From 66bdd9977d6bfe014389d2cf67e83cecedb6cd7e Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期六, 11 四月 2020 10:25:14 +0800
Subject: [PATCH] ver 1.21 湖南客户固件
---
源码/核心板/Src/application/dw_app.c | 39 +++++++++++++++++++++++++++------------
1 files changed, 27 insertions(+), 12 deletions(-)
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 97bb644..af6f392 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"
@@ -65,20 +65,22 @@
#define FINAL_MSG_TS_LEN 4
#define SYNC_SEQ_IDX 5
-
+//common
#define GROUP_ID_IDX 0
#define ANCHOR_ID_IDX 1
#define TAG_ID_IDX 5
#define MESSAGE_TYPE_IDX 9
-#define DIST_IDX 10
+
//Poll
#define ANC_TYPE_IDX 14
#define BATTARY_IDX 15
#define BUTTON_IDX 16
#define SEQUENCE_IDX 17
//respose
+#define DIST_IDX 10
#define ANCTIMEMS 14
#define ANCTIMEUS 16
+#define ANCSEND_INTERVAL 18
#define POLL 0x01
#define RESPONSE 0x02
@@ -104,10 +106,10 @@
static uint8_t tx_poll_msg[20] = {0};
static uint8_t tx_sync_msg[14] = {0};
//static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
-static uint8_t tx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+static uint8_t tx_final_msg[24] = {0};
//static uint8_t rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
-static uint8_t tx_resp_msg[20] = {0};
+static uint8_t tx_resp_msg[22] = {0};
//static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
/* Frame sequence number, incremented after each transmission. */
@@ -238,7 +240,7 @@
for(i=0;i<255;i++)
{
g_flag_Taggetdist[i]++;
- if(g_flag_Taggetdist[i]>=20)
+ if(g_flag_Taggetdist[i]>=2)
{
g_Tagdist[i]=0xffff;
}
@@ -283,6 +285,8 @@
memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 4);
memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 4);
memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 4);
+
+ memcpy(&tx_resp_msg[ANCSEND_INTERVAL], &g_com_map[COM_INTERVAL], 2);
}
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
{
@@ -379,7 +383,7 @@
* As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据
- { u16 anc_id_recv;
+ { u16 anc_id_recv,rec_com_interval;
/* Retrieve poll transmission and response reception timestamp. */
poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
@@ -401,6 +405,15 @@
}
memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
+ memcpy(&rec_com_interval,&rx_buffer[ANCSEND_INTERVAL], 2);
+ if(rec_com_interval>4&&rec_com_interval!=g_com_map[COM_INTERVAL])
+ {
+ g_com_map[COM_INTERVAL]=rec_com_interval;
+ save_com_map_to_flash();
+ delay_ms(100);
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+
/* Compute final message transmission time. See NOTE 9 below. */
final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计算final包发送时间，T5=T4+Treply2
dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -424,12 +437,14 @@
LED0_BLINK;
memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
-// g_Tagdist[anc_id_recv]= hex_dist;
-// g_flag_Taggetdist[anc_id_recv]=0;
+ if(hex_dist2!=0xffff)
+ {
+ g_Tagdist[anc_id_recv]= hex_dist2;
+ g_flag_Taggetdist[anc_id_recv]=0;
- if(!g_com_map[MODBUS_MODE]&&hex_dist2!=0xffff)
+ if(!g_com_map[MODBUS_MODE])
{
- hex_dist2 = hex_dist2+(int16_t)g_com_map[DIST_OFFSET];
+ hex_dist2 = hex_dist2;
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
usart_send[4] = frame_seq_nb;//数据段长度
@@ -443,6 +458,7 @@
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
}
+ }
// memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
/* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
if(result==0)
@@ -673,8 +689,7 @@
}
}else if(rx_buffer[MESSAGE_TYPE_IDX] == SYNC)
{
- if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
- // if(rx_buffer[SYNC_SEQ_IDX]==2)
+ if(rx_buffer[SYNC_SEQ_IDX]<sync_seq&&sync_mainbase==0)
{
sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
TIM3->CNT = sync_seq*325%1000+15;
--
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