增加CRC文件

yincheng.zhong

2023-01-11 bbda93c707809c7d2dc3eab268b1f2e5f538eb86

 Src/application/dw_app.c

@@ -29,6 +29,7 @@
#include <stdio.h>
#include "beep.h"
#include "modbus.h"
#include "CRC.h"

//#define USART_INTEGRATE_OUTPUT
/*------------------------------------ Marcos ------------------------------------------*/
@@ -384,6 +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;
@@ -417,7 +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;
@@ -567,8 +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)