From 1cfdce04c6fc1f67e3b5538b0bc90e0c77a71765 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 10 十一月 2021 10:30:18 +0800
Subject: [PATCH] 未完成
---
源码/核心板/Src/application/dw_app.h | 6
源码/核心板/MDK-ARM/Project.uvguix.zhyin | 1905 ++++++++++++++++++++++++++++++++++++++++++++++++++++++
源码/核心板/Src/application/serial_at_cmd_app.c | 105 +-
源码/核心板/MDK-ARM/Project.uvoptx | 2
源码/核心板/Src/application/dw_app.c | 57 +
5 files changed, 2,023 insertions(+), 52 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.zhyin" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.zhyin"
new file mode 100644
index 0000000..bca7951
--- /dev/null
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.zhyin"
@@ -0,0 +1,1905 @@
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+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
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+ <CurrentLine>50</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
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+ <Doc>
+ <Name>..\Src\application\dw_app.h</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>96</TopLine>
+ <CurrentLine>106</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
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diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
index 6b5083c..9f69729 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/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>
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
index d0382df..e135500 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/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;
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
index cb3115f..93858de 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/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
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/serial_at_cmd_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/serial_at_cmd_app.c"
index c81b079..831634f 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/serial_at_cmd_app.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/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;
--
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