁一次
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)
+ if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<1000)
+ {
+ tagdist_list[taglist_pos] = hex_dist;
+ }
+ his_dist[taglist_pos]=hex_dist;
+ }
+ }else{
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ }
+}
+
+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);
+
+ 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+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_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+(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
+ result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
+
+ battary = rx_buffer[BATTARY_IDX];
+ button = rx_buffer[BUTTON_IDX];
+ frame_seq_nb = rx_buffer[SEQUENCE_IDX];
+ 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
+ { };
+ }
+ if (status_reg & SYS_STATUS_RXFCG)//接收成功
+ {
+ 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
+ if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //判断是否为Final包
+ {
+ uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
+ uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
+ double Ra, Rb, Da, Db;
+ int64_t tof_dtu;
+ resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
+ final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
+ final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5
+ final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+ancrec_nearbasepos*4], &resp_rx_ts);
+ final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
+
+ poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使用32位数据计算
+ resp_tx_ts_32 = (uint32_t)resp_tx_ts;
+ final_rx_ts_32 = (uint32_t)final_rx_ts;
+ Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
+ Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
+ Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
+ Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
+ tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//计算公式
+ tof = tof_dtu * DWT_TIME_UNITS;
+ distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
+ dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数
+ dist_cm = dist_no_bias * 100; //dis 为单位为cm的距离
+ /*--------------------------以下为非测距逻辑------------------------*/
+ //dist_cm=33000;
+
+ LED0_BLINK; //每成功一次通讯则闪烁一次
+ dis_after_filter=dist_cm;
+ hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<1000)
{
- g_Tagdist[tag_id_recv-TAG_ID_START] = hex_dist;
- anchor_dist_last_frm[tag_id_recv-TAG_ID_START] = hex_dist;
+ tagdist_list[taglist_pos] = hex_dist;
}
- his_dist[tag_id_recv-TAG_ID_START]=hex_dist;
-
+ his_dist[taglist_pos]=hex_dist;
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
usart_send[4] = frame_seq_nb;//数据段长度
memcpy(&usart_send[5],&tag_id_recv,2);
- memcpy(&usart_send[7],&dev_id,2);
-
- memcpy(&usart_send[9],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4);
+ memcpy(&usart_send[7],&dev_id,2);
+ memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
usart_send[13] = battary;
usart_send[14] = button;
checksum = Checksum_u16(&usart_send[2],17);
@@ -671,24 +659,85 @@
UART_PushFrame(usart_send,21);
}
}else{
- /* 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)
+}
+void Anchor_App(void)
+{
+ u8 send_len,nearbase_num,i;
+ u16 tempid;
+ 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();
+ g_Resttimer=0;
+ };
+
+ if (status_reg & SYS_STATUS_RXFCG)//成功接收
+ { u16 tag_recv_interval;
+ 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
+ dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
+ //将收到的tag_id分别写入各次通讯的包中，为多标签通讯服务，防止一次通讯中接收到不同ID标签的数据
+ //tag_id_recv = rx_buffer[TAG_ID_IDX];
+ 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==0)
{
- if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
- // if(rx_buffer[SYNC_SEQ_IDX]==2)
- {
- sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
- TIM3->CNT = sync_seq*325%1000+15;
- sync_timer = sync_seq*325/1000;
- SyncPoll(sync_seq);
- }
+ tagid_list[taglist_num++]=tag_id_recv;
+ taglist_pos=taglist_num;
}
+ tagofflinetime[taglist_pos-1]=0;
+ switch(rx_buffer[MESSAGE_TYPE_IDX])
+ {
+ case POLL:
+ if (anchor_type == rx_buffer[ANC_TYPE_IDX])
+ Anchor_RecPoll();
+ break;
+ case SYNC:
+ if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
+ {
+ sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
+ TIM3->CNT = sync_seq*325%1000+15;
+ sync_timer = sync_seq*325/1000;
+ SyncPoll(sync_seq);
+ }
+ break;
+ case NEAR_MSG:
+ if(anc_id_recv==dev_id)
+ {
+ 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);
+ send_len=11+g_com_map[NEARBASE_NUM]*2+2;
+ dwt_writetxdata(send_len, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(send_len, 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE);
+ }
+ break;
+
+ case NEAR_POLL:
+ nearbase_num=rx_buffer[NEARBASENUM_INDEX];
+ if(anc_id_recv==dev_id)
+ {
+ Anchor_RecNearPoll(0);
+ }else{
+ for(i=0;i<nearbase_num;i++)
+ {
+ memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
+ if(tempid==dev_id)
+ Anchor_RecNearPoll(i+1);
+ }
+ }
+ break;
+
+ }
+
}
else
{
- /* Clear RX error events in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
index 8d79013..c2f91da 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
@@ -6,6 +6,18 @@
#include "stm32f10x.h"
#include "filters.h"
#include "ADC.h"
+#include "deca_device_api.h"
+#include "deca_regs.h"
+#include "dw_driver.h"
+#include "Spi.h"
+#include "led.h"
+#include "serial_at_cmd_app.h"
+#include "Usart.h"
+#include "global_param.h"
+#include "filters.h"
+#include <stdio.h>
+#include "beep.h"
+#include <math.h>
//#define WORK_MODE_TAG
#define WORK_MODE_ANCHOR
@@ -20,6 +32,75 @@
#define TAG_NUM_IN_SYS 256
#define DFT_RAND_DLY_TIM_MS 1
#define QUIT_SLOT_TIME 5
+
+#define RNG_DELAY_MS 100
+
+/* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */
+#define TX_ANT_DLY 0
+#define RX_ANT_DLY 32899
+
+/* UWB microsecond (uus) to device time unit (dtu, around 15.65 ps) conversion factor.
+ * 1 uus = 512 / 499.2 祍 and 1 祍 = 499.2 * 128 dtu. */
+#define UUS_TO_DWT_TIME 65536
+
+/* Delay between frames, in UWB microseconds. See NOTE 4 below. */
+/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
+#define POLL_TX_TO_RESP_RX_DLY_UUS 150
+/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
+ * frame length of approximately 2.66 ms with above configuration. */
+#define RESP_RX_TO_FINAL_TX_DLY_UUS 400
+/* Receive response timeout. See NOTE 5 below. */
+#define RESP_RX_TIMEOUT_UUS 600
+
+#define DELAY_BETWEEN_TWO_FRAME_UUS 240
+
+#define POLL_RX_TO_RESP_TX_DLY_UUS 420
+/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
+#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
+/* Receive final timeout. See NOTE 5 below. */
+#define FINAL_RX_TIMEOUT_UUS 4300
+
+#define SPEED_OF_LIGHT 299702547
+
+//MESSAGE_TYPE
+#define POLL 0x01
+#define RESPONSE 0x02
+#define FINAL 0x03
+#define SYNC 0x04
+#define NEAR_MSG 0x05
+#define NEAR_POLL 0x06
+#define NEAR_RESPONSE 0x07
+#define NEAR_FINAL 0x08
+//General
+#define GROUP_ID_IDX 0
+#define ANCHOR_ID_IDX 1
+#define TAG_ID_IDX 5
+#define MESSAGE_TYPE_IDX 9
+//Poll
+#define ANC_TYPE_IDX 14
+//respose
+#define DIST_IDX 10
+#define ANCTIMEMS 14
+#define ANCTIMEUS 16
+#define TAGSLOTPOS 8
+//Final
+#define FINAL_MSG_POLL_TX_TS_IDX 10
+#define FINAL_MSG_RESP_RX_TS_IDX 14
+#define FINAL_MSG_FINAL_TX_TS_IDX 18
+#define FINAL_MSG_RESP_RX_NEARBASE_IDX 22
+#define FINAL_MSG_TS_LEN 4
+//SYNC
+#define SYNC_SEQ_IDX 5
+//NEAR MSG
+#define NEARBASENUM_INDEX 10
+#define NEARBASEID_INDEX 11
+//NEAR POLL
+#define BATTARY_IDX 1
+#define BUTTON_IDX 2
+#define SEQUENCE_IDX 3
+
+#define THRESHOLD_CHANGE_MAINBASE_DIST 50
+extern u8 neartimout_timer;
extern u16 slottime,tyncpoll_time,max_slotpos;
extern u16 poll_timer,tag_timer;
extern int8_t tag_delaytime;
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 317c3fe..c828b63 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"
@@ -24,6 +24,18 @@
#define PAIR_ID 0xD //小于多少距离报警
#define HEARTBEAT 0xE
+#define NEARBASE_NUM 0x10
+#define NEARBASE_ID1 0x11
+#define NEARBASE_ID2 0x12
+#define NEARBASE_ID3 0x13
+#define NEARBASE_ID4 0x14
+#define NEARBASE_ID5 0x15
+#define NEARBASE_ID6 0x16
+#define NEARBASE_ID7 0x17
+#define NEARBASE_ID8 0x18
+#define NEARBASE_ID9 0x19
+#define NEARBASE_ID10 0x1a
+
#define CNT_RESTART 0x30
#define CNT_REBOOT 0x31
#define CNT_UPDATE 0x32
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 5214f75..b5de573 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"
@@ -63,13 +63,7 @@
OUT485_ENABLE;
g_com_map[VERSION] = 0x0107;
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;
+ slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*4/3);
max_slotpos=g_com_map[COM_INTERVAL]/slottime;
tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
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 d00482c..7ef6ccc 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"
@@ -37,7 +37,7 @@
u16 tag_recv_timer, tag_timer;
extern uint16_t g_Resttimer,heartbeat_timer,sync_timer;
extern uint8_t g_pairstart;
-u16 timer3;
+u8 neartimout_timer=0;
extern u16 tyncpoll_time;
void TIM3_IRQHandler(void) //TIM3??
{
@@ -48,7 +48,7 @@
time32_incr++;
heartbeat_timer++;
sync_timer++;
-
+ neartimout_timer++;
if(sync_timer>=1010)
{sync_timer=0;}
--
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