V1.15 修改同步逻辑，罗姆验证没问题

yincheng.zhong

2024-06-25 d00fd80d6dfbc216136632765a8883827219cecd

 Src/radio/Lora.c

@@ -207,19 +207,19 @@
extern uint8_t lora_sendbuffer[200];
void LoraSendComMap(uint8_t cmd)
{
   uint8_t data_length = 0x28;
   uint16_t checksum = 0;
   lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_READPARARESP;
   lora_sendbuffer[MSG_LENGTH] = data_length+9;
        uint8_t data_length = 0x50;
        uint16_t checksum = 0;
        lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_READPARARESP;
        lora_sendbuffer[MSG_LENGTH] = data_length+11;
    memcpy(&lora_sendbuffer[SOURCE_ID_IDX],&g_com_map[DEV_ID],2);
    memcpy(&lora_sendbuffer[DEST_ID_IDX],&wg_report_id,2);
   lora_sendbuffer[RP_CMD_IDX] = cmd;
   lora_sendbuffer[RP_INDEX_IDX] = 2;
   lora_sendbuffer[RP_LEN_IDX] = data_length;
   memcpy(&lora_sendbuffer[7], &g_com_map[1], data_length);
   checksum = Checksum_u16(lora_sendbuffer,9+data_length);
   memcpy(&lora_sendbuffer[9+data_length],&checksum,2);
    Radio.Send(lora_sendbuffer,data_length+11);
        lora_sendbuffer[RP_CMD_IDX] = cmd;
        lora_sendbuffer[RP_INDEX_IDX] = 2;
        lora_sendbuffer[RP_LEN_IDX] = data_length;
        memcpy(&lora_sendbuffer[9], &g_com_map[1], data_length);
        checksum = Checksum_u16(lora_sendbuffer,11+data_length);
        memcpy(&lora_sendbuffer[11+data_length],&checksum,2);
    Radio.Send(lora_sendbuffer,data_length+13);
  //  Delay_Ms(100);
}
void LoraRspWriteCommap(uint8_t index)
@@ -243,7 +243,7 @@
extern u8 lora_jianting_flag,report_ancnum;
static uint16_t delaytime = 771;
static uint16_t source_id;
uint8_t rec_index;
uint8_t rec_index,rec_secdelay;
uint16_t rec_value,rec_delaytime,rx_count,datalen_offset;
int32_t target_count;
extern uint16_t motor_keeptime;
@@ -285,13 +285,18 @@
                        current_count = HAL_LPTIM_ReadCounter(&hlptim1);
                        wg_report_freq = RX_Buffer[POLL_FREQ_IDX]+400;
                        memcpy(&rec_delaytime,&RX_Buffer[NEXTPOLL_TIME_IDX],2);
                    if(report_ancnum<2)
                    {
                        datalen_offset = report_ancnum*85;
                    }else{
                        datalen_offset = (report_ancnum-1)*46+85;
                    }
                        
                        if(report_ancnum<2)
                        {
                            datalen_offset = report_ancnum*85;
                        }else{
                            datalen_offset = (report_ancnum-1)*46+85;
                        }
                        rec_secdelay = RX_Buffer[PWTAG_SECDELAY_IDX];
                        if(BufferSize!=13||rec_secdelay>20)
                        {
                            rec_secdelay = 0;
                        }
                    
                        target_count = current_count + rec_delaytime*3.2768 - delaytime-datalen_offset;
                        while(target_count>=32768)
                            target_count-=32768;
@@ -367,11 +372,14 @@
void OnRxTimeout( void )
{
    Radio.Standby();
    current_count = HAL_LPTIM_ReadCounter(&hlptim1);
    target_count-=current_count%3276;
    while(target_count<0)
        target_count+=32768;
    __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
    if(wg_state==WG_Lost)
    {
        current_count = HAL_LPTIM_ReadCounter(&hlptim1);
        target_count-=current_count%3276;
        while(target_count<0)
            target_count+=32768;
        __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
    }
    if(lora_jianting_flag)
    {
        SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],UWB_CHANNEL_SF,0);