2

yincheng.zhong

2023-01-04 2aa6f092e2003c3c5d421f3d09f9a7907f89cac4

 Src/application/dw_app.c

@@ -29,7 +29,7 @@
#include <stdio.h>
#include "beep.h"
#include "modbus.h"

#include "CRC.h"
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -800,7 +800,7 @@
uint16_t rec_ancpos;
uint8_t dist_noutenough_count;
uint8_t ancdist_hist[11];

uint16_t calCRC;
void NearPoll(void)
{
   
@@ -1098,29 +1098,33 @@
         }   

         if(para_update)
         {
			
            pack_msgtype = rec_remotepara[0];
            pack_index = rec_remotepara[1];
            pack_length = rec_remotepara[2];
            if(pack_msgtype==2)
            {
               if( pack_index == MOTOR_ONTIME_INDEX)
               {
                       // if(motor_keeptime==0)
                            motor_keeptime = rec_remotepara[3];
               }else{
                        if(pack_index<200)
         {   
               
                calCRC = CRC_Compute(rec_remotepara,5);
                if(memcmp(&calCRC,&rec_remotepara[5],2)==0)
                {
                    pack_msgtype = rec_remotepara[0];
                    pack_index = rec_remotepara[1];
                    pack_length = rec_remotepara[2];
                    if(pack_msgtype==2)
                    {
                        if( pack_index == MOTOR_ONTIME_INDEX)
                        {
                            memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
                            //返回一个error状态
                            //SendComMap(pack_datalen,pack_index);
                            save_com_map_to_flash();
                            delay_ms(100);
                            NVIC_SystemReset();
                           // if(motor_keeptime==0)
                                motor_keeptime = rec_remotepara[3];
                        }else{
                            if(pack_index<200)
                            {
                                memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
                                //返回一个error状态
                                //SendComMap(pack_datalen,pack_index);
                                save_com_map_to_flash();
                                delay_ms(100);
                                NVIC_SystemReset();
                            }
                        }
               }
            }
                    }
                }
         }
            if(get_newdist>=2)
            {