From d4e52e570a19bee6932b8ad34c5bd5966b1d3d3a Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 08 十一月 2021 16:45:53 +0800
Subject: [PATCH] 菲曼模组测试完成
---
源码/核心板/Src/application/global_param.c | 10
源码/核心板/Src/main.c | 33
源码/核心板/MDK-ARM/Project.uvguix.zhyin | 3691 +++++++++++++++++++++++++++++++++++++++++++++++++++++
源码/核心板/Src/stm32f10x_it.c | 2
源码/核心板/MDK-ARM/Project.uvoptx | 93
源码/核心板/Src/OnChipDevices/Usart.c | 154 -
源码/核心板/Src/OnChipDevices/Usart.h | 2
源码/核心板/Src/application/dw_app.c | 143 +
8 files changed, 3,935 insertions(+), 193 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"
new file mode 100644
index 0000000..f5f774d
--- /dev/null
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.zhyin"
@@ -0,0 +1,3691 @@
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+ </ToolBar>
+ <ControlBarsSummary>
+ <Bars>0</Bars>
+ <ScreenCX>1536</ScreenCX>
+ <ScreenCY>864</ScreenCY>
+ </ControlBarsSummary>
+ </ViewEx>
+ </WinLayoutEx>
+
+ <MDIGroups>
+ <Orientation>1</Orientation>
+ <ActiveMDIGroup>0</ActiveMDIGroup>
+ <MDIGroup>
+ <Size>100</Size>
+ <ActiveTab>8</ActiveTab>
+ <Doc>
+ <Name>..\Src\main.c</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>190</TopLine>
+ <CurrentLine>195</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\application\serial_at_cmd_app.c</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>83</TopLine>
+ <CurrentLine>84</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\OnChipDevices\Usart.h</Name>
+ <ColumnNumber>28</ColumnNumber>
+ <TopLine>20</TopLine>
+ <CurrentLine>40</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\OnChipDevices\Usart.c</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>146</TopLine>
+ <CurrentLine>159</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\stm32f10x_it.c</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>126</TopLine>
+ <CurrentLine>157</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\application\dw_app.c</Name>
+ <ColumnNumber>3</ColumnNumber>
+ <TopLine>94</TopLine>
+ <CurrentLine>103</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\OnChipDevices\Rcc_Nvic_Systick.c</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>1</TopLine>
+ <CurrentLine>1</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\application\global_param.h</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>14</TopLine>
+ <CurrentLine>22</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\application\global_param.c</Name>
+ <ColumnNumber>2</ColumnNumber>
+ <TopLine>33</TopLine>
+ <CurrentLine>56</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ </MDIGroup>
+ </MDIGroups>
+
+</ProjectGui>
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 3008c23..8b173a3 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"
@@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
- <nTsel>6</nTsel>
+ <nTsel>4</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@@ -157,9 +157,25 @@
<Bp>
<Number>0</Number>
<Type>0</Type>
- <LineNumber>376</LineNumber>
+ <LineNumber>157</LineNumber>
<EnabledFlag>1</EnabledFlag>
- <Address>134251034</Address>
+ <Address>134242078</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\stm32f10x_it.c</Filename>
+ <ExecCommand></ExecCommand>
+ <Expression>\\UWB_Projects\../Src/stm32f10x_it.c\157</Expression>
+ </Bp>
+ <Bp>
+ <Number>1</Number>
+ <Type>0</Type>
+ <LineNumber>897</LineNumber>
+ <EnabledFlag>1</EnabledFlag>
+ <Address>134244364</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
@@ -168,55 +184,23 @@
<BreakIfRCount>1</BreakIfRCount>
<Filename>E:\GIT\UWB_SmallModule\濠ф劗鐖淺Src\application\dw_app.c</Filename>
<ExecCommand></ExecCommand>
- <Expression>\\UWB_Projects\../Src/application/dw_app.c\376</Expression>
- </Bp>
- <Bp>
- <Number>1</Number>
- <Type>0</Type>
- <LineNumber>398</LineNumber>
- <EnabledFlag>1</EnabledFlag>
- <Address>0</Address>
- <ByteObject>0</ByteObject>
- <HtxType>0</HtxType>
- <ManyObjects>0</ManyObjects>
- <SizeOfObject>0</SizeOfObject>
- <BreakByAccess>0</BreakByAccess>
- <BreakIfRCount>0</BreakIfRCount>
- <Filename>..\Src\application\dw_app.c</Filename>
- <ExecCommand></ExecCommand>
- <Expression></Expression>
+ <Expression>\\UWB_Projects\../Src/application/dw_app.c\897</Expression>
</Bp>
<Bp>
<Number>2</Number>
<Type>0</Type>
- <LineNumber>405</LineNumber>
+ <LineNumber>893</LineNumber>
<EnabledFlag>1</EnabledFlag>
- <Address>0</Address>
+ <Address>134244334</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
- <BreakIfRCount>0</BreakIfRCount>
- <Filename>..\Src\application\dw_app.c</Filename>
+ <BreakIfRCount>1</BreakIfRCount>
+ <Filename>E:\GIT\UWB_SmallModule\濠ф劗鐖淺Src\application\dw_app.c</Filename>
<ExecCommand></ExecCommand>
- <Expression></Expression>
- </Bp>
- <Bp>
- <Number>3</Number>
- <Type>0</Type>
- <LineNumber>427</LineNumber>
- <EnabledFlag>1</EnabledFlag>
- <Address>0</Address>
- <ByteObject>0</ByteObject>
- <HtxType>0</HtxType>
- <ManyObjects>0</ManyObjects>
- <SizeOfObject>0</SizeOfObject>
- <BreakByAccess>0</BreakByAccess>
- <BreakIfRCount>0</BreakIfRCount>
- <Filename>..\Src\application\dw_app.c</Filename>
- <ExecCommand></ExecCommand>
- <Expression></Expression>
+ <Expression>\\UWB_Projects\../Src/application/dw_app.c\893</Expression>
</Bp>
</Breakpoint>
<WatchWindow1>
@@ -275,6 +259,31 @@
<WinNumber>1</WinNumber>
<ItemText>g_com_map</ItemText>
</Ww>
+ <Ww>
+ <count>11</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>RTCMdata,0x0A</ItemText>
+ </Ww>
+ <Ww>
+ <count>12</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>g_Resttimer,0x0A</ItemText>
+ </Ww>
+ <Ww>
+ <count>13</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>t1,0x0A</ItemText>
+ </Ww>
+ <Ww>
+ <count>14</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>gps_packlen,0x0A</ItemText>
+ </Ww>
+ <Ww>
+ <count>15</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>rec_gpsdata</ItemText>
+ </Ww>
</WatchWindow1>
<MemoryWindow1>
<Mm>
@@ -298,7 +307,7 @@
<DebugFlag>
<trace>0</trace>
<periodic>1</periodic>
- <aLwin>0</aLwin>
+ <aLwin>1</aLwin>
<aCover>0</aCover>
<aSer1>0</aSer1>
<aSer2>0</aSer2>
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Usart.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Usart.c"
index a79d9b1..fbc2616 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Usart.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Usart.c"
@@ -3,7 +3,7 @@
#include <stdio.h>
#include "modbus.h"
#include "Rcc_Nvic_Systick.h"
-
+#include "global_param.h"
//数据发送队列变量
EUART_Frame m_EUART_TxFrames[EUART_TX_FRM_SIZE]; //数据发送帧队列
volatile int8_t m_EUART_TxFrm_Tail = 0; //数据发送帧队列尾指针
@@ -124,16 +124,17 @@
UART_DMAConfiguration();
}
-u8 overrun_flag=0;
+u8 overrun_flag=0,receiveingdata_flag,gpsdataready_flag;
+u8 RTCMdata[2000];
+u32 lastusartdata_timer;
+u16 rtcm_i,gps_packlen;
u16 t1,t2,t3,t4;
+extern volatile uint32_t time32_incr;
void UART_CheckReceive(void)
{
int32_t DMACnt = 0;
int32_t MaxDataLen = EUART_RX_BUF_SIZE;
- u8 rxbuf_len = 0;
- u8 buftemp1 = 0;
- u8 buftemp2 = 0;
- u8 i = 0;
+
//如果正在往发送队列中添加数据，退出
if(m_bEUARTPushingFrms)
return;
@@ -146,127 +147,36 @@
m_bEUARTCheckingRec = 0;
return;
}
-
- DMACnt = EUART_RX_BUF_SIZE - (EUART_RX_DMA_CH->CNDTR);//DMACnt是DMA通道接收到数据总长度,CNDTR是dma剩余未使用数量
-
- if(DMACnt!=m_EUART_DMA_RXPtr)
+ if(time32_incr-lastusartdata_timer>300&&receiveingdata_flag)
{
- //DMA有未处理数据
- DMA_rxtemp=m_EUART_DMA_RXPtr+1;
- delay_us(10);
- overrun_flag=0;
- if( DMA_rxtemp >= EUART_RX_BUF_SIZE )
+ gpsdataready_flag = 1;
+ receiveingdata_flag = 0;
+ gps_packlen = rtcm_i;
+ rtcm_i = 0;
+ t1++;
+ if(g_com_map[DEV_ROLE])
{
- DMA_rxtemp = 0;
+ UWBSendOnePackData(RTCMdata,gps_packlen);
+ gpsdataready_flag = 0;
}
- DMACnt = EUART_RX_BUF_SIZE - (EUART_RX_DMA_CH->CNDTR);//DMACnt是DMA通道接收到数据总长度,CNDTR是dma剩余未使用数量
- if(DMACnt!=DMA_rxtemp&&(cmd_mode==0))
+ }
+ DMACnt = EUART_RX_BUF_SIZE - (EUART_RX_DMA_CH->CNDTR);
+ while( m_EUART_DMA_RXPtr != DMACnt && MaxDataLen > 0)
+ {
+ receiveingdata_flag = 1;
+ lastusartdata_timer = time32_incr;
+ //Usart1ParseDataCallback(m_EUART_DMA_RXBuf[m_EUART_DMA_RXPtr]);
+ RTCMdata[rtcm_i++] = m_EUART_DMA_RXBuf[m_EUART_DMA_RXPtr];
+ //delay_us(10);
+ m_EUART_DMA_RXPtr++;
+ if( m_EUART_DMA_RXPtr >= EUART_RX_BUF_SIZE )
{
- //DMA有超过2位数据未处理
- DMA_rxtemp = 0;//清空数组指针
- datadelaycount = 0;//等待次数清零
- buftemp1 = m_EUART_DMA_RXBuf[m_EUART_DMA_RXPtr];
- buftemp2 = m_EUART_DMA_RXBuf[m_EUART_DMA_RXPtr+1];
- if((buftemp1==0x55)&&(buftemp2==0xAA))
- {
- //私有协议
- cmd_mode = 1;
- }
- else if(buftemp1==RS485_Addr)
- {
- if((buftemp2==03)||(buftemp2==06)||(buftemp2==16))//功能码正确
- {
- //modubs协议
- t1++;
- cmd_mode=2;
- DMA_rxtemp2=m_EUART_DMA_RXPtr+7;
- if( DMA_rxtemp2 >= EUART_RX_BUF_SIZE-1 )
- {
- DMA_rxtemp2 -= EUART_RX_BUF_SIZE;
- overrun_flag=1;
- }
- }
- else
- {
- m_EUART_DMA_RXPtr+=2;
- if( m_EUART_DMA_RXPtr >= EUART_RX_BUF_SIZE )
- {
- m_EUART_DMA_RXPtr = 0;
- }
- }
- }
- else
- {
- //无效码，干扰码
- if(cmd_mode==0)
- {
- m_EUART_DMA_RXPtr+=2;
- if( m_EUART_DMA_RXPtr >= EUART_RX_BUF_SIZE )
- {
- m_EUART_DMA_RXPtr = 0;
- }
- }
- }
+ m_EUART_DMA_RXPtr = 0;
}
- else
- {
- //只有1位数据未处理
- if(++datadelaycount > WAITDELAYCOUNT)
- { //超出等待次数
- datadelaycount = 0;
- cmd_mode=0;
- m_EUART_DMA_RXPtr++;
- if( m_EUART_DMA_RXPtr >= EUART_RX_BUF_SIZE )
- {
- m_EUART_DMA_RXPtr = 0;
- }
- }
- }
- if(cmd_mode==1)
- {
- //私有协议
- while( m_EUART_DMA_RXPtr != DMACnt && MaxDataLen > 0)
- {
- Usart1ParseDataCallback(m_EUART_DMA_RXBuf[m_EUART_DMA_RXPtr]);
- m_EUART_DMA_RXPtr++;
- if( m_EUART_DMA_RXPtr >= EUART_RX_BUF_SIZE )
- {
- m_EUART_DMA_RXPtr = 0;
- }
- DMACnt = EUART_RX_BUF_SIZE - (EUART_RX_DMA_CH->CNDTR);
- MaxDataLen--;
- }
- }
- else if(cmd_mode==2)
- {
- //modbus协议
- delay_ms(10);//等待数据接收完成
- DMACnt = EUART_RX_BUF_SIZE - (EUART_RX_DMA_CH->CNDTR);
- if((overrun_flag==0&&DMACnt>DMA_rxtemp2)||(overrun_flag==1&&DMACnt<DMA_rxtemp&&DMACnt>DMA_rxtemp2))
- { while(m_EUART_DMA_RXPtr != DMACnt && MaxDataLen > 0)
- {
- RS485_RX_BUFF[i] = m_EUART_DMA_RXBuf[m_EUART_DMA_RXPtr];
- m_EUART_DMA_RXPtr++;
- if(++i >= EUART_RX_BUF_SIZE)i = 0;
- if( m_EUART_DMA_RXPtr >= EUART_RX_BUF_SIZE )
- {
- m_EUART_DMA_RXPtr = 0;
- }
- DMACnt = EUART_RX_BUF_SIZE - (EUART_RX_DMA_CH->CNDTR);
- MaxDataLen--;
- }
-// m_EUART_DMA_RXPtr++;//数据指向下一位
-// if( m_EUART_DMA_RXPtr >= EUART_RX_BUF_SIZE )
-// {
-// m_EUART_DMA_RXPtr = 0;
-// }
- t2++;
- RS485_Service();
- }
- }
- }
-
- m_bEUARTCheckingRec = 0;
+ DMACnt = EUART_RX_BUF_SIZE - (EUART_RX_DMA_CH->CNDTR);
+ MaxDataLen--;
+ }
+ m_bEUARTCheckingRec = 0;
}
#ifndef EXUART_USE_TXDMA
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Usart.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Usart.h"
index 9e501e6..e875b73 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Usart.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Usart.h"
@@ -36,7 +36,7 @@
#define EUART_TX_DMA_CH DMA1_Channel4
#define EUART_TX_FRM_SIZE 14 //发送队列中的最大帧数
-#define EUART_TX_FRMBUF_SIZE 200 //发送队列每帧缓存大小
+#define EUART_TX_FRMBUF_SIZE 200 //发送 队列每帧缓存大小
#define EUART_RX_BUF_SIZE 200 //接收缓存大小
#define EXT_UART USART1
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 e1f7cd1..6c4193c 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"
@@ -51,7 +51,7 @@
* frame length of approximately 2.66 ms with above configuration. */
#define RESP_RX_TO_FINAL_TX_DLY_UUS 400
/* Receive response timeout. See NOTE 5 below. */
-#define RESP_RX_TIMEOUT_UUS 600
+#define RESP_RX_TIMEOUT_UUS 9600
#define POLL_RX_TO_RESP_TX_DLY_UUS 420
/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
@@ -85,12 +85,18 @@
#define ANCTIMEUS 16
#define ANCSEND_INTERVAL 18
#define SIGNALPOWER 20
+//DATA POLL
+#define CURENTPACKNUM_IDX 7
+#define TOTALPACKNUM_IDX 8
+#define DATA_IDX 10
+
#define POLL 0x01
#define RESPONSE 0x02
#define FINAL 0x03
#define SYNC 0x04
-
+#define DATA_POLL 0x21
+#define DATA_RESPONSE 0x22
/*------------------------------------ Variables ------------------------------------------*/
/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
static dwt_config_t config = {
@@ -108,7 +114,7 @@
/* Frames used in the ranging process. See NOTE 2 below. */
static uint8_t tx_poll_msg[20] = {0};
-static uint8_t tx_sync_msg[14] = {0};
+static uint8_t tx_sync_msg[140] = {0};
//static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
static uint8_t tx_final_msg[24] = {0};
@@ -124,7 +130,7 @@
/* Buffer to store received response message.
* Its size is adjusted to longest frame that this example code is supposed to handle. */
-#define RX_BUF_LEN 24
+#define RX_BUF_LEN 224
static uint8_t rx_buffer[RX_BUF_LEN];
/* Time-stamps of frames transmission/reception, expressed in device time units.
@@ -291,6 +297,7 @@
memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 4);
memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 4);
memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 4);
+ memcpy(&tx_sync_msg[TAG_ID_IDX], &dev_id, 4);
memcpy(&tx_resp_msg[ANCSEND_INTERVAL], &g_com_map[COM_INTERVAL], 2);
}
@@ -378,14 +385,15 @@
u16 checksum;
int8_t tag_delaytime;
extern uint16_t sync_timer;
-u16 tmp_time;
+u16 tmp_time;
+u32 start_poll;
extern float dw_vbat;
extern u16 slottime,max_slotnum,current_slotpos,tyncpoll_time;
void Tag_App(void)//发送模式(TAG标签)
{
uint32_t frame_len;
uint32_t final_tx_time;
- u32 start_poll;
+
u8 i,getsync_flag=0;
u8 bat_percent;
//LED0_ON;
@@ -800,4 +808,127 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
+u8 frame_len;
+u8 rec_gpsdata[1000];
+extern u8 RTCMdata[2000];
+u16 recgpsdata_i,recdata_len;
+void UWBSendOnePackData(u8* data_addr,u8 len)
+{
+ g_Resttimer = 0;
+ LED0_BLINK;
+ g_start_sync_flag=1;
+ dwt_forcetrxoff();
+ 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);
+ tx_sync_msg[MESSAGE_TYPE_IDX]=DATA_POLL;
+ memcpy(&tx_sync_msg[DATA_IDX],data_addr,len);
+ dwt_writetxdata(len+14, tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(len+14, 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;
+ recgpsdata_i = 0;
+ while(time32_incr - start_poll<100)
+ {
+ 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(status_reg==0xffffffff)
+ {
+ NVIC_SystemReset();
+ }
+ if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
+ {
+ /* Clear good RX frame event and TX frame sent in the DW1000 status register. */
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
+
+ /* A frame has been received, read it into the local buffer. */
+ 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_rxenable(0);
+ /* Check that the frame is the expected response from the companion "DS TWR responder" example.
+ * As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
+
+ if (rx_buffer[MESSAGE_TYPE_IDX] == DATA_RESPONSE ) //判断接收到的数据是否是response数据
+ {
+ recdata_len = frame_len-14;
+ memcpy(&rec_gpsdata[recgpsdata_i],&rx_buffer[DATA_IDX],recdata_len);
+ recgpsdata_i+=recdata_len;
+ if(rx_buffer[CURENTPACKNUM_IDX]==1)
+ {
+ USART_puts(rec_gpsdata,recgpsdata_i);
+ break;
+ }
+ }
+ }
+}
+}
+extern u8 gpsdataready_flag;
+extern u16 gps_packlen;
+u8 totalpack_num,currentpack_num;
+void RecOnePackData(void)
+{
+ dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
+
+ /* Activate reception immediately. */
+ dwt_rxenable(0);//打开接收
+
+ /* Poll for reception of a frame or error/timeout. See NOTE 7 below. */
+ 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();
+ };
+
+ if (status_reg & SYS_STATUS_RXFCG)//成功接收
+ {
+ u16 tag_recv_interval,send_i=0,remain_i=0;
+ /* Clear good RX frame event in the DW1000 status register. */
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
+
+ /* A frame has been received, read it into the local buffer. */
+ frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
+ g_Resttimer = 0;
+ dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
+ if (rx_buffer[MESSAGE_TYPE_IDX] == DATA_POLL ) //判断接收到的数据是否是response数据
+ {
+ recdata_len = frame_len-14;
+ memcpy(rec_gpsdata,&rx_buffer[DATA_IDX],recdata_len);
+ if(gpsdataready_flag)
+ {
+ gpsdataready_flag = 0;
+ tx_sync_msg[MESSAGE_TYPE_IDX]=DATA_RESPONSE;
+ remain_i = gps_packlen;
+ currentpack_num = 0;
+ totalpack_num = gps_packlen/110;
+ while(remain_i>0)
+ {
+ if(remain_i>=110)
+ {
+ tx_sync_msg[CURENTPACKNUM_IDX] = 0;
+ memcpy(&tx_sync_msg[DATA_IDX],&RTCMdata[send_i],110);
+ send_i+=110;
+ remain_i-=110;
+ dwt_writetxdata(110+14, tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(110+14, 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE);
+ }else{
+ tx_sync_msg[CURENTPACKNUM_IDX] = 1;
+ memcpy(&tx_sync_msg[DATA_IDX],&RTCMdata[send_i],remain_i);
+ dwt_writetxdata(remain_i+14, tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(remain_i+14, 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE);
+ remain_i = 0;
+ }
+ delay_us(1000);
+ }
+ }
+ LED0_BLINK;
+ USART_puts(rec_gpsdata,recdata_len);
+ }
+ }else{
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ }
+
+}
\ No newline at end of file
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 0e9d664..aaebaa2 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"
@@ -49,10 +49,10 @@
void parameter_init(void)
{
FLASH_Read(FLASH_IAP_CTRL_MAP, (uint8_t*)&g_com_map, (COM_MAP_SIZE<<1));
-
-// if(g_com_map[0] != 0x55AA)
-// {
-// returnfactory_parameter();
-// }
+ if(g_com_map[0] != 0x55AA)
+ {
+ returnfactory_parameter();
+ }
+// g_com_map[DEV_ROLE] =0x1;
}
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 a1bab41..f0d9492 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"
@@ -74,6 +74,7 @@
// g_com_map[ALARM_DISTANCE1]=100;
g_com_map[FILTER_COEFFICIENT]=12;
#endif
+ //g_com_map[COM_INTERVAL]=1000;
//pUWBDistanceTrackingDiff = NewTrackingDiffClass(2, 4, 0.03);
dev_id = g_com_map[DEV_ID];
group_id=g_com_map[GROUP_ID];
@@ -203,24 +204,24 @@
Modbus_RegMap();
while(1)
{
- if(g_com_map[0] != 0x55AA)
- {
- while(1)
- IdleTask();
- }
- if(g_start_send_flag)
- {
- g_start_send_flag = 0;
- temp=dwt_readtempvbat(1);
- dw_vbat=(float)((temp&0xff)-173)/173+3.3;
- if(dw_vbat>2.8)
- Tag_App();
- }//else{
+// if(g_com_map[0] != 0x55AA)
+// {
+// while(1)
+// IdleTask();
+// }
+// if(g_start_send_flag)
+// {
+// g_start_send_flag = 0;
+// temp=dwt_readtempvbat(1);
+// dw_vbat=(float)((temp&0xff)-173)/173+3.3;
+// if(dw_vbat>2.8)
+// Tag_App();
+// }//else{
IdleTask();
-// }
-//
+//// }
+////
if(g_com_map[DEV_ROLE]==0)
- Anchor_App();
+ RecOnePackData();
}
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 d3d58d3..894aef3 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"
@@ -55,7 +55,7 @@
{tag_timer=0;}
if(g_Resttimer++>10000)
{
- NVIC_SystemReset();
+// NVIC_SystemReset();
}
--
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