增加CRC文件

yincheng.zhong

2023-01-11 bbda93c707809c7d2dc3eab268b1f2e5f538eb86

 Src/application/dw_app.c

@@ -29,8 +29,9 @@
#include <stdio.h>
#include "beep.h"
#include "modbus.h"
#include "CRC.h"

#define USART_INTEGRATE_OUTPUT
//#define USART_INTEGRATE_OUTPUT
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -78,7 +79,7 @@
   NEARPOLL,
}tag_state=NEARPOLL;
static dwt_config_t config = {
   2,               /* Channel number. */
   5,               /* Channel number. */
   DWT_PRF_64M,     /* Pulse repetition frequency. */
   DWT_PLEN_128,    /* Preamble length. */
   DWT_PAC8,        /* Preamble acquisition chunk size. Used in RX only. */
@@ -296,6 +297,7 @@
u32 rec_tagpos_binary;
int16_t offset=2700;
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
extern u16 last_lpcount;
void NearPoll(void)
{
   
@@ -336,7 +338,7 @@
   flag_getresponse=0;
   start_count=HAL_LPTIM_ReadCounter(&hlptim1);
   recbase_num=0;
   timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
   timeout=nearbase_num*SLOT_SCALE+4;
   end_count=start_count+(timeout<<5);
   if(end_count>=32768)
   {end_count-=32768;}
@@ -383,6 +385,12 @@
                        resp_rx_ts = get_rx_timestamp_u64();                              //获得RESPONSE接收时间T4   
                        recbase_num++;
                        memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
                                rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
                                if(rec_remotepara_state==1)
                                {   
                                    para_update = 1;
                                    memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
                                }
                        if(last_nearbase_num==0)
                        {
                           get_newbase=1;
@@ -416,7 +424,7 @@
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                           if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
                              motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
                           rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
									
                           
                           mainbase_lost_count=0;
                           flag_finalsend=1;
@@ -446,7 +454,7 @@
                           {flag_getresponse=1;}
                           lastsync_timer=sync_timer;
                           offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
                           SetNextPollTime(tyncpoll_time);
//                           SetNextPollTime(tyncpoll_time);
//                           if(rec_remotepara_state==1)
//                           {
//                                      memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],REMOTEPARA_LEN);
@@ -498,23 +506,10 @@
         if(mainbase_lost_count>tag_frequency*BASELOST_STOPMOTOR_TIME)
         {motor_state=0; }
            dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
         nearbase_num=recbase_num;
            j=0;
         if(exsistbase_list[0]==0)
         {
//          u8 temp_adc,random_value;
//            random_value=0;
//            for(i=0;i<8;i++)
//            {
//               temp_adc=Get_ADC_Value();
//               random_value=random_value|((temp_adc&0x01)<<i);
//            }
            tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;	
            SetNextPollTime(tyncpoll_time);
         }
            nearbase_num=recbase_num;
      //   tyncpoll_time=0;
         next_nearbase_num=0;
            j = 0;
         for(i=0;i<last_nearbase_num+get_newbase;i++)
         {
            if(exsistbase_list[i]>0)
@@ -526,10 +521,11 @@
               exsistbase_list[i]--;
            }
         }

         if(recbase_num<3)
         {next_nearbase_num=next_nearbase_num;}
               last_nearbase_num = next_nearbase_num;
            if(mainbase_lost_count>1&&exsistbase_list[0] != 0)
         {
                last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
         }
            last_nearbase_num = next_nearbase_num;
         for(i=0;i<last_nearbase_num-1;i++)
         {
            for(j=0;j<last_nearbase_num-1;j++)
@@ -578,8 +574,36 @@
            nearbase_distlist[i]=0x1ffff;
         }
   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);

//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
if(para_update)
    {   
        uint16_t calCRC;
        calCRC = CRC_Compute(rec_remotepara,5);
        if(memcmp(&calCRC,&rec_remotepara[5],2)==0)
        {   uint8_t pack_msgtype,pack_index,pack_length;
            pack_msgtype = rec_remotepara[0];
            pack_index = rec_remotepara[1];
            pack_length = rec_remotepara[2];
            if(pack_msgtype==2)
            {
                if( pack_index == 1)//MOTOR_ONTIME_INDEX)
                {
               
               //     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();
                    }
                }
            }
        }
    }
}
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
void GetNearMsg(void)
@@ -659,4 +683,5 @@
         break;
   }
   dwt_entersleep();
    bat_percent=Get_VDDVlotage();
}