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/dw_app.c | 109 +++++++++++++++++++++++++++---------------------------
1 files changed, 54 insertions(+), 55 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 447970a..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"
@@ -9,7 +9,7 @@
NEARPOLL,
}tag_state=NEARPOLL;
static dwt_config_t config = {
- 2, /* Channel number. */
+ 5, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
DWT_PLEN_128, /* Preamble length. */
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
@@ -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;
@@ -474,20 +474,17 @@
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
- if(g_com_map[DEV_ROLE])
- {
+
memcpy(&usart_send[5],&dev_id,2);
memcpy(&usart_send[7],&rec_nearbaseid,2);
- }else{
- memcpy(&usart_send[5],&rec_nearbaseid,2);
- memcpy(&usart_send[7],&dev_id,2);
- }
+
memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
usart_send[13] = battary;
usart_send[14] = button;
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
@@ -524,20 +521,17 @@
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
- if(g_com_map[DEV_ROLE])
- {
+
memcpy(&usart_send[5],&dev_id,2);
memcpy(&usart_send[7],&rec_nearbaseid,2);
- }else{
- memcpy(&usart_send[5],&rec_nearbaseid,2);
- memcpy(&usart_send[7],&dev_id,2);
- }
+
memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
usart_send[13] = battary;
usart_send[14] = button;
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
@@ -998,8 +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;
@@ -1007,22 +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);
@@ -1109,29 +1108,29 @@
// Anchor_RecPoll();
// break;
case SYNC:
- memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
- if(rec_syncid<current_syncid)
- {
- current_syncid=rec_syncid;
- flag_syncbase=0;
- sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
- TIM3->CNT = sync_seq*325%1000+15;
- sync_timer = sync_seq*325/1000;
- synclost_timer=0;
- //SyncPoll(sync_seq,rec_syncid);
- }else if(rec_syncid==current_syncid)
- {
- if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
- {
- flag_syncbase=0;
- sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
- TIM3->CNT = sync_seq*325%1000+5;
- sync_timer = sync_seq*325/1000+995;
- synclost_timer=0;
- //SyncPoll(sync_seq,rec_syncid);
- }
-
- }
+// memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
+// if(rec_syncid<current_syncid)
+// {
+// current_syncid=rec_syncid;
+// flag_syncbase=0;
+// sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
+// TIM3->CNT = sync_seq*325%1000+15;
+// sync_timer = sync_seq*325/1000;
+// synclost_timer=0;
+// //SyncPoll(sync_seq,rec_syncid);
+// }else if(rec_syncid==current_syncid)
+// {
+// if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
+// {
+// flag_syncbase=0;
+// sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
+// TIM3->CNT = sync_seq*325%1000+5;
+// sync_timer = sync_seq*325/1000+995;
+// synclost_timer=0;
+// //SyncPoll(sync_seq,rec_syncid);
+// }
+//
+// }
break;
case NEAR_MSG:
if(anc_id_recv==flag_syncbase)
--
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