static void App_TaskStart(void *p_arg)
{
volatile uint32_t status;
int8u bufp[7] = {0xc4,0x01,0x01,0x00,0x00,0x00,0x55};
uint8_t *ptr;
uint8_t err;
(void) p_arg;
//系统滴答安装
OS_CPU_SysTickInit();
//初始化信号量
app_eventcreate();
//初始化其他任务
app_taskcreate();
//初始化基础硬件
BSP_Init();
dw1000_init();
{
dwtconf temp;
temp.config.chan = 3;
temp.config.prf = DWT_PRF_16M;
temp.config.txPreambLength = DWT_PLEN_256;
temp.config.rxPAC = DWT_PAC16;
temp.config.rxCode = 5;
temp.config.txCode = 5;
temp.config.nsSFD = 1;
temp.config.dataRate = DWT_BR_850K;
temp.config.smartPowerEn = 0;
temp.config.phrMode = 0;
temp.mode = LOCA_LISTENER;
dw1000_config(&temp);
}
dwt_rxenable(0);
USBD_Init(&USB_OTG_dev,
USB_OTG_FS_CORE_ID,
&USR_desc,
&USBD_CDC_cb,
&USR_cb);
//dw1000_intenable();
//发送log
//Shell_SendDatas(strlen(logstr), logstr);
//改变自己优先级 变为工作指示灯
//OSTaskDel(OS_PRIO_SELF);
OSTaskChangePrio(OS_PRIO_SELF, OS_LOWEST_PRIO - 4);
while(TURE)
{
// OSTimeDlyHMSM(0, 0, 0, 10);
//dwt_writetxdata(127,msg,0);
//dwt_writetxfctrl(127,0);
//dwt_starttx(DWT_START_TX_IMMEDIATE);
// bufp[1] ++;
//status = dwt_read32bitreg(SYS_STATUS_ID);
ptr = OSQPend(qmsg, 0, &err);
if (err == OS_ERR_NONE)
{
VCP_fops.pIf_DataTx(ptr+1, ptr[0]);
free(ptr);
}
}
}
int main(void)
{
/*
* System initializations.
* - HAL initialization, this also initializes the configured
* device drivers and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread
* and the RTOS is active.
*/
halInit();
chSysInit();
// enable usb
usbstartup();
//enable debug print thread
vInitDebugPrint((BaseSequentialStream *) &SDU1);
palClearPad(GPIOA, GPIOA_PIN0);
chThdSleepMilliseconds(20000);
palSetPad(GPIOA, GPIOA_PIN0);
//enable interrupt
extStart(&EXTD1, &extcfg);
// start thread to be activated by interrupt.
start_thd();
bool sender = false;
if(palReadPad(GPIOC, GPIOC_PIN5) == PAL_HIGH){
sender = true;
}
uint8_t rxbuf[4];
dw1000_conf_t config;
if(sender){
config.shortaddr.u16 = 0xFA77;
}
else{
config.shortaddr.u16 = 0xBEEF;
//config.shortaddr.u16 = 0xBEFF;
}
dw.state = UNINITIALIZED;
dw1000_euid_t euid;
euid.u64 = 1;
dw1000_generate_recommended_conf(
&default_dw1000_hal,
DW1000_DATARATE_850,
DW1000_CHANNEL_2,
euid,
&config);
dw.config = &config;
dw1000_init(&dw);
uint32_t zero = \
DW1000_EVENT_TXFRS | \
DW1000_EVENT_RXDFR | \
DW1000_EVENT_AFFREJ | \
DW1000_EVENT_RXFCE | \
DW1000_EVENT_RXPHE | \
DW1000_EVENT_LDEERR | \
DW1000_EVENT_RXRFSL | \
DW1000_EVENT_RXSFDTO | \
DW1000_EVENT_HPDWARN | \
DW1000_EVENT_TXBERR \
;
dw1000_set_interrupts(&default_dw1000_hal,zero);
dw1000_receive(&dw);
if(sender){
set_ranging_callback(calibration_cb);
palSetPad(GPIOC, GPIOC_PIN8);
}
else{
palClearPad(GPIOC, GPIOC_PIN8);
}
int per_loop =0;
uint8_t sleep =20;
while(1)
{
//palTogglePad(GPIOC, GPIOC_PIN8);
chThdSleepMilliseconds(sleep);
dw1000_shortaddr_t dst;
if(sender){
dst.u16 = 0xBEEF;
request_ranging(&dw, dst);
chThdSleepMilliseconds(sleep);
dst.u16 =0xBEFF;
request_ranging(&dw, dst);
}
dw1000_get_event_counters(&default_dw1000_hal, counter);
if (per_loop == 100){
per_loop = 0;
// printf(" PHR_ERRORS: %u \n\r", counter[PHR_ERRORS]);
// printf(" RSD_ERRORS: %u \n\r", counter[RSD_ERRORS]);
// printf(" FCS_GOOD: %u \n\r", counter[FCS_GOOD]);
// printf(" FCS_ERRORS: %u \n\r", counter[FCS_ERRORS]);
// printf(" FILTER_REJ: %u \n\r", counter[FILTER_REJECTIONS]);
// printf(" RX_OVERRUNS: %u \n\r", counter[RX_OVERRUNS]);
// printf(" SFD_TO: %u \n\r", counter[SFD_TIMEOUTS]);
// printf(" PREAMBLE_TO: %u \n\r", counter[PREAMBLE_TIMEOUTS]);
// printf(" RX_TIMEOUTS: %u \n\r", counter[RX_TIMEOUTS]);
// printf(" TX_SENT: %u \n\r", counter[TX_SENT]);
// printf(" HPWARN: %u \n\r", counter[HALF_PERIOD_WARNINGS]);
// printf(" TX_PWRUP_WARN: %u \n\r", counter[TX_PWRUP_WARNINGS]);
}
per_loop++;
}
}
