From 9bfefe7171abd37ec7af68e095d220b28d183a20 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 02 十一月 2021 16:24:35 +0800
Subject: [PATCH] V2.43 时间片测试发货
---
源码/核心板/Src/application/global_param.c | 3
源码/核心板/Src/main.c | 13
源码/核心板/MDK-ARM/Project.uvguix.zhyin | 564 ++++++++++++++------------
源码/核心板/Src/stm32f10x_it.c | 39
源码/核心板/MDK-ARM/Project.uvoptx | 57 ++
源码/核心板/Src/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/arm/startup_stm32f10x_md.s | 2
源码/核心板/Src/application/dw_app.c | 567 ++------------------------
7 files changed, 438 insertions(+), 807 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 76a06c5..a481003 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 @@
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<WinId>38003</WinId>
<ViewName>Registers</ViewName>
- <TableColWidths>139 140</TableColWidths>
+ <TableColWidths>140 141</TableColWidths>
</View>
<View>
<WinId>346</WinId>
<ViewName>Code Coverage</ViewName>
- <TableColWidths>770 486</TableColWidths>
+ <TableColWidths>770 160</TableColWidths>
</View>
<View>
<WinId>204</WinId>
<ViewName>Performance Analyzer</ViewName>
- <TableColWidths>878 139 139 100</TableColWidths>
+ <TableColWidths>930</TableColWidths>
</View>
</SECTreeCtrl>
@@ -34,7 +34,7 @@
<WinId>35141</WinId>
<ViewName>Event Statistics</ViewName>
<UserString></UserString>
- <TableColWidths>250 50 634</TableColWidths>
+ <TableColWidths>200 50 700</TableColWidths>
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<View>
<WinId>1506</WinId>
@@ -69,7 +69,7 @@
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<WinId>466</WinId>
<ViewName>Source Browser</ViewName>
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<length>44</length>
<flags>2</flags>
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+ <showCmd>2</showCmd>
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<xPos>-32000</xPos>
<yPos>-32000</yPos>
@@ -101,17 +101,17 @@
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- <Left>-821</Left>
- <Right>331</Right>
- <Bottom>-149</Bottom>
+ <Top>122</Top>
+ <Left>90</Left>
+ <Right>397</Right>
+ <Bottom>287</Bottom>
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<Doc>
<Name>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_dma.c</Name>
<ColumnNumber>18</ColumnNumber>
- <TopLine>305</TopLine>
+ <TopLine>320</TopLine>
<CurrentLine>319</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
@@ -3634,7 +3634,7 @@
<Doc>
<Name>..\Src\Libraries\STM32F10x_StdPeriph_Driver\inc\stm32f10x_dma.h</Name>
<ColumnNumber>19</ColumnNumber>
- <TopLine>210</TopLine>
+ <TopLine>230</TopLine>
<CurrentLine>229</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
@@ -3642,18 +3642,18 @@
</Doc>
<Doc>
<Name>..\Src\main.c</Name>
- <ColumnNumber>0</ColumnNumber>
- <TopLine>195</TopLine>
- <CurrentLine>214</CurrentLine>
+ <ColumnNumber>10</ColumnNumber>
+ <TopLine>100</TopLine>
+ <CurrentLine>114</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
<Doc>
<Name>..\Src\application\dw_app.c</Name>
- <ColumnNumber>11</ColumnNumber>
- <TopLine>931</TopLine>
- <CurrentLine>945</CurrentLine>
+ <ColumnNumber>8</ColumnNumber>
+ <TopLine>659</TopLine>
+ <CurrentLine>660</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
@@ -3661,7 +3661,7 @@
<Doc>
<Name>..\Src\OnChipDevices\Spi.c</Name>
<ColumnNumber>0</ColumnNumber>
- <TopLine>131</TopLine>
+ <TopLine>134</TopLine>
<CurrentLine>161</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
@@ -3669,18 +3669,18 @@
</Doc>
<Doc>
<Name>..\Src\stm32f10x_it.c</Name>
- <ColumnNumber>3</ColumnNumber>
- <TopLine>132</TopLine>
- <CurrentLine>166</CurrentLine>
+ <ColumnNumber>2</ColumnNumber>
+ <TopLine>75</TopLine>
+ <CurrentLine>76</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
<Doc>
<Name>..\Src\decadriver\deca_device.c</Name>
- <ColumnNumber>19</ColumnNumber>
- <TopLine>957</TopLine>
- <CurrentLine>982</CurrentLine>
+ <ColumnNumber>10</ColumnNumber>
+ <TopLine>2449</TopLine>
+ <CurrentLine>2448</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
@@ -3688,7 +3688,7 @@
<Doc>
<Name>..\Src\ExternalDevices\dw_driver.c</Name>
<ColumnNumber>0</ColumnNumber>
- <TopLine>55</TopLine>
+ <TopLine>86</TopLine>
<CurrentLine>91</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
@@ -3697,7 +3697,7 @@
<Doc>
<Name>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_exti.c</Name>
<ColumnNumber>0</ColumnNumber>
- <TopLine>211</TopLine>
+ <TopLine>225</TopLine>
<CurrentLine>224</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
@@ -3705,8 +3705,8 @@
</Doc>
<Doc>
<Name>..\Src\decadriver\deca_device_api.h</Name>
- <ColumnNumber>43</ColumnNumber>
- <TopLine>1411</TopLine>
+ <ColumnNumber>46</ColumnNumber>
+ <TopLine>1425</TopLine>
<CurrentLine>1424</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
@@ -3715,7 +3715,7 @@
<Doc>
<Name>..\Src\Libraries\CMSIS\CM3\CoreSupport\core_cm3.h</Name>
<ColumnNumber>0</ColumnNumber>
- <TopLine>1502</TopLine>
+ <TopLine>1516</TopLine>
<CurrentLine>1515</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
@@ -3732,9 +3732,45 @@
</Doc>
<Doc>
<Name>..\Src\application\dw_app.h</Name>
- <ColumnNumber>33</ColumnNumber>
- <TopLine>54</TopLine>
- <CurrentLine>67</CurrentLine>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>82</TopLine>
+ <CurrentLine>81</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\application\serial_at_cmd_app.c</Name>
+ <ColumnNumber>40</ColumnNumber>
+ <TopLine>163</TopLine>
+ <CurrentLine>162</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\application\global_param.c</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>21</TopLine>
+ <CurrentLine>20</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\decadriver\deca_regs.h</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>258</TopLine>
+ <CurrentLine>257</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>150</TopLine>
+ <CurrentLine>148</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 8c53990..d7271d2 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"
@@ -285,6 +285,61 @@
<WinNumber>1</WinNumber>
<ItemText>ttt</ItemText>
</Ww>
+ <Ww>
+ <count>24</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>pwtag.remain_time</ItemText>
+ </Ww>
+ <Ww>
+ <count>25</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>pwtag</ItemText>
+ </Ww>
+ <Ww>
+ <count>26</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>status_reg</ItemText>
+ </Ww>
+ <Ww>
+ <count>27</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>Ra</ItemText>
+ </Ww>
+ <Ww>
+ <count>28</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>Rb</ItemText>
+ </Ww>
+ <Ww>
+ <count>29</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>Da</ItemText>
+ </Ww>
+ <Ww>
+ <count>30</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>Db</ItemText>
+ </Ww>
+ <Ww>
+ <count>31</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>resp_rx_ts,0x0A</ItemText>
+ </Ww>
+ <Ww>
+ <count>32</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>poll_tx_ts,0x0A</ItemText>
+ </Ww>
+ <Ww>
+ <count>33</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>goodtimes,0x0A</ItemText>
+ </Ww>
+ <Ww>
+ <count>34</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>errortimes,0x0A</ItemText>
+ </Ww>
</WatchWindow1>
<MemoryWindow1>
<Mm>
@@ -668,7 +723,7 @@
<Group>
<GroupName>STM32F1xx_StdPeriph_Driver</GroupName>
- <tvExp>0</tvExp>
+ <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/arm/startup_stm32f10x_md.s" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/arm/startup_stm32f10x_md.s"
index 74da96c..f95553e 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/arm/startup_stm32f10x_md.s"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/arm/startup_stm32f10x_md.s"
@@ -8,7 +8,7 @@
;* This module performs:
;* - Set the initial SP
;* - Set the initial PC == Reset_Handler
-;* - Set the vector table entries with the exceptions ISR address
+;* - Set the vector table entries with the exceptions ssISR address
;* - Configure the clock system
;* - Branches to __main in the C library (which eventually
;* calls main()).
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 a75e8ea..699c256 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 = {
- 5, /* Channel number. */
+ 2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
DWT_PLEN_64, /* Preamble length. */
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
@@ -31,9 +31,6 @@
uint32_t frame_seq_nb = 0, frame_seq_nb2 = 0;
static uint32_t status_reg = 0;
static uint8_t rx_buffer[100];
-static uint64_t poll_tx_ts;
-static uint64_t resp_rx_ts;
-static uint64_t final_tx_ts;
static uint64_t poll_rx_ts;
static uint64_t resp_tx_ts;
static uint64_t final_rx_ts;
@@ -101,10 +98,7 @@
void TagDistClear(void)
{
static uint16_t clear_judge_cnt;
- uint16_t i;
- if(clear_judge_cnt++>1000) //设定1S分频，每秒进一次。判断标志位大于等于2，2s没收到数据就把数据变成0xffff，不触发警报。
- {
- clear_judge_cnt=0;
+ uint16_t i;
for(i=0;i<255;i++)
{
g_flag_Taggetdist[i]++;
@@ -113,7 +107,6 @@
tagdist_list[i]=0x1ffff;
}
}
- }
}
void Dw1000_Init(void)
{
@@ -179,7 +172,7 @@
u8 g_start_sync_flag;
void SyncPoll(u8 sync_seq)
{u8 result;
- g_start_sync_flag=1; //中断模式，退出终端后，需要重新来过
+// g_start_sync_flag=1; //中断模式，退出终端后，需要重新来过
dwt_forcetrxoff(); //关闭接收，以防在RX ON 状态
@@ -193,7 +186,10 @@
while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
{ };
}
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清楚标志位
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清楚标志位
+
+ dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
+ dwt_rxenable(0);//打开接收
}
uint16_t g_Resttimer;
uint8_t result;
@@ -334,483 +330,8 @@
// min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
return min_power;
}
-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;
- 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;
- 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;
- 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
- 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] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
- {
- 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
- if(getsync_flag==0)
- {
- getsync_flag=1;
- 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(&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_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
- tag_succ_times++;
- LED0_BLINK;
-
- if(temp_dist<mindist)
- {
- memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
- tag_state=GETNEARMSG;
- trygetnearmsg_times=5;
- mindist=temp_dist;
- }
- 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
- random_delay_tim = 0;
- }
- else
- {
- random_delay_tim = DFT_RAND_DLY_TIM_MS; //如果通讯失败，将间隔时间增加5ms，避开因为多标签同时发送引起的冲突。
- }
- }
- else
- {
- 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;
- }
- tyncpoll_time=(tagslotpos-1)*slottime;
- }
- mainbase_id=minid;
-}
+
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
-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
- {
- next_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
- memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
- tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
- //tagslotpos=rx_buffer[TAGSLOTPOS];
- memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],next_nearbase_num*2);
- //slottime=ceil((nearbase_num+2)*0.4)+2;
- tyncpoll_time=tagslotpos*slottime;
- tag_state=NEARPOLL;
- }else{
- tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- }
- }else{
- tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- }
-
-}
- void NearPoll(void)
-{
- static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
- uint32_t temp1,temp2,dw_systime;
- uint32_t frame_len;
- uint32_t final_tx_time;
- u32 start_poll;
- u8 i,j,getsync_flag=0,timeout;
-// printf("%d",sync_timer);
- 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;
- GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
- if(next_nearbase_num>=MAX_NEARBASE_NUM)
- {
- next_nearbase_num = MAX_NEARBASE_NUM-1;
- }
- //nearbase_num=0;
- last_nearbase_num=next_nearbase_num;
- nearbase_num=next_nearbase_num;
- recbase_num=0;
- tx_nearpoll_msg[BATTARY_IDX] = Get_Battary();
- tx_nearpoll_msg[BUTTON_IDX] = !READ_KEY0;
- tx_nearpoll_msg[SEQUENCE_IDX] = frame_seq_nb++;
- tx_nearpoll_msg[NEARBASENUM_INDEX] = nearbase_num;
- memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
- tx_nearpoll_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
- memcpy(&tx_nearpoll_msg[ANCHOR_ID_IDX],&mainbase_id,2);
- dwt_writetxdata(13+2*nearbase_num, tx_nearpoll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(13+2*nearbase_num, 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
-
- flag_finalsend=0;
- flag_rxon=1;
- neartimout_timer=0;
- get_newbase=0;
- timeout=ceil((float)nearbase_num*SLOT_SCALE)+2;
- //timeout=5;
- mainbase_dist=100000;
- mainbase_lost_count++;
- while(neartimout_timer<timeout)
- {
- 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(flag_finalsend)
- {
- dw_systime=dwt_readsystimestamphi32();
- if(dw_systime>temp1&&dw_systime<temp2)
- {
- flag_finalsend=0;
- flag_rxon=0;
- dwt_forcetrxoff();
- dwt_setdelayedtrxtime(final_tx_time);
- result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
- #ifdef DEBUG_INF
- USART_putc(0x33);
- #endif
- break;
- }
- }
- if(neartimout_timer>timeout)
- break;
- };
- 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
- 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
- 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;
- int32_t temp_dist;
- poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
- resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
- recbase_num++;
- memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
-
- if(rec_nearbaseid==mainbase_id)
- {
- //////////////////////////////////时间同步
- temp_sync_timer2=sync_timer;
- memcpy(&temp_sync_timer1,&rx_buffer[ANCTIMEMS],2);
- memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
-
-
- if(g_com_map[DEV_ROLE]!=0)
- {
- sync_timer=temp_sync_timer1;
-//// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
-//
-
- tmp_time=tmp_time+650;
- if(tmp_time>999)
- {
- tmp_time-=999;
- sync_timer++;
- if(sync_timer>=1000)
- {sync_timer=0;}
- }
- TIM3->CNT=tmp_time;
- }
- current_slotnum=temp_sync_timer1/g_com_map[COM_INTERVAL];
-// if(tagslotpos>max_slotpos)
-// tagslotpos=tagslotpos%(max_slotpos+1);
-// tyncpoll_time=(tagslotpos-1)*slottime;
- ////////////////////////////
- #ifdef DEBUG_INF
- USART_putc(0x31);
- #endif
- rec_nearbasepos=0;
-
- memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
- mainbase_dist = temp_dist;
- if(temp_dist!=0x1ffff)
- exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
-
- mainbase_lost_count=0;
- flag_finalsend=1;
- final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+500) * UUS_TO_DWT_TIME)) >> 8;
- temp1=final_tx_time-((350*UUS_TO_DWT_TIME)>>8);
- temp2=final_tx_time+((100*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_nearfinal_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_nearfinal_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
- final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
- tx_nearfinal_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
- dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//将发送数据写入DW1000
- dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
- memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
-
- }else{
- rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
- if(rec_nearbasepos>=last_nearbase_num) //发现新的基站
- {
- get_newbase=1;
- nearbase_num++;
- nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
- memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
- }
- #ifdef DEBUG_INF
- USART_putc(0x32);
- #endif
- memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
- nearbase_distlist[rec_nearbasepos]=temp_dist;
-
- if(temp_dist!=0x1ffff)
- exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
-
- final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
- dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//将发送数据写入DW1000
- dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
- LED0_BLINK;
-// memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
-// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
- if(temp_dist!=0x1ffff)
- {
- #ifdef TAG_OUTPUT
- #ifndef USART_INTEGRATE_OUTPUT
- 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
- if(g_com_map[DEV_ROLE])
- {
- memcpy(&usart_send[5],&dev_id,2);
- memcpy(&usart_send[7],&rec_nearbaseid,2);
- }else{
- memcpy(&usart_send[5],&rec_nearbaseid,2);
- memcpy(&usart_send[7],&dev_id,2);
- }
- memcpy(&usart_send[9],&rx_buffer[DIST_IDX],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);
- #endif
- #endif
- //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
- // result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
- //dwt_writetxdata(4,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//将发送数据写入DW1000
- }
- }
- }
- }else{
- #ifdef DEBUG_INF
- printf("response包失败：%x/n",status_reg);
- #endif
- dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
- if(flag_rxon)
- {dwt_rxenable(0);
- }
- }
- }
- GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
-// 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
-// { };
-// }
-// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清楚标志位
-
- dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
- nearbase_num=recbase_num;
- j=0;
- if(exsistbase_list[0]==0)
- {
-// u8 temp_adc,random_value;
-// random_value=0;
-// for(i=0;i<8;i++)
-// {
-// temp_adc=Get_ADC_Value();
-// random_value=random_value|((temp_adc&0x01)<<i);
-// }
- tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
- tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- tag_state=GETNEARMSG;
- }
- // tyncpoll_time=0;
- next_nearbase_num=0;
- for(i=0;i<last_nearbase_num+get_newbase;i++)
- {
- if(exsistbase_list[i]>0)
- {
- next_nearbase_num++;
- true_exsistbase_list[j]=exsistbase_list[i];
- true_nearbase_idlist[j]=nearbaseid_list[i];
- true_nearbase_distlist[j++]=nearbase_distlist[i];
- exsistbase_list[i]--;
- }
- }
-
- if(recbase_num<3)
- {next_nearbase_num=next_nearbase_num;}
- last_nearbase_num = next_nearbase_num;
- for(i=0;i<last_nearbase_num-1;i++)
- {
- for(j=0;j<last_nearbase_num-1;j++)
- {
- if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
- {
- u32 temp_dist,temp_id,temp_exsis;
- temp_dist=true_nearbase_distlist[j];
- temp_id = true_nearbase_idlist[j];
- temp_exsis=true_exsistbase_list[i];
- true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
- true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
- true_exsistbase_list[j]=true_exsistbase_list[j+1];
-
- true_nearbase_distlist[j+1]=temp_dist;
- true_nearbase_idlist[j+1]=temp_id;
- true_exsistbase_list[j+1]=temp_exsis;
- }
- }
- }
-
- report_num=0;
-
- for(i=0;i<MAX_NEARBASE_NUM;i++)
- {
- nearbase_distlist[i]=0x1ffff;
- }
-
- // printf("%d,%d",temp_sync_timer2,temp_sync_timer1);
- #ifdef USART_INTEGRATE_OUTPUT
- usart_send[2] = 4;//正常模式
- usart_send[3] = report_num*6+2;//正常模式
- checksum = Checksum_u16(&usart_send[2],report_num*6+2);
- memcpy(&usart_send[4+report_num*6],&checksum,2);
- UART_PushFrame(usart_send,6+report_num*6);
- #endif
- #ifdef DEBUG_INF
- printf("序号：%d,基站数量：%d/n",(frame_seq_nb-1)&0xff,nearbase_num);
- #endif
-// if(mainbase_lost_count>5)
-// {
-// //tag_state=DISCPOLL;
-// }
-// NearAncSelect();
-// if(recbase_num<g_com_map[MIN_REPORT_ANC_NUM] )
-// {
-// anclost_times++;
-// if(anclost_times>3)
-// {
-// tagslotpos=poll_tx_ts%(max_slotpos+1);
-// }
-// }else{
-// anclost_times=0;
-// }
-dwt_forcetrxoff();
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
-}
-
-void Tag_App(void)//发送模式(TAG标签)
-{
- //LED0_ON;
- dwt_forcetrxoff();
- g_Resttimer=0;
- GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
- switch(tag_state)
- {
- case DISCPOLL:
- Poll();
- break;
- case GETNEARMSG:
- GetNearMsg();
- break;
- case NEARPOLL:
- NearPoll();
- break;
- }
-
- SetNextPollTime(tyncpoll_time);
- g_start_send_flag = 0;
- GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
-}
int8_t correction_time,new_tagid=0;
extern uint8_t sync_seq;
@@ -954,6 +475,11 @@
extern u8 remotetag_paralen;
u8 finalsend=0;
u16 signalpower_list[TAG_NUM_IN_SYS];
+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;
+u32 errortimes,goodtimes;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
@@ -1026,7 +552,7 @@
if(result==0)
{
- 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
+ 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
{ };
}else{
result++;
@@ -1044,10 +570,7 @@
}
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
@@ -1071,9 +594,9 @@
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);
+ LOS(&d1);
// time_monitor[3] = sync_timer*1000+TIM3->CNT;
/*--------------------------以下为非测距逻辑------------------------*/
//dist_cm=33000;
@@ -1087,40 +610,44 @@
g_flag_Taggetdist[taglist_pos]=0;
if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
{
+ goodtimes++;
misdist_num[taglist_pos]=0;
tagdist_list[taglist_pos] = hex_dist;
his_dist[taglist_pos]=hex_dist;
g_Tagdist[taglist_pos]=hex_dist;
signalpower_list[taglist_pos] = ((uint8_t)firstpath_power<<8)|(uint8_t)((rx_power-firstpath_power)*10);
- #ifndef USART_INTEGRATE_OUTPUT
- usart_send[2] = 1;//正常模式
- usart_send[3] = 17;//数据段长度
- usart_send[4] = frame_seq_nb2;//数据段长度
- memcpy(&usart_send[5],&tag_id_recv,2);
- memcpy(&usart_send[7],&dev_id,2);
- memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
- usart_send[13] = battary;
- usart_send[14] = button;
- usart_send[15] = firstpath_power;
- usart_send[16] = (rx_power-firstpath_power)*10;
- usart_send[17] = tag_frequency;
- usart_send[18] = tag_slotpos;
- checksum = Checksum_u16(&usart_send[2],17);
- memcpy(&usart_send[19],&checksum,2);
- // UART_PushFrame(usart_send,21);
- #else
- memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
- memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
- anc_report_num++;
- #endif
- #ifdef DEBUG_INF
- printf("序号：%d\r\n",frame_seq_nb2);
- #endif
+// #ifndef USART_INTEGRATE_OUTPUT
+// usart_send[2] = 1;//正常模式
+// usart_send[3] = 17;//数据段长度
+// usart_send[4] = frame_seq_nb2;//数据段长度
+// memcpy(&usart_send[5],&tag_id_recv,2);
+// memcpy(&usart_send[7],&dev_id,2);
+// memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
+// usart_send[13] = battary;
+// usart_send[14] = button;
+// usart_send[15] = firstpath_power;
+// usart_send[16] = (rx_power-firstpath_power)*10;
+// usart_send[17] = tag_frequency;
+// usart_send[18] = tag_slotpos;
+// checksum = Checksum_u16(&usart_send[2],17);
+// memcpy(&usart_send[19],&checksum,2);
+// // UART_PushFrame(usart_send,21);
+// #else
+// memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
+// memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
+// anc_report_num++;
+// #endif
+// #ifdef DEBUG_INF
+// printf("序号：%d\r\n",frame_seq_nb2);
+// #endif
}else{
// printf("%d",hex_dist);
misdist_num[taglist_pos]++;
}
- }
+ }else{
+ errortimes++;
+ usart_send[13] = battary;
+ }
if(rx_buffer[TAGCONFIGSUCCESS_INDEX]==1)
{
@@ -1292,7 +819,7 @@
synclost_count = 0;
flag_syncbase=0;
sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
- TIM3->CNT = (sync_seq*325%1000)-80;
+ TIM3->CNT = (sync_seq*325%1000)-27;
sync_timer = (sync_seq*325/1000);
synclost_timer=0;
if(g_com_map[BASESYNCSEQ]==2)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
index 37bc3c7..7bf29c2 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
@@ -54,6 +54,7 @@
memcpy(&g_com_map[BOARD_TYPE],boardtype,4);
//save_com_map_to_flash();
}
-
+ // g_com_map[BASESYNCSEQ] = 1;
+ //g_com_map[SYNCBASEID] = 0x9801;
}
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 175b9b4..1fcab1c 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"
@@ -96,7 +96,7 @@
#endif
OUT485_ENABLE;
ComMapCheck();
- g_com_map[VERSION] = 0x021e;
+ g_com_map[VERSION] = 0x022b;
dev_id = g_com_map[DEV_ID];
slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
max_slotpos=g_com_map[COM_INTERVAL]/slottime;
@@ -162,6 +162,12 @@
memcpy(&hbsend[14],&checksum,2);
UART_PushFrame(hbsend,16);
}
+u32 onesecondtimer;
+void OneSecondTask(void)
+{
+ TagListUpdate();
+ TagDistClear();
+}
extern u8 g_start_sync_flag,usart_send_flag,anc_report_num;
u16 heartbeat_timer=58,poll_timer;
int16_t sync_timer;
@@ -188,6 +194,11 @@
if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
HeatBeat();
}
+ if(time32_incr-onesecondtimer>=1000)
+ {
+ onesecondtimer = time32_incr;
+ OneSecondTask();
+ }
// if(flag_newsecond)
// {
// flag_newsecond=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 4684280..a60802e 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"
@@ -47,13 +47,13 @@
{
TIM_ClearITPendingBit(TIM3, TIM_IT_Update ); //??TIMx??????
// main_logic();
-// time32_incr++;
+ time32_incr++;
// heartbeat_timer++;
sync_timer++;
// neartimout_timer++;
// synclost_timer++;
// GPIO_WriteBit(GPIOA, GPIO_Pin_8, Bit_RESET);
- GPIOA->BRR = GPIO_Pin_8;
+GPIOA->BRR = GPIO_Pin_8;
if(sync_timer==10)
{
GPIOA->BSRR = GPIO_Pin_8;
@@ -74,21 +74,22 @@
flag_newsecond=1;
// 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);
-// }
-// }
+ synclost_count++;
+
+ if(g_Resttimer++>12)
+ {
+ NVIC_SystemReset();
+ }
+ 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();
-// }
+
@@ -121,7 +122,7 @@
// g_start_send_flag=1;
// }
//
- }
+
}
}
@@ -152,10 +153,10 @@
{
EXTI_ClearITPendingBit(EXTI_Line0);
- // GPIOA->BSRR = GPIO_Pin_8;
+ //GPIOA->BSRR = GPIO_Pin_8;
//if(ttt==0)
Anchor_App();
- // GPIOA->BRR = GPIO_Pin_8;
+ //GPIOA->BRR = GPIO_Pin_8;
}
}
void USART1_IRQHandler(void)
--
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