From 95f736655c46ec4974e89c7f0ca6a542cdbf3532 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 26 四月 2022 17:15:25 +0800
Subject: [PATCH] V1.73
---
源码/核心板/Src/main.c | 90 ++++--
源码/核心板/MDK-ARM/Project.uvguix.zhyin | 391 +++++++++-----------------------
源码/核心板/Src/stm32f10x_it.c | 24 ++
源码/核心板/MDK-ARM/Project.uvoptx | 171 +-------------
源码/核心板/Src/decadriver/deca_device.c | 4
源码/核心板/Src/stm32f10x_it.h | 2
源码/核心板/Src/application/dw_app.c | 25 +
7 files changed, 228 insertions(+), 479 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 3a86900..4156bff 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"
@@ -15,17 +15,17 @@
<View>
<WinId>38003</WinId>
<ViewName>Registers</ViewName>
- <TableColWidths>82 100</TableColWidths>
+ <TableColWidths>149 149</TableColWidths>
</View>
<View>
<WinId>346</WinId>
<ViewName>Code Coverage</ViewName>
- <TableColWidths>770 130</TableColWidths>
+ <TableColWidths>392 398</TableColWidths>
</View>
<View>
<WinId>204</WinId>
<ViewName>Performance Analyzer</ViewName>
- <TableColWidths>930 139 139 100</TableColWidths>
+ <TableColWidths>528 139 139 100</TableColWidths>
</View>
</SECTreeCtrl>
@@ -90,8 +90,8 @@
<sActiveDebugView></sActiveDebugView>
<WindowPosition>
<length>44</length>
- <flags>0</flags>
- <showCmd>1</showCmd>
+ <flags>2</flags>
+ <showCmd>3</showCmd>
<MinPosition>
<xPos>-32000</xPos>
<yPos>-32000</yPos>
@@ -101,17 +101,17 @@
<yPos>-1</yPos>
</MaxPosition>
<NormalPosition>
- <Top>0</Top>
+ <Top>6</Top>
<Left>-6</Left>
- <Right>1540</Right>
- <Bottom>824</Bottom>
+ <Right>1530</Right>
+ <Bottom>830</Bottom>
</NormalPosition>
</WindowPosition>
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<RegID>0</RegID>
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- </Doc>
- <Doc>
- <Name>..\Src\application\global_param.c</Name>
- <ColumnNumber>28</ColumnNumber>
- <TopLine>35</TopLine>
- <CurrentLine>46</CurrentLine>
- <Folding>1</Folding>
- <ContractedFolders></ContractedFolders>
- <PaneID>0</PaneID>
- </Doc>
- <Doc>
- <Name>..\Src\decadriver\deca_regs.h</Name>
- <ColumnNumber>73</ColumnNumber>
- <TopLine>252</TopLine>
- <CurrentLine>271</CurrentLine>
- <Folding>1</Folding>
- <ContractedFolders></ContractedFolders>
- <PaneID>0</PaneID>
- </Doc>
- <Doc>
- <Name>..\Src\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_md.s</Name>
- <ColumnNumber>0</ColumnNumber>
- <TopLine>147</TopLine>
- <CurrentLine>148</CurrentLine>
- <Folding>1</Folding>
- <ContractedFolders></ContractedFolders>
- <PaneID>0</PaneID>
- </Doc>
- <Doc>
- <Name>..\Src\application\serial_at_cmd_app.h</Name>
- <ColumnNumber>9</ColumnNumber>
- <TopLine>1</TopLine>
- <CurrentLine>6</CurrentLine>
- <Folding>1</Folding>
- <ContractedFolders></ContractedFolders>
- <PaneID>0</PaneID>
- </Doc>
- <Doc>
- <Name>..\Src\decadriver\deca_range_tables.c</Name>
- <ColumnNumber>0</ColumnNumber>
- <TopLine>635</TopLine>
- <CurrentLine>636</CurrentLine>
- <Folding>1</Folding>
- <ContractedFolders></ContractedFolders>
- <PaneID>0</PaneID>
- </Doc>
- <Doc>
- <Name>..\Src\application\global_param.h</Name>
- <ColumnNumber>0</ColumnNumber>
- <TopLine>45</TopLine>
- <CurrentLine>49</CurrentLine>
- <Folding>1</Folding>
- <ContractedFolders></ContractedFolders>
- <PaneID>0</PaneID>
- </Doc>
- <Doc>
- <Name>..\Src\OnChipDevices\Rcc_Nvic_Systick.c</Name>
- <ColumnNumber>0</ColumnNumber>
- <TopLine>185</TopLine>
- <CurrentLine>209</CurrentLine>
- <Folding>1</Folding>
- <ContractedFolders></ContractedFolders>
- <PaneID>0</PaneID>
- </Doc>
- <Doc>
- <Name>..\Src\application\beep_logic_app.c</Name>
- <ColumnNumber>58</ColumnNumber>
- <TopLine>176</TopLine>
- <CurrentLine>177</CurrentLine>
- <Folding>1</Folding>
- <ContractedFolders></ContractedFolders>
- <PaneID>0</PaneID>
- </Doc>
- <Doc>
- <Name>..\Src\ExternalDevices\beep.h</Name>
- <ColumnNumber>0</ColumnNumber>
- <TopLine>6</TopLine>
- <CurrentLine>28</CurrentLine>
- <Folding>1</Folding>
- <ContractedFolders></ContractedFolders>
- <PaneID>0</PaneID>
- </Doc>
- <Doc>
- <Name>..\Src\stm32f10x_it.h</Name>
- <ColumnNumber>39</ColumnNumber>
- <TopLine>16</TopLine>
- <CurrentLine>32</CurrentLine>
+ <TopLine>704</TopLine>
+ <CurrentLine>711</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 0c8bf4a..e94c24d 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"
@@ -162,39 +162,7 @@
<Bp>
<Number>0</Number>
<Type>0</Type>
- <LineNumber>1036</LineNumber>
- <EnabledFlag>1</EnabledFlag>
- <Address>134244098</Address>
- <ByteObject>0</ByteObject>
- <HtxType>0</HtxType>
- <ManyObjects>0</ManyObjects>
- <SizeOfObject>0</SizeOfObject>
- <BreakByAccess>0</BreakByAccess>
- <BreakIfRCount>1</BreakIfRCount>
- <Filename>E:\GIT\UWB_SmallModule\濠ф劗鐖淺Src\application\dw_app.c</Filename>
- <ExecCommand></ExecCommand>
- <Expression>\\UWB_Projects\../Src/application/dw_app.c\1036</Expression>
- </Bp>
- <Bp>
- <Number>1</Number>
- <Type>0</Type>
- <LineNumber>149</LineNumber>
- <EnabledFlag>1</EnabledFlag>
- <Address>134251822</Address>
- <ByteObject>0</ByteObject>
- <HtxType>0</HtxType>
- <ManyObjects>0</ManyObjects>
- <SizeOfObject>0</SizeOfObject>
- <BreakByAccess>0</BreakByAccess>
- <BreakIfRCount>1</BreakIfRCount>
- <Filename>E:\GIT\UWB_SmallModule\濠ф劗鐖淺Src\main.c</Filename>
- <ExecCommand></ExecCommand>
- <Expression>\\UWB_Projects\../Src/main.c\149</Expression>
- </Bp>
- <Bp>
- <Number>2</Number>
- <Type>0</Type>
- <LineNumber>1123</LineNumber>
+ <LineNumber>433</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
@@ -212,172 +180,57 @@
<Ww>
<count>0</count>
<WinNumber>1</WinNumber>
- <ItemText>g_com_map</ItemText>
+ <ItemText>juststart_flag</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
- <ItemText>tyncpoll_time,0x0A</ItemText>
+ <ItemText>justsleftest_flag</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
- <ItemText>true_nearbase_distlist</ItemText>
+ <ItemText>uwbchip_flag</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
- <ItemText>true_nearbase_idlist</ItemText>
+ <ItemText>mcu_flag</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
- <ItemText>true_exsistbase_list</ItemText>
+ <ItemText>rf_flag</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
- <ItemText>status_reg</ItemText>
+ <ItemText>voltage_flag</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
- <ItemText>dw1000local</ItemText>
+ <ItemText>rflosttimer,0x0A</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
- <ItemText>rx_buffer</ItemText>
+ <ItemText>noerror_flag</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
- <ItemText>pwtag</ItemText>
+ <ItemText>selftest</ItemText>
</Ww>
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
- <ItemText>mUsartReceivePack</ItemText>
+ <ItemText>dw_vbat</ItemText>
</Ww>
<Ww>
<count>10</count>
<WinNumber>1</WinNumber>
- <ItemText>g_com_map</ItemText>
- </Ww>
- <Ww>
- <count>11</count>
- <WinNumber>1</WinNumber>
- <ItemText>g_Resttimer,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>12</count>
- <WinNumber>1</WinNumber>
- <ItemText>rx_buffer[MESSAGE_TYPE_IDX]</ItemText>
- </Ww>
- <Ww>
- <count>13</count>
- <WinNumber>1</WinNumber>
- <ItemText>rx_buffer</ItemText>
- </Ww>
- <Ww>
- <count>14</count>
- <WinNumber>1</WinNumber>
- <ItemText>g_start_send_flag</ItemText>
- </Ww>
- <Ww>
- <count>15</count>
- <WinNumber>1</WinNumber>
- <ItemText>hex_dist,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>16</count>
- <WinNumber>1</WinNumber>
- <ItemText>rlv,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>17</count>
- <WinNumber>1</WinNumber>
- <ItemText>g_com_map[0X78]</ItemText>
- </Ww>
- <Ww>
- <count>18</count>
- <WinNumber>1</WinNumber>
- <ItemText>g_com_map[0X79]</ItemText>
- </Ww>
- <Ww>
- <count>19</count>
- <WinNumber>1</WinNumber>
- <ItemText>g_com_map</ItemText>
- </Ww>
- <Ww>
- <count>20</count>
- <WinNumber>1</WinNumber>
- <ItemText>min_dist,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>21</count>
- <WinNumber>1</WinNumber>
- <ItemText>beep_state</ItemText>
- </Ww>
- <Ww>
- <count>22</count>
- <WinNumber>1</WinNumber>
- <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>
- <Ww>
- <count>26</count>
- <WinNumber>1</WinNumber>
- <ItemText>min_dist2,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>27</count>
- <WinNumber>1</WinNumber>
- <ItemText>motorstate</ItemText>
- </Ww>
- <Ww>
- <count>28</count>
- <WinNumber>1</WinNumber>
- <ItemText>dist_threshold,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>29</count>
- <WinNumber>1</WinNumber>
- <ItemText>hex_dist,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>30</count>
- <WinNumber>1</WinNumber>
- <ItemText>rec_antdelay,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>31</count>
- <WinNumber>1</WinNumber>
- <ItemText>recpoll_len,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>32</count>
- <WinNumber>1</WinNumber>
- <ItemText>tx_nearpoll_msg</ItemText>
- </Ww>
- <Ww>
- <count>33</count>
- <WinNumber>1</WinNumber>
- <ItemText>dist_threshold,0x0A</ItemText>
+ <ItemText>heartbeat_timer,0x0A</ItemText>
</Ww>
</WatchWindow1>
<MemoryWindow1>
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 416923f..5f50042 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"
@@ -391,7 +391,7 @@
dwt_forcetrxoff();
dwt_setdelayedtrxtime(final_tx_time);
result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
- if(result!=DWT_SUCCESS)
+ if(result!=DWT_SUCCESS&&g_com_map[MODBUS_ID1]==1)
{
#ifdef DBGMSG_OUTPUT
dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
@@ -406,15 +406,17 @@
};
if(status_reg==0xffffffff)
{
- NVIC_SystemReset();
+ //NVIC_SystemReset();
}
if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
{
+ rflosttimer = 0;
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
dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
dwt_rxenable(0);//打开接收
+ rflosttimer = 0;
if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX] == group_id) //判断接收到的数据是否是response数据
{ u16 rec_nearbaseid,rec_nearbasepos;
int32_t temp_dist;
@@ -546,6 +548,7 @@
if(temp_dist!=0x1ffff )
{
#ifdef USART_SINGLE_OUTPUT
+
usart_send[2] = 1;//正常模式
usart_send[3] = 29;//数据段长度
usart_send[4] = frame_seq_nb;//数据段长度
@@ -575,10 +578,13 @@
if(flag_rxon)
{
dwt_rxenable(0);
+ if(g_com_map[MODBUS_ID1]==1)
+ {
#ifdef DBGMSG_OUTPUT
dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
SendDbgMsg(dbgmsg,dbgmsg_len);
- #endif
+ #endif
+ }
}
}
}
@@ -967,10 +973,13 @@
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{
+ if(g_com_map[MODBUS_ID1]==1)
+ {
#ifdef DBGMSG_OUTPUT
dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
SendDbgMsg(dbgmsg,dbgmsg_len);
- #endif
+ #endif
+ }
}
if (status_reg & SYS_STATUS_RXFCG)//接收成功
@@ -1056,6 +1065,7 @@
g_Tagdist[taglist_pos]= 0x2ffff;
}
#ifdef USART_SINGLE_OUTPUT
+
usart_send[2] = 1;//正常模式
usart_send[3] = 29;//数据段长度
usart_send[4] = frame_seq_nb2;//数据段长度
@@ -1087,10 +1097,13 @@
}
}else{
//printf("%x/n",status_reg);
+ if(g_com_map[MODBUS_ID1]==1)
+ {
#ifdef DBGMSG_OUTPUT
dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
SendDbgMsg(dbgmsg,dbgmsg_len);
#endif
+ }
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
@@ -1121,7 +1134,7 @@
{ u16 tag_recv_interval;
float temp_tagpos;
-
+ rflosttimer = 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
recpoll_len = frame_len;
@@ -1250,7 +1263,7 @@
}
}else{
#ifdef DBGMSG_OUTPUT
- if(status_reg&SYS_STATUS_ALL_RX_ERR)
+ if((status_reg&SYS_STATUS_ALL_RX_ERR)&&g_com_map[MODBUS_ID1]==1)
{ dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
SendDbgMsg(dbgmsg,dbgmsg_len);
}
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/decadriver/deca_device.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/decadriver/deca_device.c"
index e0a39e8..6e3bf31 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/decadriver/deca_device.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/decadriver/deca_device.c"
@@ -113,6 +113,7 @@
int dwt_initialise(uint16_t config)
{
u32 power_temp,power_input;
+ u8 iderrortimes;
uint8_t plllockdetect = EC_CTRL_PLLLCK;
uint16_t otp_addr = 0;
uint32_t ldo_tune = 0;
@@ -128,9 +129,10 @@
// Read and validate device ID return -1 if not recognised
dw1000local.deviceID = dwt_readdevid() ;
- while (DWT_DEVICE_ID != dw1000local.deviceID) // MP IC ONLY (i.e. DW1000) FOR THIS CODE
+ while (DWT_DEVICE_ID != dw1000local.deviceID&&iderrortimes<100) // MP IC ONLY (i.e. DW1000) FOR THIS CODE
{
dw1000local.deviceID = dwt_readdevid() ;
+ iderrortimes++;
}
_dwt_enableclocks(FORCE_SYS_XTI); // NOTE: set system clock to XTI - this is necessary to make sure the values read by _dwt_otpread are reliable
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 c093b2d..9b243e9 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"
@@ -143,7 +143,7 @@
OUT485_ENABLE;
- g_com_map[VERSION] = (1<<8)|(72);
+ g_com_map[VERSION] = (1<<8)|(73);
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];
@@ -158,7 +158,7 @@
total_slotnum = 1000/g_com_map[COM_INTERVAL];
vel_factor=g_com_map[FILTER_COEFFICIENT];
pos_factor=g_com_map[FILTER_COEFFICIENT];
-ComMapCheck();
+ ComMapCheck();
if(module_power>67)
{
module_power=67;
@@ -195,12 +195,48 @@
*
* @return none
*/
+u8 noerror_flag,juststart_flag=1,justsleftest_flag=1,uwbchip_flag,mcu_flag,rf_flag,voltage_flag;
+uint16_t temp;
+float dw_vbat;
+void VoltageTest(void)
+{
+ temp=dwt_readtempvbat(1);
+ dw_vbat=(float)((temp&0xff)-173)/173+3.3;
+ if(dw_vbat<2.8||dw_vbat>3.6)
+ {
+ voltage_flag = 1;
+ }else{
+ voltage_flag = 0;
+ }
+}
+void UWBChiptest(void)
+{
+ u32 temp23;
+ temp23 = dwt_read32bitreg(CHAN_CTRL_ID) ;
+ if(temp23!=0x4A7A0022)
+ {
+ uwbchip_flag = 1;
+ }else{
+ uwbchip_flag = 0;
+ }
+}
u8 selftest[2];
+void SlefTestState(void)
+{
+
+ justselftest_timer = 2;
+ UWBChiptest();
+ VoltageTest();
+
+}
+void RunSelfTest(void)
+{
+ SlefTestState();
+}
void HeatBeat(void)
{
u16 checksum;
- selftest[0]=1;
- selftest[1]=0;
+// SendSelfTest();
memcpy(&hbsend[6],selftest,2);
memcpy(&hbsend[14],uartrec_userdata,10);
checksum = Checksum_u16(&hbsend[2],22);
@@ -225,19 +261,9 @@
}
uwbrec_userdatalen = 0;
}
-uint16_t temp;
-float dw_vbat;
-void StartUpTest(void)
-{
- temp=dwt_readtempvbat(1);
- dw_vbat=(float)((temp&0xff)-173)/173+3.3;
- if(dw_vbat<2.8)
- {
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
-}
+
extern u8 g_start_sync_flag,usart_send_flag,anc_report_num;
-u16 heartbeat_timer,poll_timer;
+u16 heartbeat_timer=250,poll_timer;
int16_t sync_timer;
extern u8 flag_newsecond, tagpos_rec[50], tagpos_send[50],ancidlist_num;
uint32_t tagpos_binary;
@@ -248,9 +274,19 @@
UART_CheckReceive();
UART_CheckSend();
+
+ if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]>1000)
+ {
+ mcu_flag = 1;
+ }else{
+ mcu_flag = 0;
+ }
+ noerror_flag = !(uwbchip_flag|mcu_flag|rf_flag|voltage_flag);
+ selftest[0] = voltage_flag<<3|mcu_flag<<2|uwbchip_flag<<1|noerror_flag;
+ selftest[1] = juststart_flag<<2|justsleftest_flag<<1|rf_flag;
// if(g_com_map[HEARTBEAT])
// {
- if(heartbeat_timer>=200)
+ if(heartbeat_timer>=250)
{
heartbeat_timer=0;
HeatBeat();
@@ -264,15 +300,11 @@
if(flag_newsecond)
{
uint32_t temp23;
-// temp23 = dwt_read32bitreg(CHAN_CTRL_ID) ;
-// if(temp23!=0x4A480022)
-// {
-// temp23 = dwt_read32bitreg(CHAN_CTRL_ID) ;
-// if(temp23!=0x4A480022)
-// {
-// NVIC_SystemReset();
-// }
-// }
+ if(selftesttimer>=60)
+ {
+ selftesttimer = 0;
+ RunSelfTest();
+ }
flag_newsecond=0;
tagpos_binary=0;
memcpy(ancidlist_send,ancidlist_rec,ancidlist_num*2);
@@ -328,10 +360,6 @@
delay_ms(100);
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
- if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
- {
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
}
@@ -350,7 +378,7 @@
usart_send[1]=0xAA;
usart_send_anc[0]=0x55;
usart_send_anc[1]=0xAA;
-
+ RunSelfTest();
while(1)
{
g_start_sync_flag=0;
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 730b3f6..8f4ccd4 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"
@@ -41,6 +41,8 @@
u8 neartimout_timer=0,flag_syncbase=0,flag_newsecond=0;
extern u16 tyncpoll_time,target_time;
extern uint32_t synclost_timer,current_syncid;
+uint8_t juststart_timer=2,justselftest_timer=2,selftesttimer,rflosttimer;
+extern u8 juststart_flag,justsleftest_flag,rf_flag;
void TIM3_IRQHandler(void) //TIM3??
{
if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) //??TIM3????????
@@ -71,6 +73,28 @@
flag_newsecond=1;
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
sync_timer=0;
+ if(juststart_timer>0)
+ {
+ juststart_timer--;
+ juststart_flag = 1;
+ }else{
+ juststart_flag = 0;
+ }
+ if(justselftest_timer>0)
+ {
+ justselftest_timer--;
+ justsleftest_flag = 1;
+ }else{
+ justsleftest_flag = 0;
+ }
+ if(rflosttimer>10)
+ {
+ rf_flag = 1;
+ }else{
+ rflosttimer++;
+ rf_flag = 0;
+ }
+ selftesttimer++;
TagListUpdate();
}
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.h"
index b0f81d3..d9eb7db 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.h"
@@ -28,7 +28,7 @@
extern "C" {
#endif
-extern uint8_t g_start_send_flag;
+extern uint8_t g_start_send_flag,juststart_timer,selftesttimer,justselftest_timer,rflosttimer;
extern u16 userdata_timer,pollsendtimer;
/*
* Tick timer interrupt handler to replace the default one.
--
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