From a6e5c60a9ec30574bf7c3d584046444b15f8680f Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 10 二月 2022 16:29:20 +0800
Subject: [PATCH] V1.61 修改成中断模式，测试不丢包。
---
源码/核心板/Src/application/dw_app.c | 51 +++++++++++++++++++++++++++++++++++----------------
1 files changed, 35 insertions(+), 16 deletions(-)
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 8a69306..5b14703 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 = {
- 5, /* Channel number. */
+ 2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
DWT_PLEN_128, /* Preamble length. */
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
@@ -128,7 +128,7 @@
/* 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);
+ 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
@@ -182,7 +182,7 @@
u8 g_start_sync_flag;
void SyncPoll(u8 sync_seq,uint32_t sync_baseid)
{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
@@ -198,6 +198,10 @@
{ };
}
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清楚标志位
+ // 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
}
uint16_t g_Resttimer;
uint8_t result;
@@ -741,6 +745,10 @@
SetNextPollTime(tyncpoll_time);
g_start_send_flag = 0;
GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
+ 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
}
int8_t correction_time,new_tagid=0;
@@ -870,6 +878,8 @@
// min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
return min_power;
}
+u8 testt[100],testt2[100],testt3[100],testt4[100],testt6[100],ti;
+u16 testt5[100];
u16 smallcar_idlist[10]={0x4052,0x4032,0x4055,0x4034,0x4016,0x4010,0x4036,0x4027,0x4024,0x4047};
extern u16 dist_threshold;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
@@ -924,11 +934,11 @@
dwt_writetxfctrl(22, 0);//设定发送长度
}
result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
-
+testt2[ti]=frame_seq_nb2;
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++;
@@ -936,7 +946,7 @@
if (status_reg & SYS_STATUS_RXFCG)//接收成功
{
-
+ testt3[ti]=frame_seq_nb2;
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//数据长度
dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
@@ -985,7 +995,8 @@
}
g_flag_Taggetdist[taglist_pos]=0;
-
+ testt4[ti]=frame_seq_nb2;
+ testt5[ti] = hex_dist/10;
if(hex_dist>-100000&&hex_dist<2000000)
{
if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
@@ -1027,6 +1038,8 @@
memcpy(&usart_send[19],&checksum,2);
if(g_com_map[MODBUS_MODE]!=1)
UART_PushFrame(usart_send,21);
+ //USART_puts(usart_send,21);
+ testt6[ti]=frame_seq_nb2;
tagstate_list[taglist_pos] = button<<8|battary;
#else
memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
@@ -1080,13 +1093,14 @@
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_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
dwt_rxenable(0);//打开接收
// while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误
// {
// //IdleTask();
// };
}
+
void Anchor_App(void)
{
@@ -1105,14 +1119,13 @@
//
// 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);
+ 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);
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
if (status_reg & SYS_STATUS_RXFCG)//成功接收
{ u16 tag_recv_interval;
float temp_tagpos;
-
-
+
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;
@@ -1171,10 +1184,13 @@
case NEAR_POLL:
frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
+ testt[ti++]=frame_seq_nb2;
+ if(ti>100)
+ ti=0;
battary = rx_buffer[BATTARY_IDX];
button = rx_buffer[BUTTON_IDX];
rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
- memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
+ memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
memcpy(&rec_ancidlist,&rx_buffer[NEARBASEID_INDEX],2*rec_nearbase_num);
memcpy(&rec_ancdistlist,&rx_buffer[NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+nearbase_num*4],2);
@@ -1198,8 +1214,7 @@
if(taglist_pos==taglist_num)
{
taglist_pos=taglist_num;
- tagid_list[taglist_num++]=tag_id_recv;
-
+ tagid_list[taglist_num++]=tag_id_recv;
new_tagid=1;
}else{
new_tagid=0;
@@ -1234,9 +1249,13 @@
break;
}
- }else{
+ }
+}else{
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
}
--
Gitblit v1.9.3