From 40bbf9d0543ea590085134160fb98aef8190eb59 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期三, 01 二月 2023 16:26:00 +0800
Subject: [PATCH] 测试标签远程读取参数功能正常，写入参数还不行
---
Src/application/dw_app.c | 29 ++++++++++++++++++++++-------
1 files changed, 22 insertions(+), 7 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index cbf97ef..560a5e4 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -305,7 +305,7 @@
uint32_t frame_len;
uint32_t final_tx_time;
u32 start_poll;
- u8 i,j,getsync_flag=0,timeout;
+ u8 i,j,getsync_flag=0,timeout,flag_ancreadpara=0;
dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间
dwt_setrxtimeout(10000);
tag_succ_times = 0;
@@ -358,6 +358,16 @@
dwt_forcetrxoff();
flag_rxon=0;
+ if(flag_ancreadpara)
+ {
+ u16 calCRC;
+ tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_PRAAREPLY;
+ memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX],g_com_map,SENDANCPARA_LEN);
+ calCRC = CRC_Compute((uint8_t*)g_com_map,SENDANCPARA_LEN);
+ memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX+SENDANCPARA_LEN],&calCRC,2);
+ dwt_writetxdata(14+SENDANCPARA_LEN, tx_near_msg, 0);//将发送数据写入DW1000
+ dwt_writetxfctrl(14+SENDANCPARA_LEN, 0);//设定发送数据长度
+ }
dwt_setdelayedtrxtime(final_tx_time);
result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
flag_finalsend=0;
@@ -385,11 +395,15 @@
resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
recbase_num++;
memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
- rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
- if(rec_remotepara_state==1)
+ rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;
+ if(rec_remotepara_state != 0)
{
- para_update = 1;
- memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
+ para_update = rec_remotepara_state;
+ memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],7);
+ if(para_update==2)
+ {
+ flag_ancreadpara = 1;
+ }
}
if(last_nearbase_num==0)
{
@@ -485,7 +499,8 @@
{
motor_state=rx_buffer[MOTORSTATE_INDEX];
}
- final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
+ final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
+
dwt_writetxdata(28+nearbase_num*4, tx_near_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
@@ -575,7 +590,7 @@
}
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
-if(para_update)
+if(para_update==1)
{
uint16_t calCRC;
calCRC = CRC_Compute(rec_remotepara,5);
--
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