From c20b80fe9dfe72220649bf1d85550e9f3ebc9549 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期日, 05 九月 2021 20:27:46 +0800
Subject: [PATCH] 增加中断接收模式，未测试。

---
 源码/核心板/Src/main.c                           |  123 ++++++++------
 源码/核心板/Src/OnChipDevices/Rcc_Nvic_Systick.h |    2 
 源码/核心板/Src/stm32f10x_it.c                   |   54 ++----
 源码/核心板/MDK-ARM/Project.uvoptx               |   28 --
 源码/核心板/Src/ExternalDevices/dw_driver.h      |    6 
 源码/核心板/Src/OnChipDevices/Rcc_Nvic_Systick.c |   15 -
 源码/核心板/Src/decadriver/deca_device.c         |    2 
 源码/核心板/MDK-ARM/Project.uvguix.Administrator |  197 ++++++++++++-----------
 源码/核心板/Src/application/dw_app.c             |   39 +++-
 9 files changed, 238 insertions(+), 228 deletions(-)

diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
index 296f748..f082bb9 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
@@ -20,12 +20,12 @@
     <View>
       <WinId>346</WinId>
       <ViewName>Code Coverage</ViewName>
-      <TableColWidths>679 100</TableColWidths>
+      <TableColWidths>679 484</TableColWidths>
     </View>
     <View>
       <WinId>204</WinId>
       <ViewName>Performance Analyzer</ViewName>
-      <TableColWidths>401 139 139 100</TableColWidths>
+      <TableColWidths>785 139 139 100</TableColWidths>
     </View>
   </SECTreeCtrl>
 
@@ -101,17 +101,17 @@
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       </MaxPosition>
       <NormalPosition>
-        <Top>203</Top>
-        <Left>106</Left>
-        <Right>1542</Right>
-        <Bottom>830</Bottom>
+        <Top>-914</Top>
+        <Left>209</Left>
+        <Right>1645</Right>
+        <Bottom>-287</Bottom>
       </NormalPosition>
     </WindowPosition>
     <MDIClientArea>
       <RegID>0</RegID>
       <MDITabState>
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+          <Len>2906</Len>
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         </Buttons>
         <OriginalItems>
           <Len>1423</Len>
@@ -3603,12 +3603,12 @@
     <ActiveMDIGroup>0</ActiveMDIGroup>
     <MDIGroup>
       <Size>100</Size>
-      <ActiveTab>6</ActiveTab>
+      <ActiveTab>1</ActiveTab>
       <Doc>
         <Name>..\Src\main.c</Name>
-        <ColumnNumber>0</ColumnNumber>
-        <TopLine>218</TopLine>
-        <CurrentLine>224</CurrentLine>
+        <ColumnNumber>9</ColumnNumber>
+        <TopLine>228</TopLine>
+        <CurrentLine>264</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
@@ -3616,8 +3616,8 @@
       <Doc>
         <Name>..\Src\application\dw_app.c</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>112</TopLine>
-        <CurrentLine>118</CurrentLine>
+        <TopLine>1136</TopLine>
+        <CurrentLine>1150</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
@@ -3625,7 +3625,7 @@
       <Doc>
         <Name>..\Src\application\global_param.c</Name>
         <ColumnNumber>26</ColumnNumber>
-        <TopLine>19</TopLine>
+        <TopLine>14</TopLine>
         <CurrentLine>52</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
@@ -3633,9 +3633,9 @@
       </Doc>
       <Doc>
         <Name>..\Src\application\global_param.h</Name>
-        <ColumnNumber>57</ColumnNumber>
+        <ColumnNumber>15</ColumnNumber>
         <TopLine>14</TopLine>
-        <CurrentLine>26</CurrentLine>
+        <CurrentLine>27</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
@@ -3651,18 +3651,18 @@
       </Doc>
       <Doc>
         <Name>..\Src\stm32f10x_it.c</Name>
-        <ColumnNumber>0</ColumnNumber>
-        <TopLine>60</TopLine>
-        <CurrentLine>89</CurrentLine>
+        <ColumnNumber>3</ColumnNumber>
+        <TopLine>106</TopLine>
+        <CurrentLine>126</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
         <Name>..\Src\decadriver\deca_device.c</Name>
-        <ColumnNumber>0</ColumnNumber>
-        <TopLine>132</TopLine>
-        <CurrentLine>138</CurrentLine>
+        <ColumnNumber>7</ColumnNumber>
+        <TopLine>126</TopLine>
+        <CurrentLine>153</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
@@ -3670,7 +3670,7 @@
       <Doc>
         <Name>..\Src\OnChipDevices\Spi.c</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>143</TopLine>
+        <TopLine>128</TopLine>
         <CurrentLine>161</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
@@ -3679,8 +3679,8 @@
       <Doc>
         <Name>..\Src\OnChipDevices\Usart.c</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>270</TopLine>
-        <CurrentLine>280</CurrentLine>
+        <TopLine>69</TopLine>
+        <CurrentLine>70</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
@@ -3705,9 +3705,9 @@
       </Doc>
       <Doc>
         <Name>..\Src\OnChipDevices\Rcc_Nvic_Systick.c</Name>
-        <ColumnNumber>22</ColumnNumber>
-        <TopLine>174</TopLine>
-        <CurrentLine>198</CurrentLine>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>113</TopLine>
+        <CurrentLine>124</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
@@ -3724,7 +3724,7 @@
       <Doc>
         <Name>..\Src\application\beep_logic_app.c</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>11</TopLine>
+        <TopLine>15</TopLine>
         <CurrentLine>31</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
@@ -3733,7 +3733,7 @@
       <Doc>
         <Name>..\Src\OnChipDevices\Usart.h</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>19</TopLine>
+        <TopLine>14</TopLine>
         <CurrentLine>56</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
@@ -3778,7 +3778,7 @@
       <Doc>
         <Name>..\Src\ExternalDevices\dw_driver.c</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>7</TopLine>
+        <TopLine>25</TopLine>
         <CurrentLine>26</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
@@ -3787,7 +3787,7 @@
       <Doc>
         <Name>..\Src\ExternalDevices\dps368_test.c</Name>
         <ColumnNumber>15</ColumnNumber>
-        <TopLine>70</TopLine>
+        <TopLine>65</TopLine>
         <CurrentLine>105</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
@@ -3814,7 +3814,7 @@
       <Doc>
         <Name>..\Src\Libraries\STM32F10x_StdPeriph_Driver\inc\stm32f10x_gpio.h</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>70</TopLine>
+        <TopLine>74</TopLine>
         <CurrentLine>90</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
@@ -3823,7 +3823,7 @@
       <Doc>
         <Name>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_gpio.c</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>301</TopLine>
+        <TopLine>304</TopLine>
         <CurrentLine>320</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
@@ -3841,7 +3841,7 @@
       <Doc>
         <Name>..\Src\ExternalDevices\dps310.h</Name>
         <ColumnNumber>30</ColumnNumber>
-        <TopLine>302</TopLine>
+        <TopLine>297</TopLine>
         <CurrentLine>340</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
@@ -3851,7 +3851,7 @@
         <Name>..\Src\OnChipDevices\Rcc_Nvic_Systick.h</Name>
         <ColumnNumber>0</ColumnNumber>
         <TopLine>1</TopLine>
-        <CurrentLine>12</CurrentLine>
+        <CurrentLine>7</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
@@ -3865,6 +3865,15 @@
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
+      <Doc>
+        <Name>..\Src\ExternalDevices\dw_driver.h</Name>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>1</TopLine>
+        <CurrentLine>14</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
     </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 5544e57..22774fa 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"
@@ -130,7 +130,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
-          <Name>d</Name>
+          <Name></Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -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=767,133,1188,538,1)(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=105,-943,504,-598,0)(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>
@@ -167,34 +167,18 @@
         <Bp>
           <Number>0</Number>
           <Type>0</Type>
-          <LineNumber>138</LineNumber>
+          <LineNumber>123</LineNumber>
           <EnabledFlag>1</EnabledFlag>
-          <Address>134265440</Address>
+          <Address>134242210</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\decadriver\deca_device.c</Filename>
+          <Filename>E:\GIT\UWB_SmallModule\濠ф劗鐖淺Src\stm32f10x_it.c</Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\UWB_Projects\../Src/decadriver/deca_device.c\138</Expression>
-        </Bp>
-        <Bp>
-          <Number>1</Number>
-          <Type>0</Type>
-          <LineNumber>136</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>134265422</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\decadriver\deca_device.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>\\UWB_Projects\../Src/decadriver/deca_device.c\136</Expression>
+          <Expression>\\UWB_Projects\../Src/stm32f10x_it.c\123</Expression>
         </Bp>
       </Breakpoint>
       <WatchWindow1>
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..7077a09 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 +129,16 @@
 	
 	/* 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 = 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 bce3bdd..6a49fef 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"
@@ -130,7 +130,7 @@
     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(TX_ANT_DLY);		//设置发射天线延迟
@@ -1059,7 +1059,7 @@
 					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
@@ -1072,7 +1072,7 @@
 					dwt_readdiagnostics(&d1);
 //					time_monitor[2] = sync_timer*1000+TIM3->CNT;	
 					LOS(&d1);		
-					time_monitor[3] = sync_timer*1000+TIM3->CNT;					
+//					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);		
@@ -1147,6 +1147,18 @@
 u16 recnearbaselist_id[30];
 int32_t recnearbaselist_dist[30];
 int16_t rec_tagheight;
+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();
+//	};
+}
 void Anchor_App(void)
 {
 	
@@ -1154,21 +1166,22 @@
 	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();
+//	};
+    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;
-	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
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 9929e5e..bfa47dc 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"
@@ -135,7 +135,7 @@
     {
 			 dw1000local.deviceID =  dwt_readdevid() ;
     }
-status_reg = dwt_read32bitreg(SYS_STATUS_ID);
+    status_reg = dwt_read32bitreg(SYS_STATUS_ID);
     _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
 		status_reg = dwt_read32bitreg(SYS_STATUS_ID);
 		if(module_power>67)
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 f9ef281..267da8e 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;
@@ -124,7 +125,7 @@
 	for(i=0;i<255;i++)
 	{
 		g_Tagdist[i]=0x1ffff;
-        IdleTask();
+       
 	}
     
 }
@@ -173,57 +174,71 @@
 	UART_CheckSend();
     UART2_CheckReceive();
  
-    if( memcmp(g_com_map2,g_com_map,COM_MAP_SIZE)!=0)
-    {
-        SendAnchorState(SM_MAPERROR);
-        	delay_ms(100);
-			SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
-    }
-	if(heartbeat_timer>1000)
-	{
-		heartbeat_timer=0;
-		if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
-		HeatBeat();
-	}
-//	if(flag_newsecond)
-//	{
-//	  flag_newsecond=0;
-//		tagpos_binary=0;
-//		memcpy(ancidlist_send,ancidlist_rec,ancidlist_num*2);
-//		ancidlist_num=0;
-//		for(u8 i=0;i<max_slotpos;i++)
-//		{
-//			if(tagpos_rec[i])
-//				tagpos_binary|=1<<i;
-//			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   
-		}
+//	#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
+
 
 	}
+u32 secondtimer;
+void OneSecondTask(void)
+{
+    if(time32_incr-secondtimer>1000)
+    {
+            uint8_t i;
+            secondtimer = time32_incr;
+			for(i=0;i<MAX_REGTAGNUM;i++)
+			{
+				if(regtag_map.remain_time[i]>0)
+				{
+					regtag_map.remain_time[i]--;
+				}
+			}
+			if(pwtag.remain_time>0)
+			{pwtag.remain_time--;}
+			flag_newsecond=1;
+	//	GPIO_WriteBit(GPIOA, GPIO_Pin_8, Bit_SET);	
+			synclost_count++;
+		  TagListUpdate();
+       
+        
+        if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0&&(heartbeat_timer++>60))
+        {
+            heartbeat_timer = 0;
+            HeatBeat();
+        }
+        if( memcmp(g_com_map2,g_com_map,COM_MAP_SIZE)!=0)
+        {
+                SendAnchorState(SM_MAPERROR);
+                delay_ms(100);
+                SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
+        }
+      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)
 {
  
 	Device_Init();
 	Program_Init();
-	Dw1000_Init();
+	//Dw1000_Init();
     BarInit();
     delay_ms(10);	
 	Dw1000_App_Init();
@@ -236,16 +251,18 @@
   //SendComMap(50, 0);
 	while(1)
 	{
-	g_start_sync_flag=0;
-	if(g_start_send_flag)
-	{
-		g_start_send_flag = 0;		
-		Tag_App();
-	}
+//	g_start_sync_flag=0;
+//	if(g_start_send_flag)
+//	{
+//		g_start_send_flag = 0;		
+//		Tag_App();
+//	}
+//    OneSecondTask();
 		IdleTask();		
-if(g_com_map[DEV_ROLE]!=1)
-		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 25f52ea..7012592 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"
@@ -46,29 +46,16 @@
 	if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET)  //??TIM3????????
 		{
 		TIM_ClearITPendingBit(TIM3, TIM_IT_Update  );  //??TIMx?????? 
-	main_logic();		
+	//main_logic();		
 	time32_incr++;
-	heartbeat_timer++;
 	sync_timer++;	
 	neartimout_timer++;
-	synclost_timer++;		
-	GPIO_WriteBit(GPIOA, GPIO_Pin_8, Bit_RESET);			
+		
+	//GPIO_WriteBit(GPIOA, GPIO_Pin_8, Bit_RESET);			
 	if(sync_timer>=1000)
-		{uint8_t i;
-			for(i=0;i<MAX_REGTAGNUM;i++)
-			{
-				if(regtag_map.remain_time[i]>0)
-				{
-					regtag_map.remain_time[i]--;
-				}
-			}
-			if(pwtag.remain_time>0)
-			{pwtag.remain_time--;}
-			flag_newsecond=1;
-		GPIO_WriteBit(GPIOA, GPIO_Pin_8, Bit_SET);	
-			sync_timer=0;
-			synclost_count++;
-		  TagListUpdate();
+		{
+            sync_timer=0;
+            
 			if(g_com_map[BASESYNCSEQ]==1)  //本模块是同步基站
 			{
 				synclost_count = 0;
@@ -76,16 +63,12 @@
 				sync_seq=0;
 					SyncPoll(sync_seq);
 			}
-		}
-		
-	if(g_Resttimer++>12000)
-	{
-		NVIC_SystemReset();
-	}
+            if(g_Resttimer++>12)
+            {
+                NVIC_SystemReset();
+            }
+		}		
 
-
-
-	
 	if(!g_com_map[DEV_ROLE])  //基站
 	{
 		tag_recv_timer++;
@@ -96,8 +79,7 @@
 			{
 			g_start_send_flag=1;
 			}
-		}
-		
+		}		
 		#ifdef USART_INTEGRATE_OUTPUT
 		if(sync_timer%g_com_map[COM_INTERVAL]==0)
 		{
@@ -122,7 +104,6 @@
 void SysTick_Handler(void)
 {
 	
-
 }
 
 /** 
@@ -136,7 +117,16 @@
 
   }   
 }
-
+u8 needanchorrx=1;
+void EXTI0_IRQHandler(void)
+{
+  if(EXTI_GetITStatus(EXTI_Line0)!= RESET)  
+  {  
+    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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