MODBUS移植完成

zhyinch

2019-11-07 92d139e68796bf902f9e387e6416ced78ad0f44c

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -27,7 +27,7 @@
#include "filters.h"
#include <stdio.h>
#include "beep.h"

#include "modbus.h"

/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
@@ -337,7 +337,7 @@
   for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
   {
   /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
   tx_poll_msg[ANC_TYPE_IDX] = i-1;
   tx_poll_msg[ANC_TYPE_IDX] = i;
      
   dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//设置超宽带发送数据长度
@@ -380,7 +380,7 @@
         poll_tx_ts = get_tx_timestamp_u64();                              //获得POLL发送时间T1
         resp_rx_ts = get_rx_timestamp_u64();                              //获得RESPONSE接收时间T4
         
         if(getsync_flag==0)
         if(getsync_flag==0&&g_com_map[DEV_ROLE])
         {
            getsync_flag=1;
         memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
@@ -425,14 +425,15 @@
               usart_send[4] = frame_seq_nb;//数据段长度
               memcpy(&usart_send[5],&dev_id,2);
               memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);
               hex_dist = anchor_dist_last_frm[0];;
               hex_dist = anchor_dist_last_frm[0]+(int16_t)g_com_map[DIST_OFFSET];
               memcpy(&usart_send[9],&hex_dist,4);
               usart_send[13] = battary;
               usart_send[14] = button;
               checksum = Checksum_u16(&usart_send[2],17);
               memcpy(&usart_send[19],&checksum,2);
               UART_PushFrame(usart_send,21);

					
               memcpy(&Modbus_HoldReg[tag_id_recv*2],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4);
         /* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
         if(result==0)
         {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
@@ -626,6 +627,8 @@
               checksum = Checksum_u16(&usart_send[2],17);
               memcpy(&usart_send[19],&checksum,2);
               UART_PushFrame(usart_send,21);
					
               memcpy(&Modbus_HoldReg[tag_id_recv*2],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4);

               
               //dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);