未完成

zhyinch

2021-11-10 1cfdce04c6fc1f67e3b5538b0bc90e0c77a71765

未完成

 Ô´Âë/ºËÐÄ°å/MDK-ARM/Project.uvguix.zhyin

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@@ -0,0 +1,1905 @@
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      </ToolBar>
      <ControlBarsSummary>
        <Bars>0</Bars>
        <ScreenCX>1536</ScreenCX>
        <ScreenCY>864</ScreenCY>
      </ControlBarsSummary>
    </ViewEx>
  </WinLayoutEx>

  <MDIGroups>
    <Orientation>1</Orientation>
    <ActiveMDIGroup>0</ActiveMDIGroup>
    <MDIGroup>
      <Size>100</Size>
      <ActiveTab>0</ActiveTab>
      <Doc>
        <Name>..\Src\application\dw_app.c</Name>
        <ColumnNumber>54</ColumnNumber>
        <TopLine>1127</TopLine>
        <CurrentLine>1141</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\application\serial_at_cmd_app.c</Name>
        <ColumnNumber>17</ColumnNumber>
        <TopLine>129</TopLine>
        <CurrentLine>152</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
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        <Name>..\Src\stm32f10x_it.c</Name>
        <ColumnNumber>13</ColumnNumber>
        <TopLine>37</TopLine>
        <CurrentLine>50</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
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        <Name>..\Src\application\dw_app.h</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>96</TopLine>
        <CurrentLine>106</CurrentLine>
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        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
    </MDIGroup>
  </MDIGroups>

</ProjectGui>

 Ô´Âë/ºËÐÄ°å/MDK-ARM/Project.uvoptx

@@ -103,7 +103,7 @@
        <bEvRecOn>1</bEvRecOn>
        <bSchkAxf>0</bSchkAxf>
        <bTchkAxf>0</bTchkAxf>
        <nTsel>6</nTsel>
        <nTsel>4</nTsel>
        <sDll></sDll>
        <sDllPa></sDllPa>
        <sDlgDll></sDlgDll>

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -315,11 +315,23 @@
    }
return max_slotpos-1;
}
void OutputUserData(u16 devid,u8* addr,u8 len)
{
                usart_send[2] = 0x11;//正常模式
                usart_send[3] = len+4;//数据段长度
                memcpy(&usart_send[4],&devid,2);
                memcpy(&usart_send[6],addr,len);
                checksum = Checksum_u16(&usart_send[2],len+4);
                memcpy(&usart_send[len+6],&checksum,2);
                UART_PushFrame(usart_send,len+8);
}
u8 test=0;
u8 anclost_times=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
u16 temp_sync_timer1,temp_sync_timer2;

extern u8 userdata[50];
u8 tagrec_userdata[20],tagrec_datalen;
extern u32 getuserdata_tick;
 void NearPoll(void)
{
    static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
@@ -348,8 +360,15 @@
    memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
    tx_nearpoll_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;    
    memcpy(&tx_nearpoll_msg[ANCHOR_ID_IDX],&mainbase_id,2);    
    dwt_writetxdata(13+2*nearbase_num, tx_nearpoll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
    dwt_writetxfctrl(13+2*nearbase_num, 0);//设置超宽带发送数据长度
	
    if(time32_incr-getuserdata_tick<500)
    {memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*2],userdata,USERDATA_LEN+1);	
    }else{
        userdata[0] = 0;
    }
	
    dwt_writetxdata(14+userdata[0]+2*nearbase_num, tx_nearpoll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
    dwt_writetxfctrl(14+userdata[0]+2*nearbase_num, 0);//设置超宽带发送数据长度
    dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
    
    flag_finalsend=0;
@@ -437,6 +456,12 @@
                                    rec_nearbasepos=0;
                                    
                                    memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                                tagrec_datalen = rx_buffer[RT_USERDATA_INDEX];
                                if(tagrec_datalen==USERDATA_LEN)
                                {
                                    memcpy(tagrec_userdata,&rx_buffer[RT_USERDATA_INDEX],tagrec_datalen+1);
                                    OutputUserData(rec_nearbaseid,tagrec_userdata,tagrec_datalen);									
                                }
                                    nearbase_distlist[rec_nearbasepos]=temp_dist;
                                if(temp_dist!=0x1ffff)
                                    exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
@@ -495,6 +520,12 @@
                                    }
                                    
                                    memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                                    tagrec_datalen = rx_buffer[RT_USERDATA_INDEX];
                                    if(tagrec_datalen==USERDATA_LEN)
                                    {
                                        memcpy(tagrec_userdata,&rx_buffer[RT_USERDATA_INDEX],tagrec_datalen+1);
                                        OutputUserData(rec_nearbaseid,tagrec_userdata,tagrec_datalen);									
                                    }
                                    nearbase_distlist[rec_nearbasepos]=temp_dist;
                                    
                                    if(temp_dist!=0x1ffff)
@@ -890,14 +921,21 @@
            tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
            tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
            tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
				
            if(remotesend_state)
            {
                 memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
                dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//写入发送数据
                dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度        
            }else{
            dwt_writetxdata(22, tx_nearresp_msg, 0);//写入发送数据
            dwt_writetxfctrl(22, 0);//设定发送长度
				
            if(time32_incr-getuserdata_tick<500)
            {    memcpy(&tx_nearresp_msg[RT_USERDATA_INDEX],userdata,USERDATA_LEN+1);
            }else{
                userdata[0] = 0;
            }
            dwt_writetxdata(22+userdata[0]+1, tx_nearresp_msg, 0);//写入发送数据
            dwt_writetxfctrl(22+userdata[0]+1, 0);//设定发送长度
            }
            result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收

@@ -1083,7 +1121,7 @@
                }
                break;
        
            case NEAR_POLL:						
            case NEAR_POLL:				
                memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
            if(tag_id_recv>=g_com_map[WHITELIST1_START]&&tag_id_recv<=g_com_map[WHITELIST1_END])
            {break;}
@@ -1101,7 +1139,12 @@
            temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
                tagpos_rec[(u8)temp_tagpos]=1;
                rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
			
                tagrec_datalen = rx_buffer[NEARBASENUM_INDEX+rec_nearbase_num*2];
                if(tagrec_datalen==USERDATA_LEN)
                {
                    memcpy(tagrec_userdata,&rx_buffer[NEARBASENUM_INDEX+rec_nearbase_num*2],tagrec_datalen+1);
                    OutputUserData(tag_id_recv,tagrec_userdata,tagrec_datalen);									
                }	
                if(rec_nearbase_num>ancidlist_num)
                    {
                        ancidlist_num=rec_nearbase_num;

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.h

@@ -19,7 +19,7 @@
#include "beep.h"
#include <math.h>
#include "TrackingDiff.h"
//#define USART_INTEGRATE_OUTPUT
#define USART_INTEGRATE_OUTPUT


//#define NEWBOARD
@@ -27,7 +27,7 @@
#define HEX_OUTPUT

#define MAX_NEARBASE_NUM 12

#define USERDATA_LEN 4
#define REPOET_ANC_NUM 1
#define REPOET_ANC_NUM_MIN 1
#define TAG_ID_START         0// 0x00980000
@@ -89,7 +89,7 @@
#define MAINBASE_INDEX        18
#define MOTORSTATE_INDEX      19
#define REMOTEPARA_INDEX      20

#define RT_USERDATA_INDEX     20
#define TAGSLOTPOS                        7
//Final
#define FINAL_MSG_POLL_TX_TS_IDX 10

 Ô´Âë/ºËÐÄ°å/Src/application/serial_at_cmd_app.c

@@ -5,8 +5,9 @@
#include "dw_app.h"
#include "RTC.h"

#define MSG_RW         3
#define MSG_WTAG  6
#define MSG_RW                     3
#define MSG_USERDATA         0x10
#define MSG_WTAG              6

#define CMD_READ    1
#define CMD_WRITE    2
@@ -20,8 +21,8 @@
                UsartReceiveWaitIndex,
                UsartReceiveWaitDataLen,
                UsartReceiveWaitData,
                UsartReceiveWaitChecksum0,
                UsartReceiveWaitChecksum1
                UsartReceiveWaitChecksum,
			
}UsartRecvPackState;

uint8_t mUsartReceivePack[100] = {0};
@@ -62,92 +63,114 @@
    
    UART_PushFrame(send_frame, data_length+9);    
}
u8 remotetag_para[30];
u8 remotetag_para[30],remotetag_paralen,userdata_len,userdata[50];
u8 remotesend_state=0;
u16 rec_checksum;
uint16_t configremotetagID;
u32 getuserdata_tick;
void UsartParseDataHandler(uint8_t data)
{
    static UsartRecvPackState usart_receive_state = UsartReceiveWaitHead0;
    uint16_t checksum = 0;
    static uint8_t pack_datalen = 0,pack_length = 0,pack_index = 0,pack_msgtype = 0,pack_cmd = CMD_READ;
    static uint8_t index = 0;

    uint8_t i;

    
    if(usart_receive_state == UsartReceiveWaitChecksum1) {            //若收到校验和包.
    if(usart_receive_state == UsartReceiveWaitChecksum) {            //若收到校验和包
        checksum = 0;
        for(int i = 0; i<pack_length-5; i++) { 
        for(int i = 0; i<pack_length-2; i++) { 
            checksum += mUsartReceivePack[i];
        }
        checksum += pack_cmd;
        checksum += pack_length;
        checksum += pack_index;
        checksum += pack_datalen;
        checksum += pack_msgtype;
        checksum = ~checksum;
        rec_checksum = rec_checksum|(data<<8);
        if(rec_checksum == checksum)                //校验通过
        checksum += pack_length;

        if(((data + checksum)&0xff) == 0xFF)                //校验通过
        {
            switch(pack_msgtype)
            {
                case MSG_RW:
                         pack_cmd = mUsartReceivePack[0];
                         pack_index = mUsartReceivePack[1];
                         pack_datalen = mUsartReceivePack[2];
                    switch(pack_cmd)
                    {
                        case CMD_WRITE:
                            //从mUsartReceivePack中读取pack_length长度的字节，放到全局变量中
                            memcpy((uint8_t*)&g_com_map + pack_index, mUsartReceivePack, pack_datalen);
                            memcpy((uint8_t*)&g_com_map + pack_index, &mUsartReceivePack[3], pack_datalen);
                         //   memcpy((uint8_t*)&g_com_map2 + pack_index, &mUsartReceivePack[3], pack_datalen);
                            //返回一个error状态
                            //SendComMap(pack_datalen,pack_index);
                        SendConfigConfirm(pack_msgtype,pack_length);
                            if(pack_index==CNT_RESTART*2)
                            {
                               
                                SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader  
                            }
                            if(pack_index==CNT_UPDATE*2)
                            {
                                uint32_t result = 0;
                                u16 tmp = 0xAAAA;
                                
                                __disable_irq();
                                result = FLASH_Prepare(0x8004A38, 2);
                                if(result)
                                    result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2); 
                                __enable_irq();
                                printf("进入升级模式\r\n");
                                //delay_ms(100);
                                SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
                            }
                            save_com_map_to_flash();
                            SendConfigConfirm(pack_msgtype,pack_length);
                            delay_ms(500);
                            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
                            delay_ms(100);
                            NVIC_SystemReset();
                            break;
                        case CMD_READ:
                            //read包中data字节，即mUsartReceivePack[0]表示数据长度；
                        //从g_com_data结构体中的第index位置读取长度为mUsartReceivePack[0]的字节，发送出来
                      
                            SendComMap(pack_datalen,pack_index);        
                            break;
                        default:
                            break;
                    }
                    break;
                    case MSG_WTAG:
                    remotesend_state++;
                    if(remotesend_state>14)
                        remotesend_state=1;
                    memcpy(remotetag_para,mUsartReceivePack,REMOTEPARA_LEN);
                case MSG_WTAG:    //修改标签参数
                    remotesend_state=1;
                    memcpy(&configremotetagID,&mUsartReceivePack[0],2);
                    //configremotetagID = pack_cmd|pack_index<<8;
                    //remotetag_para[0] = mUsartReceivePack[2];
                    remotetag_paralen = mUsartReceivePack[4]+3;
                    memcpy(&remotetag_para[1],&mUsartReceivePack[3],remotetag_paralen);
                    break;
                case MSG_USERDATA:	
                    userdata_len = mUsartReceivePack[0];
                if(userdata_len==USERDATA_LEN)
                {
                    memcpy(userdata,&mUsartReceivePack[0],USERDATA_LEN+1);
                    getuserdata_tick = time32_incr;
                    SendConfigConfirm(pack_msgtype,pack_length);
                }
                    break;

		
        }
        }
    }
        usart_receive_state = UsartReceiveWaitHead0;
        pack_index = 0;
        pack_length = 0;
        index=0;
    } else if((usart_receive_state == UsartReceiveWaitChecksum0) ) {	
            rec_checksum = data;
        usart_receive_state = UsartReceiveWaitChecksum1;
    }else if((usart_receive_state == UsartReceiveWaitData) ) {    //若果收到的是正常通讯包
    } else if(usart_receive_state == UsartReceiveWaitData)  {    //若果收到的是正常通讯包
        mUsartReceivePack[index] = data;
        index++;
        if(index == pack_length-5) {        //如果收到的index与长度相等
            usart_receive_state = UsartReceiveWaitChecksum0;
        if(index == pack_length-2) {        //如果收到的index与长度相等
            usart_receive_state = UsartReceiveWaitChecksum;
        }
    } else if(usart_receive_state == UsartReceiveWaitDataLen) {                        //收到指令类型字节
        pack_datalen = data;
        usart_receive_state = UsartReceiveWaitData;
    }else if(usart_receive_state == UsartReceiveWaitIndex) {                        //收到指令类型字节
        pack_index = data;
        usart_receive_state = UsartReceiveWaitDataLen;
    } else if(usart_receive_state == UsartReceiveWaitCMD) {                            //收到指令类型字节
        pack_cmd = data;
        usart_receive_state = UsartReceiveWaitIndex;
    } else if(usart_receive_state == UsartReceiveWaitLength) {                        //收到长度字节
        
            pack_length = data;
            pack_index = 0;            
            usart_receive_state = UsartReceiveWaitCMD;
            usart_receive_state = UsartReceiveWaitData;
        
    } else if((usart_receive_state == UsartReceiveWaitHead0) && (data == 0x55)) {    //收到第一个包头
        usart_receive_state = UsartReceiveWaitHead1;