From 942d685e55e3a58b6bcd7d0158765e9648b9373a Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 28 十月 2021 22:16:01 +0800
Subject: [PATCH] 中断模式，配合时间片测试完成
---
源码/核心板/Src/application/dw_app.h | 2
源码/核心板/Src/main.c | 41
源码/核心板/MDK-ARM/Project.uvguix.zhyin | 3745 +++++++++++++++++++++++++++++++++++++++++++++++++++++++
源码/核心板/Src/OnChipDevices/Rcc_Nvic_Systick.h | 2
源码/核心板/Src/stm32f10x_it.c | 121 +
源码/核心板/MDK-ARM/Project.uvoptx | 66
源码/核心板/Src/ExternalDevices/dw_driver.h | 6
源码/核心板/Src/OnChipDevices/Rcc_Nvic_Systick.c | 18
源码/核心板/Src/OnChipDevices/Usart.c | 8
源码/核心板/Src/OnChipDevices/Usart.h | 12
源码/核心板/Src/application/dw_app.c | 55
11 files changed, 3,954 insertions(+), 122 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"
new file mode 100644
index 0000000..76a06c5
--- /dev/null
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.zhyin"
@@ -0,0 +1,3745 @@
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+ </OriginalItems>
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+ </OrigResetItems>
+ </ToolBar>
+ <ControlBarsSummary>
+ <Bars>0</Bars>
+ <ScreenCX>1536</ScreenCX>
+ <ScreenCY>864</ScreenCY>
+ </ControlBarsSummary>
+ </ViewEx>
+ </WinLayoutEx>
+
+ <MDIGroups>
+ <Orientation>1</Orientation>
+ <ActiveMDIGroup>0</ActiveMDIGroup>
+ <MDIGroup>
+ <Size>100</Size>
+ <ActiveTab>7</ActiveTab>
+ <Doc>
+ <Name>..\Src\OnChipDevices\Usart.c</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>418</TopLine>
+ <CurrentLine>433</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\OnChipDevices\Usart.h</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>17</TopLine>
+ <CurrentLine>38</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
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+ <Doc>
+ <Name>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_dma.c</Name>
+ <ColumnNumber>18</ColumnNumber>
+ <TopLine>305</TopLine>
+ <CurrentLine>319</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\Libraries\STM32F10x_StdPeriph_Driver\inc\stm32f10x_dma.h</Name>
+ <ColumnNumber>19</ColumnNumber>
+ <TopLine>210</TopLine>
+ <CurrentLine>229</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
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+ <Doc>
+ <Name>..\Src\main.c</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>195</TopLine>
+ <CurrentLine>214</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
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+ <Doc>
+ <Name>..\Src\application\dw_app.c</Name>
+ <ColumnNumber>11</ColumnNumber>
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+ <CurrentLine>945</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\OnChipDevices\Spi.c</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>131</TopLine>
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+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
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+ </Doc>
+ <Doc>
+ <Name>..\Src\stm32f10x_it.c</Name>
+ <ColumnNumber>3</ColumnNumber>
+ <TopLine>132</TopLine>
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+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
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+ <Doc>
+ <Name>..\Src\decadriver\deca_device.c</Name>
+ <ColumnNumber>19</ColumnNumber>
+ <TopLine>957</TopLine>
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+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
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+ <Doc>
+ <Name>..\Src\ExternalDevices\dw_driver.c</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>55</TopLine>
+ <CurrentLine>91</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_exti.c</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>211</TopLine>
+ <CurrentLine>224</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\decadriver\deca_device_api.h</Name>
+ <ColumnNumber>43</ColumnNumber>
+ <TopLine>1411</TopLine>
+ <CurrentLine>1424</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\Libraries\CMSIS\CM3\CoreSupport\core_cm3.h</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>1502</TopLine>
+ <CurrentLine>1515</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
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+ <Doc>
+ <Name>..\Src\OnChipDevices\Rcc_Nvic_Systick.h</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>1</TopLine>
+ <CurrentLine>7</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\application\dw_app.h</Name>
+ <ColumnNumber>33</ColumnNumber>
+ <TopLine>54</TopLine>
+ <CurrentLine>67</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
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+ </MDIGroup>
+ </MDIGroups>
+
+</ProjectGui>
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 33f8581..8c53990 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"
@@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
- <nTsel>6</nTsel>
+ <nTsel>3</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@@ -114,7 +114,7 @@
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
- <pMon>Segger\JL2CM3.dll</pMon>
+ <pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
@@ -155,7 +155,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>DLGTARM</Key>
- <Name>(1010=-1,-1,-1,-1,0)(1007=108,145,295,420,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=18,3,664,676,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=767,133,1188,538,0)(121=1005,0,1426,405,0)(122=-1,-1,-1,-1,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=-1,-1,-1,-1,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=-1,-1,-1,-1,0)(131=-1,-1,-1,-1,0)(132=150,26,744,720,0)(133=-1,-1,-1,-1,0)(160=475,231,923,645,0)(161=167,212,615,626,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=677,0,1280,634,0)(151=-1,-1,-1,-1,0)</Name>
+ <Name>(1010=-1,-1,-1,-1,0)(1007=108,145,295,420,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=18,3,664,676,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=767,133,1188,538,0)(121=1005,0,1426,405,0)(122=-1,-1,-1,-1,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=-268,-746,131,-401,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=-1,-1,-1,-1,0)(131=-1,-1,-1,-1,0)(132=150,26,744,720,0)(133=-1,-1,-1,-1,0)(160=475,231,923,645,0)(161=167,212,615,626,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=677,0,1280,634,0)(151=-1,-1,-1,-1,0)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@@ -225,6 +225,66 @@
<WinNumber>1</WinNumber>
<ItemText>decid,0x0A</ItemText>
</Ww>
+ <Ww>
+ <count>12</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>status_reg</ItemText>
+ </Ww>
+ <Ww>
+ <count>13</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>ttt,0x0A</ItemText>
+ </Ww>
+ <Ww>
+ <count>14</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>status_reg</ItemText>
+ </Ww>
+ <Ww>
+ <count>15</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>status_reg</ItemText>
+ </Ww>
+ <Ww>
+ <count>16</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>heartbeat_timer,0x0A</ItemText>
+ </Ww>
+ <Ww>
+ <count>17</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>ti</ItemText>
+ </Ww>
+ <Ww>
+ <count>18</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>timm,0x0A</ItemText>
+ </Ww>
+ <Ww>
+ <count>19</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>m_EUART_TxFrm_FreeFrmLen,0x0A</ItemText>
+ </Ww>
+ <Ww>
+ <count>20</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>m_EUART_TxFrames,0x0A</ItemText>
+ </Ww>
+ <Ww>
+ <count>21</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>t1,0x0A</ItemText>
+ </Ww>
+ <Ww>
+ <count>22</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>t2,0x0A</ItemText>
+ </Ww>
+ <Ww>
+ <count>23</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>ttt</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/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 6e62ff3..820dc73 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_1
+#define DW1000_IRQ GPIO_Pin_0
#define DW1000_IRQ_GPIO GPIOA
-#define DECAIRQ_EXTI EXTI_Line1
+#define DECAIRQ_EXTI EXTI_Line0
#define DECAIRQ_EXTI_PORT GPIO_PortSourceGPIOA
-#define DECAIRQ_EXTI_PIN GPIO_PinSource1
+#define DECAIRQ_EXTI_PIN GPIO_PinSource0
#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 b9cb93e..c24e061 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"
@@ -133,15 +133,15 @@
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 f709c5f..680e766 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 EXTI2_IRQn
+#define DECAIRQ_EXTI_IRQn EXTI0_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 6e9b0e5..5e9941d 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"
@@ -217,7 +217,7 @@
} // */
#else
- /*
+
//检查是否数据帧需要发送
void UART_CheckSend(void)
{
@@ -260,15 +260,16 @@
} // */
#endif
-
+u16 t1,t2,t3;
//将一帧数据压入发送队列
void UART_PushFrame(uint8_t* pdata, int32_t data_len)
{
// uint8_t temp8 = 0;
if(m_bEUARTPushingFrms || m_bEUARTCheckingSend)
+ {
return;
+ }
m_bEUARTPushingFrms = 1;
-
if(data_len > EUART_TX_FRMBUF_SIZE || m_EUART_TxFrm_FreeFrmLen <= 0) //帧长度超范围或缓存已满
{
m_bEUARTPushingFrms = 0;
@@ -283,6 +284,7 @@
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 7201f11..ea3e93b 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"
@@ -3,7 +3,7 @@
#define __USART_H__
#include "stm32f10x.h"
-
+#define EXUART_USE_TXDMA
#define EU_485_PIN GPIO_Pin_7
#define EU_485_GPIO GPIOB
#define OUT485_ENABLE GPIO_WriteBit(EU_485_GPIO, EU_485_PIN, Bit_SET);
@@ -25,15 +25,15 @@
#define EU_TX_GPIO GPIOA
#endif
-#define EXUART_BAUD_RADE 115200
+#define EXUART_BAUD_RADE 921600
#define EUART_RX_DMA_CH DMA1_Channel5
#define EUART_TX_DMA_CH DMA1_Channel4
-
-
-#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_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 110 //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 c34e398..a75e8ea 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"
@@ -7,7 +7,7 @@
NEARPOLL,
}tag_state=GETNEARMSG;
static dwt_config_t config = {
- 2, /* Channel number. */
+ 5, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
DWT_PLEN_64, /* Preamble length. */
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
@@ -129,7 +129,7 @@
/* 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
@@ -1061,7 +1061,7 @@
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;
- time_monitor[1] = sync_timer*1000+TIM3->CNT;
+// time_monitor[1] = sync_timer*1000+TIM3->CNT;
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
@@ -1071,13 +1071,13 @@
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
- dwt_readdiagnostics(&d1);
+ // dwt_readdiagnostics(&d1);
// time_monitor[2] = sync_timer*1000+TIM3->CNT;
- LOS(&d1);
- time_monitor[3] = sync_timer*1000+TIM3->CNT;
+ // LOS(&d1);
+ // time_monitor[3] = sync_timer*1000+TIM3->CNT;
/*--------------------------以下为非测距逻辑------------------------*/
//dist_cm=33000;
- GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_RESET);
+ //GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_RESET);
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];
@@ -1141,6 +1141,18 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
+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_setrxtimeout(1000);//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();
+// };
+}
extern int32_t intheight;
extern u16 synclost_count;
uint32_t current_syncid=0xffffffff,synclost_timer;
@@ -1150,6 +1162,7 @@
u16 recnearbaselist_id[30],rec_taganc_signalpower_list[11];
int32_t recnearbaselist_dist[30];
int16_t rec_tagheight;
+u16 timm = 0;
void Anchor_App(void)
{
@@ -1157,21 +1170,23 @@
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
+// 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();
- };
+// 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
+// {
+// //IdleTask();
+// };
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
+ 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);
if (status_reg & SYS_STATUS_RXFCG)//成功接收
{ u16 tag_recv_interval;
float temp_tagpos;
- time_monitor[0] = sync_timer*1000+TIM3->CNT;
+// time_monitor[0] = sync_timer*1000+TIM3->CNT;
g_Resttimer=0;
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
@@ -1394,6 +1409,9 @@
checksum = Checksum_u16(&usart_send[2],23+8*rec_nearbase_num);
memcpy(&usart_send[25+8*rec_nearbase_num],&checksum,2);
UART_PushFrame(usart_send,27+8*rec_nearbase_num);
+// UART_CheckSend();
+
+ timm++;
}
//////////////////////////////////////////////////////////////
@@ -1436,5 +1454,10 @@
#endif
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/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 e5bc528..aa1f77d 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"
@@ -64,7 +64,7 @@
/* 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 0
/* Receive final timeout. See NOTE 5 below. */
-#define FINAL_RX_TIMEOUT_UUS 4300
+#define FINAL_RX_TIMEOUT_UUS 1000
#define SPEED_OF_LIGHT 299702547
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 a28753b..175b9b4 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"
@@ -18,7 +18,7 @@
RCC_Configuration();
//SystemInit();
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
- Nvic_Init();
+
// Systick_Init();
TIM3_Int_Init();
@@ -29,6 +29,7 @@
Spi_Init();
ADC_Configuration();
Led_Init();
+ Nvic_Init();
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
}
u8 anchor_type;
@@ -146,8 +147,8 @@
int32_t intheight;
void HeatBeat(void)
{ u16 checksum;
- GetPressAndHeight();
- intheight = Height*100;//+g_com_map[MAX_REPORT_ANC_NUM];
+ // GetPressAndHeight();
+ // intheight = Height*100;//+g_com_map[MAX_REPORT_ANC_NUM];
if(synclost_count>5)
{
hbsend[6] = 0;
@@ -162,7 +163,7 @@
UART_PushFrame(hbsend,16);
}
extern u8 g_start_sync_flag,usart_send_flag,anc_report_num;
-u16 heartbeat_timer=58000,poll_timer;
+u16 heartbeat_timer=58,poll_timer;
int16_t sync_timer;
extern u8 flag_newsecond, tagpos_rec[50], tagpos_send[50],ancidlist_num;
uint32_t tagpos_binary;
@@ -172,7 +173,7 @@
{
UART_CheckReceive();
- UART_CheckSend();
+// UART_CheckSend();
UART2_CheckReceive();
// if( memcmp(g_com_map2,g_com_map,COM_MAP_SIZE)!=0)
@@ -181,7 +182,7 @@
// delay_ms(100);
// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
// }
- if(heartbeat_timer>60000)
+ if(heartbeat_timer>60)
{
heartbeat_timer=0;
if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
@@ -200,26 +201,13 @@
// tagpos_rec[i] = 0;
// }
// }
- if(target_time>1000)
- {target_time-=1000;}
- #ifdef USART_INTEGRATE_OUTPUT
- if(g_com_map[DEV_ROLE]==0&&usart_send_flag)
- {u16 checksum;
- usart_send_flag=0;
- usart_send_anc[2] = 5;//正常模式
- usart_send_anc[3] = anc_report_num*6+2;//正常模式
- checksum = Checksum_u16(&usart_send_anc[2],anc_report_num*6+2);
- memcpy(&usart_send_anc[4+anc_report_num*6],&checksum,2);
- UART_PushFrame(usart_send_anc,6+anc_report_num*6);
- anc_report_num=0;
- }
- #endif
if(g_com_map[MAP_SIGN_INDEX]!=0x55AA)
{
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
}
+extern u8 needanchorrx;
int main(void)
{
@@ -235,19 +223,12 @@
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
//SendComMap(50, 0);
while(1)
{
- g_start_sync_flag=0;
- if(g_start_send_flag)
- {
- g_start_send_flag = 0;
- Tag_App();
- }
- IdleTask();
-if(g_com_map[DEV_ROLE]!=1)
- Anchor_App();
-
+ IdleTask();
}
}
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 0be95b9..4684280 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"
@@ -47,14 +47,21 @@
{
TIM_ClearITPendingBit(TIM3, TIM_IT_Update ); //??TIMx??????
// main_logic();
- time32_incr++;
- heartbeat_timer++;
+// time32_incr++;
+// heartbeat_timer++;
sync_timer++;
- neartimout_timer++;
- synclost_timer++;
- GPIO_WriteBit(GPIOA, GPIO_Pin_8, Bit_RESET);
+// neartimout_timer++;
+// synclost_timer++;
+// GPIO_WriteBit(GPIOA, GPIO_Pin_8, Bit_RESET);
+ GPIOA->BRR = GPIO_Pin_8;
+if(sync_timer==10)
+{
+GPIOA->BSRR = GPIO_Pin_8;
+}
+
if(sync_timer>=1000)
{uint8_t i;
+ heartbeat_timer++;
for(i=0;i<MAX_REGTAGNUM;i++)
{
if(regtag_map.remain_time[i]>0)
@@ -65,55 +72,55 @@
if(pwtag.remain_time>0)
{pwtag.remain_time--;}
flag_newsecond=1;
- GPIO_WriteBit(GPIOA, GPIO_Pin_8, Bit_SET);
+// GPIO_WriteBit(GPIOA, GPIO_Pin_8, Bit_SET);
sync_timer=0;
- synclost_count++;
- TagListUpdate();
- if(g_com_map[BASESYNCSEQ]==1) //本模块是同步基站
- {
- synclost_count = 0;
- current_syncid = 1;
- sync_seq=0;
- SyncPoll(sync_seq);
- }
- }
-
- if(g_Resttimer++>12000)
- {
- NVIC_SystemReset();
- }
+// synclost_count++;
+// TagListUpdate();
+// if(g_com_map[BASESYNCSEQ]==1) //本模块是同步基站
+// {
+// synclost_count = 0;
+// current_syncid = 1;
+// sync_seq=0;
+// SyncPoll(sync_seq);
+// }
+// }
+//
+// if(g_Resttimer++>12000)
+// {
+// NVIC_SystemReset();
+// }
-
- if(!g_com_map[DEV_ROLE]) //基站
- {
- tag_recv_timer++;
- TagDistClear();
- if(g_com_map[ANC_POLL])
- {
- if(sync_timer==target_time)
- {
- g_start_send_flag=1;
- }
- }
-
- #ifdef USART_INTEGRATE_OUTPUT
- if(sync_timer%g_com_map[COM_INTERVAL]==0)
- {
-
- usart_send_flag=1;
- }
- #endif
- }else{ //标签同步处理
- if(sync_timer==target_time)
- {
+//
+// if(!g_com_map[DEV_ROLE]) //基站
+// {
+// tag_recv_timer++;
+// TagDistClear();
+// if(g_com_map[ANC_POLL])
+// {
+// if(sync_timer==target_time)
+// {
+// g_start_send_flag=1;
+// }
+// }
+//
+// #ifdef USART_INTEGRATE_OUTPUT
+// if(sync_timer%g_com_map[COM_INTERVAL]==0)
+// {
+//
+// usart_send_flag=1;
+// }
+// #endif
+// }else{ //标签同步处理
+// if(sync_timer==target_time)
+// {
- last_polltime=sync_timer;
- // GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_SET);
- g_start_send_flag=1;
- }
-
+// last_polltime=sync_timer;
+// // GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_SET);
+// g_start_send_flag=1;
+// }
+//
}
}
@@ -136,7 +143,21 @@
}
}
-
+u8 needanchorrx=1;
+u16 ttt = 0;
+extern u32 status_reg;
+void EXTI0_IRQHandler(void)
+{
+ if(EXTI_GetITStatus(EXTI_Line0)!= RESET)
+ {
+ EXTI_ClearITPendingBit(EXTI_Line0);
+
+ // GPIOA->BSRR = GPIO_Pin_8;
+ //if(ttt==0)
+ Anchor_App();
+ // GPIOA->BRR = GPIO_Pin_8;
+ }
+}
void USART1_IRQHandler(void)
{
if(USART_GetITStatus(EXT_UART, USART_IT_RXNE) != RESET)//?????????
--
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