From e3dfcf2b4eafdb5bace59d796a270f8e8d532763 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 16 十一月 2021 15:14:21 +0800
Subject: [PATCH] V1.46增加MODBUS自动回复功能
---
源码/核心板/Src/application/dw_app.c | 22 ++++++++++++++--------
1 files changed, 14 insertions(+), 8 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 280a7e8..92f40c4 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"
@@ -31,7 +31,7 @@
#include "modbus.h"
//#define DEBUG_OUTPUT
#define TDFILTER
-#define CONSTANT_FILTER
+//#define CONSTANT_FILTER
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -384,6 +384,7 @@
u32 getdatatimer[TAGARRAY_LEN];
#define DATALOSTTIME 2000
extern float dw_vbat;
+extern u8 supergroupid,modbusread_start;
extern u16 slottime,max_slotnum,current_slotpos,tyncpoll_time;
void Tag_App(void)//发送模式(TAG标签)
{
@@ -457,7 +458,7 @@
/* Check that the frame is the expected response from the companion "DS TWR responder" example.
* 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]==0||rx_buffer[GROUP_ID_IDX] == group_id||group_id==0)&&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
+ if ((rx_buffer[GROUP_ID_IDX]==supergroupid||rx_buffer[GROUP_ID_IDX] == group_id||group_id==supergroupid)&&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,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
@@ -479,8 +480,8 @@
TIM3->CNT=tmp_time;
}
memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
- memcpy(&tag_distarray[i*4], &rx_buffer[DIST_IDX], 4);
- memcpy(&tag_IDarray[i*2],&rx_buffer[ANCHOR_ID_IDX],2);
+ memcpy(&tag_distarray[i], &rx_buffer[DIST_IDX], 4);
+ memcpy(&tag_IDarray[i],&rx_buffer[ANCHOR_ID_IDX],2);
rec_firstpath_power = rx_buffer[SIGNALPOWER];
memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
memcpy(&rec_com_interval,&rx_buffer[ANCSEND_INTERVAL], 2);
@@ -541,6 +542,8 @@
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
}
+ Modbus_HoldReg[anc_id_recv*2]=hex_dist2>>16;
+ Modbus_HoldReg[anc_id_recv*2+1]=hex_dist2;
}
// memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
/* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
@@ -580,7 +583,10 @@
}
/* Execute a delay between ranging exchanges. */
-
+ if(modbusread_start)
+ {
+ Modbus_03_Solve();
+ }
}
int8_t correction_time;
@@ -634,7 +640,7 @@
// tag_recv_interval = tag_recv_timer + 65535 - tag_time_recv[tag_id_recv];
// }
- if ((rx_buffer[GROUP_ID_IDX]==0||rx_buffer[GROUP_ID_IDX] == group_id||group_id==0)&&rx_buffer[MESSAGE_TYPE_IDX] == POLL&&(anchor_type == rx_buffer[ANC_TYPE_IDX])) //判断是否是poll包数据
+ if ((rx_buffer[GROUP_ID_IDX]==supergroupid||rx_buffer[GROUP_ID_IDX] == group_id||group_id==supergroupid)&&rx_buffer[MESSAGE_TYPE_IDX] == POLL&&(anchor_type == rx_buffer[ANC_TYPE_IDX])) //判断是否是poll包数据
{
tmp_time=TIM3->CNT;
memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2);
@@ -694,7 +700,7 @@
/* Check that the frame is a final message sent by "DS TWR initiator" example.
* As the sequence number field of the frame is not used in this example, it can be zeroed to ease the validation of the frame. */
- if ((rx_buffer[GROUP_ID_IDX]==0||rx_buffer[GROUP_ID_IDX] == group_id||group_id==0)&&rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,4)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,4)) //判断是否为Final包
+ if ((rx_buffer[GROUP_ID_IDX]==supergroupid||rx_buffer[GROUP_ID_IDX] == group_id||group_id==supergroupid)&&rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,4)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,4)) //判断是否为Final包
{
uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
@@ -777,7 +783,7 @@
memcpy(&usart_send[5],&tag_id_recv,2);
memcpy(&usart_send[7],&ancrec_IDarray[i],2);
- memcpy(&usart_send[9],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4);
+ memcpy(&usart_send[9],&ancrec_distarray[i],4);
usart_send[13] = battary;
usart_send[14] = button;
usart_send[15] = firstpath_power;
--
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