修改协议内容V1.76

zhangbo

13 小时以前 e7bad2338d19ebba1a73fa3aac2d1b0c642127b0

修改协议内容V1.76

 doc/~$Ä£¿éWLM1000ʹÓÃ˵Ã÷Êé.docx

Binary files differ

 Ô´Âë/ºËÐÄ°å/MDK-ARM/Project.uvoptx

@@ -125,7 +125,7 @@
        <SetRegEntry>
          <Number>0</Number>
          <Key>DLGUARM</Key>
          <Name></Name>
          <Name>d</Name>
        </SetRegEntry>
        <SetRegEntry>
          <Number>0</Number>
@@ -158,88 +158,7 @@
          <Name>-T0</Name>
        </SetRegEntry>
      </TargetDriverDllRegistry>
      <Breakpoint>
        <Bp>
          <Number>0</Number>
          <Type>0</Type>
          <LineNumber>327</LineNumber>
          <EnabledFlag>1</EnabledFlag>
          <Address>134266338</Address>
          <ByteObject>0</ByteObject>
          <HtxType>0</HtxType>
          <ManyObjects>0</ManyObjects>
          <SizeOfObject>0</SizeOfObject>
          <BreakByAccess>0</BreakByAccess>
          <BreakIfRCount>1</BreakIfRCount>
          <Filename>D:\zhangbo\2024\Code\F103\UWB_SmallModule_F103\婧愮爜\Src\main.c</Filename>
          <ExecCommand></ExecCommand>
          <Expression>\\UWB_Projects\../Src/main.c\327</Expression>
        </Bp>
        <Bp>
          <Number>1</Number>
          <Type>0</Type>
          <LineNumber>329</LineNumber>
          <EnabledFlag>1</EnabledFlag>
          <Address>134266350</Address>
          <ByteObject>0</ByteObject>
          <HtxType>0</HtxType>
          <ManyObjects>0</ManyObjects>
          <SizeOfObject>0</SizeOfObject>
          <BreakByAccess>0</BreakByAccess>
          <BreakIfRCount>1</BreakIfRCount>
          <Filename>D:\zhangbo\2024\Code\F103\UWB_SmallModule_F103\婧愮爜\Src\main.c</Filename>
          <ExecCommand></ExecCommand>
          <Expression>\\UWB_Projects\../Src/main.c\329</Expression>
        </Bp>
        <Bp>
          <Number>2</Number>
          <Type>0</Type>
          <LineNumber>331</LineNumber>
          <EnabledFlag>1</EnabledFlag>
          <Address>134266362</Address>
          <ByteObject>0</ByteObject>
          <HtxType>0</HtxType>
          <ManyObjects>0</ManyObjects>
          <SizeOfObject>0</SizeOfObject>
          <BreakByAccess>0</BreakByAccess>
          <BreakIfRCount>1</BreakIfRCount>
          <Filename>D:\zhangbo\2024\Code\F103\UWB_SmallModule_F103\婧愮爜\Src\main.c</Filename>
          <ExecCommand></ExecCommand>
          <Expression>\\UWB_Projects\../Src/main.c\331</Expression>
        </Bp>
        <Bp>
          <Number>3</Number>
          <Type>0</Type>
          <LineNumber>333</LineNumber>
          <EnabledFlag>1</EnabledFlag>
          <Address>134266374</Address>
          <ByteObject>0</ByteObject>
          <HtxType>0</HtxType>
          <ManyObjects>0</ManyObjects>
          <SizeOfObject>0</SizeOfObject>
          <BreakByAccess>0</BreakByAccess>
          <BreakIfRCount>1</BreakIfRCount>
          <Filename>D:\zhangbo\2024\Code\F103\UWB_SmallModule_F103\婧愮爜\Src\main.c</Filename>
          <ExecCommand></ExecCommand>
          <Expression>\\UWB_Projects\../Src/main.c\333</Expression>
        </Bp>
        <Bp>
          <Number>4</Number>
          <Type>0</Type>
          <LineNumber>335</LineNumber>
          <EnabledFlag>1</EnabledFlag>
          <Address>134266386</Address>
          <ByteObject>0</ByteObject>
          <HtxType>0</HtxType>
          <ManyObjects>0</ManyObjects>
          <SizeOfObject>0</SizeOfObject>
          <BreakByAccess>0</BreakByAccess>
          <BreakIfRCount>1</BreakIfRCount>
          <Filename>D:\zhangbo\2024\Code\F103\UWB_SmallModule_F103\婧愮爜\Src\main.c</Filename>
          <ExecCommand></ExecCommand>
          <Expression>\\UWB_Projects\../Src/main.c\335</Expression>
        </Bp>
      </Breakpoint>
      <Breakpoint/>
      <WatchWindow1>
        <Ww>
          <count>0</count>
@@ -377,6 +296,23 @@
          <ItemText>min_dist,0x0A</ItemText>
        </Ww>
      </WatchWindow1>
      <WatchWindow2>
        <Ww>
          <count>0</count>
          <WinNumber>2</WinNumber>
          <ItemText>at_cmd2</ItemText>
        </Ww>
        <Ww>
          <count>1</count>
          <WinNumber>2</WinNumber>
          <ItemText>frame_id</ItemText>
        </Ww>
        <Ww>
          <count>2</count>
          <WinNumber>2</WinNumber>
          <ItemText>at_cmd3</ItemText>
        </Ww>
      </WatchWindow2>
      <MemoryWindow1>
        <Mm>
          <WinNumber>1</WinNumber>

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -465,7 +465,7 @@
                                    dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//将发送数据写入DW1000
                                    dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
                                    memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
                                IWDG_Feed();
                                    IWDG_Feed();
                                if(temp_dist!=0x1ffff)
                                    {
                                        g_Resttimer=0;
@@ -484,6 +484,7 @@
                                        checksum = Checksum_u16(&usart_send[2],17);
                                        memcpy(&usart_send[19],&checksum,2);
                                        UART_PushFrame(usart_send,21);
                                        
                                        #endif

                                    //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -530,6 +531,7 @@
                                        checksum = Checksum_u16(&usart_send[2],17);
                                        memcpy(&usart_send[19],&checksum,2);
                                        UART_PushFrame(usart_send,21);

                                        #endif

                                    //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -990,8 +992,8 @@
                        filter_dist=hex_dist/10;
                        #endif
                        misdist_num[taglist_pos]=0;
                    tagdist_list[taglist_pos] = filter_dist;	
                    his_dist[taglist_pos]=hex_dist;	
                        tagdist_list[taglist_pos] = filter_dist;	
                        his_dist[taglist_pos]=hex_dist;	
                        if(hex_dist>0)
                        {
                            g_Tagdist[taglist_pos]=hex_dist/10;    
@@ -999,22 +1001,27 @@
                        //    g_Tagdist[taglist_pos]= 1;
                        }
                #ifdef USART_SINGLE_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);			
                    if(tagdist_list[taglist_pos]<=0)
                        tagdist_list[taglist_pos]=0x2ffff;
                    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;
                    checksum = Checksum_u16(&usart_send[2],17);
                    memcpy(&usart_send[19],&checksum,2);
                    if(g_com_map[MODBUS_MODE]!=1)
                    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);			
//                    if(tagdist_list[taglist_pos]<=0)
//                        tagdist_list[taglist_pos]=0x2ffff;
//                    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;
//                    checksum = Checksum_u16(&usart_send[2],17);
//                    memcpy(&usart_send[19],&checksum,2);
//                    if(g_com_map[MODBUS_MODE]!=1)
//                    UART_PushFrame(usart_send,21);
                   memcpy(&usart_send[0],&dev_id,2);
                   memcpy(&usart_send[2],&tag_id_recv,2);
                   memcpy(&usart_send[4],&tagdist_list[taglist_pos],4);

                   UART_PushFrame(usart_send,8);
                #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);

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

@@ -46,6 +46,11 @@
        g_com_map[SPEEDFILTER_THRES]=10000;
        g_com_map[FILTER_COEFFICIENT]=40;
        g_com_map[WAR_JDQ_TIME] = 1;
        
        
        g_com_map[NEARBASE_ID1]=0x12;
        g_com_map[NEARBASE_ID2]=0x34;
        
        //memcpy(&g_com_map[BOARD_TYPE],boardtype,4);    
        save_com_map_to_flash();
        delay_ms(100);

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

@@ -32,6 +32,17 @@
#define   RELAY1_STATE_INDEX    0x10
#define   RELAY2_STATE_INDEX    0x11

#define      NEARBASE_ID1                    0x11
#define      NEARBASE_ID2                    0x12
#define      NEARBASE_ID3                    0x13
#define      NEARBASE_ID4                    0x14
#define      NEARBASE_ID5                    0x15
#define      NEARBASE_ID6                    0x16
#define      NEARBASE_ID7                    0x17
#define      NEARBASE_ID8                    0x18
#define      NEARBASE_ID9                    0x19
#define      NEARBASE_ID10                   0x1a

#define     POWER                   0x1B
#define        IMU_THRES                       0x1C
#define   NOMOVESLEEP_TIME    0x1D

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -142,7 +142,7 @@
        
    OUT485_ENABLE;
    ComMapCheck();    
    g_com_map[VERSION] = 1<<8|69;
    g_com_map[VERSION] = 1<<8|76;
    FLASH_Read(FLASH_HARDWARE_FLAG, (uint8_t*)&g_com_map[HARDWAREFLAG_INDEX], 16);
    dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]);
     if(dist_threshold<300)
@@ -169,15 +169,15 @@
    
    if(g_com_map[DEV_ROLE])
    {
    printf("标签ID: %d .\r\n",dev_id);
    printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
    printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
//    printf("标签ID: %d .\r\n",dev_id);
//    printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
//    printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
    }else{
    
    anchor_type = dev_id%g_com_map[MAX_REPORT_ANC_NUM];
    printf("基站ID: %x .\r\n",dev_id);
    printf("基站类型: %c .\r\n",anchor_type+0x41);
    printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
//    printf("基站ID: %x .\r\n",dev_id);
//    printf("基站类型: %c .\r\n",anchor_type+0x41);
//    printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
    }
    OUT485_DISABLE;
//    printf("DEVICE PAIRID: %d .\r\n",g_com_map[PAIR_ID]);
@@ -304,35 +304,58 @@
        {
                SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
        }
        g_com_map[RELAY1_STATE_INDEX] = READ_RELAY1;
        g_com_map[RELAY2_STATE_INDEX] = READ_RELAY2;
     //   g_com_map[RELAY1_STATE_INDEX] = READ_RELAY1;
    //    g_com_map[RELAY2_STATE_INDEX] = READ_RELAY2;

    }
uint8_t at_cmd[3]={0x2B,0x2B,0x2B};
uint8_t at_cmd1[2]={0x41,0x54};
char at_cmd2[20]={"AT+CAN=500,70,NDTF\r\n"};  //AT+CAN?\r\n
//uint8_t at_cmd[3]={0x2B,0x2B,0x2B};
//uint8_t at_cmd1[2]={0x41,0x54};
 
char at_cmd2[22]={"AT+CAN=500,0000,NDTF\r\n"};  //AT+CAN?\r\n
char at_cmd3[9]={"AT+CAN?\r\n"}; 
char at_cmd4[9]={"AT+EXAT\r\n"}; 
void send_to_ECAN()
{
//  UART_PushFrame(at_cmd,3);
//    
//  UART_PushFrame(at_cmd1,2);
////  delay_ms(1); 
//  UART_PushFrame((uint8_t*)at_cmd2,20);
////  delay_ms(1);   
//  UART_PushFrame((uint8_t*)at_cmd3,9);
////  delay_ms(1);   
//  UART_PushFrame((uint8_t*)at_cmd4,9);
 printf("+++");
 delay_ms(20);  
 printf("AT"); 
 delay_ms(20);    
 printf("AT+CAN=500,0,NDTF\r\n"); 
 delay_ms(1);
 printf("AT+CAN?\r\n");
 delay_ms(1);
 printf("AT+EXAT\r\n");    
//    g_com_map[NEARBASE_ID1]=0x12;
//    g_com_map[NEARBASE_ID2]=0x34;
    uint8_t id_high = g_com_map[NEARBASE_ID1];  // 0x12
    uint8_t id_low = g_com_map[NEARBASE_ID2];   // 0x34
    

    uint16_t frame_id = (id_high << 8) | id_low;
    
    uint32_t decimal_id = frame_id;  // 0x1234 = 4660  
    
    if(decimal_id > 0x1FFFFFFF) 
    {
    printf("错误：帧ID超出扩展帧范围！");
    return;
    }
    
    const char *frame_type = (frame_id <= 0x7FF) ? "NDTF" : "EDTF";
    

    snprintf(at_cmd2, sizeof(at_cmd2), 
             "AT+CAN=250,%x,%s\r\n", 
             frame_id, 
             frame_type);

    printf("+++");
    delay_ms(500);
    
    printf("AT");
    delay_ms(500);
    

    printf("%s", at_cmd2);
    
    delay_ms(200);
    
    printf("%s", at_cmd3);
    
    delay_ms(200);
    
    printf("%s", at_cmd4);  
}
    
int main(void)
@@ -342,7 +365,7 @@
    //StartUpTest();
    Program_Init();
    Dw1000_Init();
  delay_ms(10);	
    delay_ms(10);	
    Dw1000_App_Init();
    /* Loop forever initiating ranging exchanges. */
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
@@ -353,7 +376,7 @@
    send_to_ECAN();
    while(1)
    {
      

    g_start_sync_flag=0;
    if(g_start_send_flag)
    {