From e7bad2338d19ebba1a73fa3aac2d1b0c642127b0 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期一, 25 八月 2025 09:12:37 +0800
Subject: [PATCH] 修改协议内容V1.76
---
源码/核心板/Src/application/global_param.c | 5 +
源码/核心板/Src/main.c | 87 +++++++++++------
/dev/null | 0
源码/核心板/MDK-ARM/Project.uvoptx | 102 +++----------------
源码/核心板/Src/application/global_param.h | 11 ++
源码/核心板/Src/application/dw_app.c | 45 +++++---
6 files changed, 116 insertions(+), 134 deletions(-)
diff --git "a/doc/~$\346\250\241\345\235\227WLM1000\344\275\277\347\224\250\350\257\264\346\230\216\344\271\246.docx" "b/doc/~$\346\250\241\345\235\227WLM1000\344\275\277\347\224\250\350\257\264\346\230\216\344\271\246.docx"
deleted file mode 100644
index 4b8d0f4..0000000
--- "a/doc/~$\346\250\241\345\235\227WLM1000\344\275\277\347\224\250\350\257\264\346\230\216\344\271\246.docx"
+++ /dev/null
Binary files differ
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 a0e3c03..73163e5 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"
@@ -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\濠ф劗鐖淺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\濠ф劗鐖淺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\濠ф劗鐖淺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\濠ф劗鐖淺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\濠ф劗鐖淺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>
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 ba72bc4..1c1df65 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"
@@ -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);
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
index 59673ee..7f82589 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/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);
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
index 9fc3f23..f71e4d8 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/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
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
index 153893e..a9144a5 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/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)
{
--
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