V1.46增加MODBUS自动回复功能

zhyinch

2021-11-16 e3dfcf2b4eafdb5bace59d796a270f8e8d532763

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -31,7 +31,7 @@
#include "modbus.h"
//#define DEBUG_OUTPUT
#define TDFILTER
#define CONSTANT_FILTER
//#define CONSTANT_FILTER
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -384,6 +384,7 @@
u32 getdatatimer[TAGARRAY_LEN];
#define DATALOSTTIME 2000
extern float dw_vbat;
extern u8 supergroupid,modbusread_start;
extern u16 slottime,max_slotnum,current_slotpos,tyncpoll_time;
void Tag_App(void)//发送模式(TAG标签)
{
@@ -457,7 +458,7 @@
      /* 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[GROUP_ID_IDX]==0||rx_buffer[GROUP_ID_IDX] == group_id||group_id==0)&&rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据
      if ((rx_buffer[GROUP_ID_IDX]==supergroupid||rx_buffer[GROUP_ID_IDX] == group_id||group_id==supergroupid)&&rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据
      { u16 anc_id_recv,rec_com_interval;
         /* Retrieve poll transmission and response reception timestamp. */
         poll_tx_ts = get_tx_timestamp_u64();                              //获得POLL发送时间T1
@@ -479,8 +480,8 @@
         TIM3->CNT=tmp_time;
      }
         memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);        
            memcpy(&tag_distarray[i*4], &rx_buffer[DIST_IDX], 4);
            memcpy(&tag_IDarray[i*2],&rx_buffer[ANCHOR_ID_IDX],2);
            memcpy(&tag_distarray[i], &rx_buffer[DIST_IDX], 4);
            memcpy(&tag_IDarray[i],&rx_buffer[ANCHOR_ID_IDX],2);
            rec_firstpath_power = rx_buffer[SIGNALPOWER];
         memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
         memcpy(&rec_com_interval,&rx_buffer[ANCSEND_INTERVAL],  2);
@@ -541,6 +542,8 @@
               memcpy(&usart_send[19],&checksum,2);
               UART_PushFrame(usart_send,21);
               }
              Modbus_HoldReg[anc_id_recv*2]=hex_dist2>>16;
         Modbus_HoldReg[anc_id_recv*2+1]=hex_dist2;
            }
      //         memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
         /* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
@@ -580,7 +583,10 @@
   }

   /* Execute a delay between ranging exchanges. */
	
   if(modbusread_start)
   {
      Modbus_03_Solve();
   }
}

int8_t correction_time;
@@ -634,7 +640,7 @@
//         tag_recv_interval = tag_recv_timer + 65535 - tag_time_recv[tag_id_recv];
//      }
      
      if ((rx_buffer[GROUP_ID_IDX]==0||rx_buffer[GROUP_ID_IDX] == group_id||group_id==0)&&rx_buffer[MESSAGE_TYPE_IDX] == POLL&&(anchor_type == rx_buffer[ANC_TYPE_IDX])) //判断是否是poll包数据
      if ((rx_buffer[GROUP_ID_IDX]==supergroupid||rx_buffer[GROUP_ID_IDX] == group_id||group_id==supergroupid)&&rx_buffer[MESSAGE_TYPE_IDX] == POLL&&(anchor_type == rx_buffer[ANC_TYPE_IDX])) //判断是否是poll包数据
      {
         tmp_time=TIM3->CNT;
         memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2);
@@ -694,7 +700,7 @@
            /* Check that the frame is a final message sent by "DS TWR initiator" example.
             * As the sequence number field of the frame is not used in this example, it can be zeroed to ease the validation of the frame. */
         
            if ((rx_buffer[GROUP_ID_IDX]==0||rx_buffer[GROUP_ID_IDX] == group_id||group_id==0)&&rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,4)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,4)) //判断是否为Final包
            if ((rx_buffer[GROUP_ID_IDX]==supergroupid||rx_buffer[GROUP_ID_IDX] == group_id||group_id==supergroupid)&&rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,4)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,4)) //判断是否为Final包
            {
               uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
               uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
@@ -777,7 +783,7 @@
                                memcpy(&usart_send[5],&tag_id_recv,2);
                                memcpy(&usart_send[7],&ancrec_IDarray[i],2);
                                
                                memcpy(&usart_send[9],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4);
                                memcpy(&usart_send[9],&ancrec_distarray[i],4);
                                usart_send[13] = battary;
                                usart_send[14] = button;
                                usart_send[15] = firstpath_power;