From 9e8a2b9c07fddcba3f0d2ae84c0c65f0f7f16c6a Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 27 一月 2022 20:37:12 +0800
Subject: [PATCH] 中断模式，超宽带芯片读取状态异常，没有超时标志位
---
源码/核心板/Src/main.c | 22 +
源码/核心板/MDK-ARM/Project.uvguix.zhyin | 351 ++++++++++++++++++++-----------
源码/核心板/Src/OnChipDevices/Rcc_Nvic_Systick.h | 2
源码/核心板/Src/application/modbus.c | 6
源码/核心板/Src/stm32f10x_it.c | 17 +
源码/核心板/MDK-ARM/Project.uvoptx | 97 +-------
源码/核心板/Src/ExternalDevices/dw_driver.h | 6
源码/核心板/Src/OnChipDevices/Rcc_Nvic_Systick.c | 20
源码/核心板/Src/application/global_param.h | 1
源码/核心板/Src/application/modbus.h | 2
源码/核心板/Src/application/dw_app.c | 99 ++++++--
11 files changed, 357 insertions(+), 266 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 da59d0a..90f4c80 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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<ViewName>Registers</ViewName>
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<View>
<WinId>346</WinId>
<ViewName>Code Coverage</ViewName>
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+ <TableColWidths>770 108</TableColWidths>
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<View>
<WinId>204</WinId>
<ViewName>Performance Analyzer</ViewName>
- <TableColWidths>930</TableColWidths>
+ <TableColWidths>500 139 139 100</TableColWidths>
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<WinId>1506</WinId>
<ViewName>Symbols</ViewName>
<UserString></UserString>
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<ViewName>Source Browser</ViewName>
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<showCmd>3</showCmd>
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- <Left>-6</Left>
- <Right>1541</Right>
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+ <Top>-822</Top>
+ <Left>-566</Left>
+ <Right>981</Right>
+ <Bottom>13</Bottom>
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</Buttons>
<OriginalItems>
<Len>898</Len>
@@ -3603,21 +3603,21 @@
<ActiveMDIGroup>0</ActiveMDIGroup>
<MDIGroup>
<Size>100</Size>
- <ActiveTab>1</ActiveTab>
+ <ActiveTab>11</ActiveTab>
<Doc>
<Name>..\Src\main.c</Name>
- <ColumnNumber>17</ColumnNumber>
- <TopLine>82</TopLine>
- <CurrentLine>91</CurrentLine>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>307</TopLine>
+ <CurrentLine>316</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
<Doc>
<Name>..\Src\application\dw_app.c</Name>
- <ColumnNumber>36</ColumnNumber>
- <TopLine>1016</TopLine>
- <CurrentLine>1031</CurrentLine>
+ <ColumnNumber>2</ColumnNumber>
+ <TopLine>1092</TopLine>
+ <CurrentLine>1079</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
@@ -3642,18 +3642,18 @@
</Doc>
<Doc>
<Name>..\Src\application\global_param.h</Name>
- <ColumnNumber>0</ColumnNumber>
- <TopLine>1</TopLine>
- <CurrentLine>6</CurrentLine>
+ <ColumnNumber>22</ColumnNumber>
+ <TopLine>33</TopLine>
+ <CurrentLine>55</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
<Doc>
<Name>..\Src\OnChipDevices\Rcc_Nvic_Systick.c</Name>
- <ColumnNumber>0</ColumnNumber>
- <TopLine>186</TopLine>
- <CurrentLine>209</CurrentLine>
+ <ColumnNumber>60</ColumnNumber>
+ <TopLine>111</TopLine>
+ <CurrentLine>132</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
@@ -3661,39 +3661,138 @@
<Doc>
<Name>..\Src\OnChipDevices\Usart.c</Name>
<ColumnNumber>0</ColumnNumber>
- <TopLine>1</TopLine>
- <CurrentLine>4</CurrentLine>
+ <TopLine>144</TopLine>
+ <CurrentLine>150</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
<Doc>
<Name>..\Src\application\dw_app.h</Name>
- <ColumnNumber>19</ColumnNumber>
- <TopLine>1</TopLine>
- <CurrentLine>5</CurrentLine>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>70</TopLine>
+ <CurrentLine>83</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
<Doc>
<Name>..\Src\application\modbus.c</Name>
- <ColumnNumber>60</ColumnNumber>
- <TopLine>501</TopLine>
- <CurrentLine>518</CurrentLine>
+ <ColumnNumber>29</ColumnNumber>
+ <TopLine>17</TopLine>
+ <CurrentLine>24</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
<Doc>
<Name>..\Src\application\modbus.h</Name>
- <ColumnNumber>0</ColumnNumber>
- <TopLine>4</TopLine>
+ <ColumnNumber>22</ColumnNumber>
+ <TopLine>1</TopLine>
<CurrentLine>13</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
+ <Doc>
+ <Name>..\Src\decadriver\deca_device.c</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>2910</TopLine>
+ <CurrentLine>2911</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\stm32f10x_it.c</Name>
+ <ColumnNumber>6</ColumnNumber>
+ <TopLine>95</TopLine>
+ <CurrentLine>112</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\ExternalDevices\dw_driver.c</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>47</TopLine>
+ <CurrentLine>56</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\ExternalDevices\dw_driver.h</Name>
+ <ColumnNumber>51</ColumnNumber>
+ <TopLine>1</TopLine>
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+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\OnChipDevices\Rcc_Nvic_Systick.h</Name>
+ <ColumnNumber>25</ColumnNumber>
+ <TopLine>1</TopLine>
+ <CurrentLine>7</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\ExternalDevices\led.c</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>1</TopLine>
+ <CurrentLine>3</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>227</TopLine>
+ <CurrentLine>255</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\stm32f10x.h</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>1394</TopLine>
+ <CurrentLine>1407</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\decadriver\deca_regs.h</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>249</TopLine>
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+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\decadriver\deca_device_api.h</Name>
+ <ColumnNumber>0</ColumnNumber>
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+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
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+ <Doc>
+ <Name>E:\璧勬枡\decawave\dw1000_api_rev2p14\dw1000_api_rev2p14_stsw\dw1000_api_rev2p14_stsw\Src\examples\ex_03d_tx_wait_resp_interrupts\ex_03d_main.c</Name>
+ <ColumnNumber>65</ColumnNumber>
+ <TopLine>115</TopLine>
+ <CurrentLine>119</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
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</MDIGroup>
</MDIGroups>
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 2ccb392..6d01e94 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"
@@ -150,7 +150,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>DLGTARM</Key>
- <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=-1,-1,-1,-1,0)(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=747,81,1158,476,0)(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=-1,-1,-1,-1,0)(161=-1,-1,-1,-1,0)(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=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=-1,-1,-1,-1,0)(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=747,81,1158,476,0)(122=-1,-1,-1,-1,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=346,-813,745,-468,0)(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=-1,-1,-1,-1,0)(161=-1,-1,-1,-1,0)(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>
@@ -168,127 +168,52 @@
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
- <ItemText>tyncpoll_time,0x0A</ItemText>
+ <ItemText>target_time,0x0A</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
- <ItemText>true_nearbase_distlist</ItemText>
+ <ItemText>time,0x0A</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
- <ItemText>true_nearbase_idlist</ItemText>
+ <ItemText>record_time,0x0A</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
- <ItemText>true_exsistbase_list</ItemText>
+ <ItemText>current_slotnum,0x0A</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
- <ItemText>status_reg</ItemText>
+ <ItemText>temp_sync_timer1,0x0A</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
- <ItemText>dw1000local</ItemText>
+ <ItemText>tyncpoll_time,0x0A</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
- <ItemText>rx_buffer</ItemText>
+ <ItemText>flag_syncbase</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
- <ItemText>pwtag</ItemText>
+ <ItemText>g_Resttimer,0x0A</ItemText>
</Ww>
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
- <ItemText>mUsartReceivePack</ItemText>
+ <ItemText>sync_timer,0x0A</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>
+ <ItemText>status_reg</ItemText>
</Ww>
</WatchWindow1>
<MemoryWindow1>
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 15cffba..f96ac62 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Rcc_Nvic_Systick.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Rcc_Nvic_Systick.c"
@@ -129,19 +129,19 @@
/* Enable and set EXTI Interrupt to the lowest priority */
NVIC_InitStructure.NVIC_IRQChannel = DECAIRQ_EXTI_IRQn;
- NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 15;
+ 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_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/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 bd9931b..8a69306 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"
@@ -9,7 +9,7 @@
NEARPOLL,
}tag_state=NEARPOLL;
static dwt_config_t config = {
- 2, /* Channel number. */
+ 5, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
DWT_PLEN_128, /* Preamble length. */
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
@@ -128,9 +128,8 @@
/* Configure DW1000. See NOTE 6 below. */
dwt_configure(&config);//配置DW1000
-
-
-
+ //dwt_setinterrupt(DWT_INT_TFRS | DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
+
/* Apply default antenna delay value. See NOTE 1 below. */
dwt_setrxantennadelay(RX_ANT_DLY); //设置接收天线延迟
dwt_settxantennadelay(0); //设置发射天线延迟
@@ -187,6 +186,7 @@
dwt_forcetrxoff(); //关闭接收，以防在RX ON 状态
+ tx_sync_msg[GROUP_ID_IDX] = group_id;
tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
memcpy(&tx_sync_msg[ANCHOR_ID_IDX],&sync_baseid,4);
dwt_writetxdata(sizeof(tx_sync_msg), tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
@@ -216,13 +216,13 @@
u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM];
uint8_t trygetnearmsg_times;
-u16 current_slotnum,total_slotnum,target_time,last_time;
+u16 current_slotnum,total_slotnum,target_time,last_time,record_time[10],record_i;
u32 rec_tagpos_binary;
extern uint32_t tagpos_binary;
void SetNextPollTime(u16 time)
{
current_slotnum++;
- if(current_slotnum==total_slotnum)
+ if(current_slotnum>=total_slotnum)
current_slotnum-=total_slotnum;
//time=5;
target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time);
@@ -239,7 +239,11 @@
{target_time-=1000;}
if(target_time<0)
{target_time+=1000;}
-
+record_time[record_i++]=target_time;
+ if(record_i>=10)
+ {
+ record_i=0;
+ }
}
u8 FindNearBasePos(u16 baseid)
{
@@ -422,7 +426,7 @@
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
- if(g_com_map[DEV_ROLE]!=0)
+ //if(g_com_map[DEV_ROLE]!=0)
{
sync_timer=temp_sync_timer1;
//// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
@@ -465,10 +469,10 @@
dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//将发送数据写入DW1000
dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
- if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
+ if(temp_dist!=0x1ffff)
{
g_Resttimer=0;
- IWDG_Feed();
+ IWDG_Feed();
#ifdef USART_SINGLE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
@@ -486,6 +490,7 @@
usart_send[14] = button;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
+ if(g_com_map[MODBUS_MODE]!=1)
UART_PushFrame(usart_send,21);
#endif
@@ -517,7 +522,7 @@
LED0_BLINK;
// memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
- if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
+ if(temp_dist!=0x1ffff)
{
#ifdef USART_SINGLE_OUTPUT
usart_send[2] = 1;//正常模式
@@ -536,6 +541,7 @@
usart_send[14] = button;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
+ if(g_com_map[MODBUS_MODE]!=1)
UART_PushFrame(usart_send,21);
#endif
@@ -717,6 +723,7 @@
{
//LED0_ON;
dwt_forcetrxoff();
+ dwt_setinterrupt(DWT_INT_TFRS | DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0);
GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
switch(tag_state)
{
@@ -739,7 +746,7 @@
int8_t correction_time,new_tagid=0;
extern uint8_t sync_seq;
u16 taglist_num=0,taglist_pos;
-u16 tagid_list[TAG_NUM_IN_SYS];
+u16 tagid_list[TAG_NUM_IN_SYS],tagstate_list[TAG_NUM_IN_SYS];
u8 tagofflinetime[TAG_NUM_IN_SYS];
int32_t tagdist_list[TAG_NUM_IN_SYS];
void TagListUpdate(void)
@@ -982,7 +989,7 @@
if(hex_dist>-100000&&hex_dist<2000000)
{
if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
- {
+ {u8 i=0;
g_Resttimer=0;
IWDG_Feed();
@@ -1018,15 +1025,40 @@
usart_send[16] = rx_power;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
+ if(g_com_map[MODBUS_MODE]!=1)
UART_PushFrame(usart_send,21);
+ tagstate_list[taglist_pos] = button<<8|battary;
#else
memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
anc_report_num++;
#endif
- Modbus_HoldReg[taglist_pos*4] = tag_id_recv;
- Modbus_HoldReg[taglist_pos*4+1] = button<<8|battary;
- memcpy(&Modbus_HoldReg[taglist_pos*4+2],&tagdist_list[taglist_pos],4);
+ for(i=0;i<taglist_num-1;i++)
+ {
+ if( tagdist_list[i]>tagdist_list[i+1]&&tagdist_list[i+1]!=0)
+ {
+ int32_t tempdist;
+ u16 tempid,tempstate;
+ tempdist = tagdist_list[i];
+ tempid = tagid_list[i];
+ tempstate = tagstate_list[i];
+
+ tagdist_list[i] = tagdist_list[i+1];
+ tagid_list[i] = tagid_list[i+1];
+ tagstate_list[i] = tagstate_list[i+1];
+
+ tagdist_list[i+1] = tempdist;
+ tagid_list[i+1] = tempid;
+ tagstate_list[i+1] = tempstate;
+ }
+ }
+ for(i=0;i<taglist_num;i++)
+ {
+ Modbus_HoldReg[i*4] = tagid_list[i];
+ Modbus_HoldReg[i*4+1] = tagstate_list[i];
+ memcpy(&Modbus_HoldReg[i*4+2],&tagdist_list[i],4);
+ }
+
}else{
// printf("%d",hex_dist);
misdist_num[taglist_pos]++;
@@ -1042,6 +1074,19 @@
extern u8 flag_syncbase;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
u16 ancidlist_rec[20],ancidlist_send[20],rec_ancidlist[20],rec_ancdistlist[20];
+void Anchor_Start(void)
+{
+
+dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
+ g_start_sync_flag=0;
+dwt_setinterrupt(DWT_INT_TFRS | DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
+ dwt_setrxtimeout(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();
+// };
+}
void Anchor_App(void)
{
@@ -1049,17 +1094,19 @@
u16 tempid;
uint32_t rec_syncid;
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
- g_start_sync_flag=0;
+// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
+// g_start_sync_flag=0;
- dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
- dwt_rxenable(0);//打开接收
-// GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
- while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误
- {
-
- IdleTask();
- };
+// dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
+// dwt_rxenable(0);//打开接收
+//// GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
+// while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误
+// {
+//
+// IdleTask();
+// };
+ dwt_setinterrupt(DWT_INT_TFRS | DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0);
+ status_reg = dwt_read32bitreg(SYS_STATUS_ID);
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
if (status_reg & SYS_STATUS_RXFCG)//成功接收
{ u16 tag_recv_interval;
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 56bfade7..96b3349 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
@@ -27,6 +27,7 @@
#define ALARM_DISTANCE3 0xC //小于多少距离报警
#define PAIR_ID 0xD //小于多少距离报警
#define HEARTBEAT 0xE
+#define MODBUS_MODE 0xF //MOBUS模式
#define MODBUS_ADDRESS 0x10
#define MODBUS_ID1 0x11
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/modbus.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/modbus.c"
index 0fd9167..6f05845 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/modbus.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/modbus.c"
@@ -26,7 +26,7 @@
void Modbus_RegMap(void)
{
u16 i;
- RS485_Addr=g_com_map[DEV_ID];
+// RS485_Addr=g_com_map[DEV_ID];
for(i=0;i<MODBUS_SIZE;i++)
{
Modbus_HoldReg[i]=i;
@@ -513,7 +513,7 @@
RS485_TX_BUFF[2]=RegNum*2;
for(i=0;i<RegNum;i++)
{
- if(i<100)
+ if(startRegAddr<100)
{
RS485_TX_BUFF[3+i*2]=(Modbus_HoldReg[startRegAddr+i]>>8)&0xFF;// /////////先发送高字节--在发送低字节
RS485_TX_BUFF[4+i*2]=(Modbus_HoldReg[startRegAddr+i])&0xFF; //
@@ -545,7 +545,7 @@
{
if(startRegAddr<600)
{
- memcpy(&g_com_map[startRegAddr-100],&RS485_RX_BUFF[4],2);
+ g_com_map[startRegAddr-100]=RS485_RX_BUFF[4]<<8|RS485_RX_BUFF[5];
}
}else{
Modbus_HoldReg[startRegAddr]=RS485_RX_BUFF[4]<<8;//高字节在前 ////////修改为高字节在前，低字节在后
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/modbus.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/modbus.h"
index 4a02159..d264843 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/modbus.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/modbus.h"
@@ -10,7 +10,7 @@
#define RS485_TX_ON GPIO_WriteBit(RS485_TX_GPIO, RS485_TX_PIN, Bit_SET)
#define RS485_TX_OFF GPIO_WriteBit(RS485_TX_GPIO, RS485_TX_PIN, Bit_RESET)
-#define MODBUS_SIZE 200
+#define MODBUS_SIZE 1300
#define WAITDELAYCOUNT 1500 //剩余1位数据等待次数
extern u8 RS485_Addr;
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 b592840..960746b 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
@@ -46,7 +46,7 @@
RCC_Configuration();
//SystemInit();
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
- Nvic_Init();
+
// Systick_Init();
TIM3_Int_Init();
Led_Init();
@@ -55,8 +55,9 @@
Uart1_Init();
Spi_Init();
ADC_Configuration();
- IWDG_Config(IWDG_Prescaler_128 ,4095); //10s
- IWDG_Feed();
+ //IWDG_Config(IWDG_Prescaler_128 ,4095); //10s
+ Nvic_Init();
+ IWDG_Feed();
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
}
u8 anchor_type;
@@ -99,6 +100,7 @@
if(dist_threshold>15000)
{dist_threshold = 15000;}
}
+extern u8 needanchorrx;
u16 JDQ_time;
int16_t g_commap_antdelay;
void Program_Init(void)
@@ -109,6 +111,7 @@
parameter_init();
//deca_sleep(1000);
HeartBeatInit();
+ Modbus_RegMap();
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
// g_com_map[DEV_ID]=1;
@@ -168,11 +171,12 @@
if(g_com_map[DEV_ROLE])
{
+ needanchorrx = 0;
printf("标签ID: %d .\r\n",dev_id);
printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
}else{
-
+ needanchorrx = 1;
anchor_type = dev_id%g_com_map[MAX_REPORT_ANC_NUM];
printf("基站ID: %x .\r\n",dev_id);
printf("基站类型: %c .\r\n",anchor_type+0x41);
@@ -305,7 +309,7 @@
}
}
-
+
int main(void)
{
@@ -329,11 +333,13 @@
{
g_start_send_flag = 0;
Tag_App();
+ needanchorrx = 1;
}
IdleTask();
-if(g_com_map[DEV_ROLE]==0)
- Anchor_App();
-
+if(g_com_map[DEV_ROLE]==0&&needanchorrx==1)
+ {needanchorrx = 0;
+ Anchor_Start();
+ }
}
}
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 58eb6ef..a13ead0 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 +41,7 @@
u8 neartimout_timer=0,flag_syncbase=0,flag_newsecond=0;
extern u16 tyncpoll_time,target_time;
extern uint32_t synclost_timer,current_syncid;
+u8 needanchorrx=1;
void TIM3_IRQHandler(void) //TIM3??
{
if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) //??TIM3????????
@@ -67,7 +68,7 @@
if(g_Resttimer++>10000)
{
- NVIC_SystemReset();
+ // NVIC_SystemReset();
}
@@ -107,7 +108,8 @@
{
current_syncid = g_com_map[DEV_ID];
sync_seq=0;
- SyncPoll(sync_seq,current_syncid);
+ // SyncPoll(sync_seq,current_syncid);
+ // needanchorrx = 1;
}
}
}else{ //标签同步处理
@@ -141,7 +143,18 @@
}
}
+u32 status_reg;
+void EXTI0_IRQHandler(void)
+{
+ if(EXTI_GetITStatus(EXTI_Line0)!= RESET)
+ {
+ status_reg = dwt_read32bitreg(SYS_STATUS_ID);
+ EXTI_ClearITPendingBit(EXTI_Line0);
+ Anchor_App();
+ needanchorrx = 1;
+ }
+}
void USART1_IRQHandler(void)
{
if(USART_GetITStatus(EXT_UART, USART_IT_RXNE) != RESET)//?????????
--
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