V2.46 增加标签坐标下发，串口测试不丢包，待网线测试，波特率115200

zhyinch

2022-02-09 55c26cb52436d5c82f1602114bb38057832ef25b

V2.46 增加标签坐标下发，串口测试不丢包，待网线测试，波特率115200

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

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        <PaneID>0</PaneID>
@@ -3777,9 +3777,9 @@
      </Doc>
      <Doc>
        <Name>..\Src\application\serial_at_cmd_app.h</Name>
        <ColumnNumber>26</ColumnNumber>
        <ColumnNumber>42</ColumnNumber>
        <TopLine>1</TopLine>
        <CurrentLine>9</CurrentLine>
        <CurrentLine>17</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>

 Ô´Âë/ºËÐÄ°å/MDK-ARM/Project.uvoptx

@@ -103,7 +103,7 @@
        <bEvRecOn>1</bEvRecOn>
        <bSchkAxf>0</bSchkAxf>
        <bTchkAxf>0</bTchkAxf>
        <nTsel>3</nTsel>
        <nTsel>4</nTsel>
        <sDll></sDll>
        <sDllPa></sDllPa>
        <sDlgDll></sDlgDll>
@@ -114,7 +114,7 @@
        <tDlgDll></tDlgDll>
        <tDlgPa></tDlgPa>
        <tIfile></tIfile>
        <pMon>BIN\CMSIS_AGDI.dll</pMon>
        <pMon>Segger\JL2CM3.dll</pMon>
      </DebugOpt>
      <TargetDriverDllRegistry>
        <SetRegEntry>
@@ -155,7 +155,7 @@
        <SetRegEntry>
          <Number>0</Number>
          <Key>DLGTARM</Key>
          <Name>(1010=-1,-1,-1,-1,0)(1007=108,145,295,420,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=18,3,664,676,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=767,133,1188,538,0)(121=1005,0,1426,405,0)(122=-1,-1,-1,-1,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=-268,-746,131,-401,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=-1,-1,-1,-1,0)(131=-1,-1,-1,-1,0)(132=150,26,744,720,0)(133=-1,-1,-1,-1,0)(160=475,231,923,645,0)(161=167,212,615,626,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=677,0,1280,634,0)(151=-1,-1,-1,-1,0)</Name>
          <Name>(1010=-1,-1,-1,-1,0)(1007=108,145,295,420,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=18,3,664,676,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=767,133,1188,538,0)(121=1005,0,1426,405,0)(122=-1,-1,-1,-1,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=0,0,399,345,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=-1,-1,-1,-1,0)(131=-1,-1,-1,-1,0)(132=150,26,744,720,0)(133=-1,-1,-1,-1,0)(160=475,231,923,645,0)(161=167,212,615,626,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=677,0,1280,634,0)(151=-1,-1,-1,-1,0)</Name>
        </SetRegEntry>
        <SetRegEntry>
          <Number>0</Number>

 Ô´Âë/ºËÐÄ°å/Src/OnChipDevices/Usart.h

@@ -25,7 +25,7 @@
    #define EU_TX_GPIO                GPIOA
#endif

#define    EXUART_BAUD_RADE        921600
#define    EXUART_BAUD_RADE        115200

#define EUART_RX_DMA_CH             DMA1_Channel5
#define EUART_TX_DMA_CH            DMA1_Channel4

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -480,6 +480,7 @@
double Ra, Rb, Da, Db;
int64_t tof_dtu;
u32 errortimes,goodtimes;
u8 tagpossend_flag;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
{
    
@@ -496,7 +497,13 @@
            dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
            dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
            //dwt_readdiagnostics(&d1);
			
                                    if(tagpos[taglist_pos].tagid==tag_id_recv)
            {
                memcpy(&tx_nearresp_msg[TAGPOS_INDEX],&tagpos[taglist_pos],16);
                tagpossend_flag = 1;
            }else{
                tagpossend_flag = 0;
            }
            if(new_tagid)
            {
                tagdist_list[taglist_pos]=0x1ffff;    
@@ -536,8 +543,8 @@
                if(finalsend == 0)
                {
                    memcpy(&tx_nearresp_msg[MAXRANGE_DISTANCE],&g_com_map[MAXRANGDIST_INDEX],2);
                        dwt_writetxdata(28, tx_nearresp_msg, 0);//写入发送数据
                        dwt_writetxfctrl(28, 0);//设定发送长度
                        dwt_writetxdata(28+tagpossend_flag*16, tx_nearresp_msg, 0);//д????????
                        dwt_writetxfctrl(28+tagpossend_flag*16, 0);//?څ???????
                }
                    
//             if(remotesend_state&&tag_id_recv==configremotetagID)
@@ -617,21 +624,21 @@
                    g_Tagdist[taglist_pos]=hex_dist;    
                    signalpower_list[taglist_pos] = ((uint8_t)firstpath_power<<8)|(uint8_t)((rx_power-firstpath_power)*10);
//                #ifndef USART_INTEGRATE_OUTPUT
//                    usart_send[2] = 1;//正常模式 
//                    usart_send[3] = 17;//数据段长度
//                    usart_send[4] = frame_seq_nb2;//数据段长度
//                    memcpy(&usart_send[5],&tag_id_recv,2);
//                    memcpy(&usart_send[7],&dev_id,2);				
//                    memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
//                    usart_send[13] = battary;
//                    usart_send[14] = button;
//                    usart_send[15] = firstpath_power;
//                    usart_send[16] = (rx_power-firstpath_power)*10;
//                    usart_send[17] = tag_frequency;
//                    usart_send[18] = tag_slotpos;
//                    checksum = Checksum_u16(&usart_send[2],17);
//                    memcpy(&usart_send[19],&checksum,2);
//                //    UART_PushFrame(usart_send,21);
                    usart_send[2] = 1;//正常模式 
                    usart_send[3] = 17;//数据段长度
                    usart_send[4] = frame_seq_nb2;//数据段长度
                    memcpy(&usart_send[5],&tag_id_recv,2);
                    memcpy(&usart_send[7],&dev_id,2);				
                    memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
                    usart_send[13] = battary;
                    usart_send[14] = button;
                    usart_send[15] = firstpath_power;
                    usart_send[16] = (rx_power-firstpath_power)*10;
                    usart_send[17] = tag_frequency;
                    usart_send[18] = tag_slotpos;
                    checksum = Checksum_u16(&usart_send[2],17);
                    memcpy(&usart_send[19],&checksum,2);
                    UART_PushFrame(usart_send,21);
//                #else        
//                    memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
//                    memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
@@ -935,7 +942,7 @@
                    
                    checksum = Checksum_u16(&usart_send[2],23+8*rec_nearbase_num);
                    memcpy(&usart_send[25+8*rec_nearbase_num],&checksum,2);
                    UART_PushFrame(usart_send,27+8*rec_nearbase_num);
                //    UART_PushFrame(usart_send,27+8*rec_nearbase_num);
//                    UART_CheckSend();
                    
                    timm++;

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.h

@@ -99,7 +99,7 @@
#define REMOTEPARA_INDEX            22
#define MAXRANGE_DISTANCE           22
#define ANC_SIGNALPOWER             24

#define TAGPOS_INDEX      26
#define TAGSLOTPOS                        7
//Final
#define TAGCONFIGSUCCESS_INDEX 7
@@ -157,4 +157,5 @@
void TagListUpdate(void);
void SyncPoll(u8 sync_seq);
u8 GetRandomSlotPos(uint32_t emptyslot);
u16 CmpTagInList(u16 tagid);
#endif

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

@@ -9,6 +9,7 @@
#define MSG_WTAG  6
#define MSG_PWTAG 8
#define MSG_REGTAGRESPONSE 0x0b
#define MSG_TAGPOS 0x0D

#define CMD_READ    1
#define CMD_WRITE    2
@@ -79,6 +80,8 @@
u8 remotesend_state=0;
uint16_t configremotetagID,rec_times1,rec_times2;
struct regtag_structure regtag_map;
extern u16 taglist_pos;
struct tagpos_structure tagpos[50];
void UsartParseDataHandler(uint8_t data)
{
    static UsartRecvPackState usart_receive_state = UsartReceiveWaitHead0;
@@ -100,6 +103,7 @@
        {
            switch(pack_msgtype)
            {
                uint16_t serial_tag_id_recv;
                case MSG_RW:
                         pack_cmd = mUsartReceivePack[0];
                         pack_index = mUsartReceivePack[1];
@@ -172,6 +176,13 @@
                    memcpy(&regtag_map.tag_frequency[regtag_map.index],&mUsartReceivePack[2],2);
                    memcpy(&regtag_map.tag_slotpos[regtag_map.index],&mUsartReceivePack[4],2);
                    break;
                 case MSG_TAGPOS:             
                    memcpy(&serial_tag_id_recv,&mUsartReceivePack[0],2);
                    taglist_pos=CmpTagInList(serial_tag_id_recv);
                    tagpos[taglist_pos].tagid = serial_tag_id_recv;
                    memcpy(&tagpos[taglist_pos].baoxu,&mUsartReceivePack[2],2);
                    memcpy(&tagpos[taglist_pos].pos,&mUsartReceivePack[4],12);
                    break;
        }
            SendConfigConfirm(pack_msgtype,pack_length);
        }

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

@@ -7,6 +7,14 @@
#define MAX_FRAME_LEN        50
#define PWTAG_MAXGROUPNUM  20
#define MAX_REGTAGNUM  100
struct tagpos_structure
{

     uint16_t tagid,baoxu;
     int32_t pos[3];

};
extern struct tagpos_structure tagpos[50];
void UsartParseDataHandler(uint8_t data);
struct pwtag_structure
{

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -96,7 +96,7 @@
#endif
    OUT485_ENABLE;
    ComMapCheck();
    g_com_map[VERSION] = 0x022c;	
    g_com_map[VERSION] = (2<<8)|46;	
    dev_id = g_com_map[DEV_ID];
    slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
    max_slotpos=g_com_map[COM_INTERVAL]/slottime;