From a1044ab25a77b6bf79aacba56032e1707ac5e5a9 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期一, 27 三月 2023 11:44:32 +0800
Subject: [PATCH] 调试完毕。提交一次
---
Src/application/dw_app.c | 86 +++++++++++++++++++++++-------------------
1 files changed, 47 insertions(+), 39 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 92e8358..fd3aa5c 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -29,7 +29,7 @@
#include <stdio.h>
#include "beep.h"
#include "modbus.h"
-
+#include "CRC.h"
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -471,7 +471,7 @@
u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
u32 rec_tagpos_binary;
int16_t offset=4700,temptimer;
-u8 motor_state,rec_remotepara_state,rec_remotepara[80];
+static u8 motor_state,rec_remotepara_state,rec_remotepara[80];
#define SINGLEPOLL_BASENUM 5
@@ -763,6 +763,7 @@
tagpoll_sync_sec = current_slotpos/200;
tagslotpos = current_slotpos%200;
max_slotpos = rec_tagperiod*20;
+ tag_frequency = 10/rec_tagperiod;
tag_state=NEARPOLL;
}
}else{
@@ -800,7 +801,7 @@
uint16_t rec_ancpos;
uint8_t dist_noutenough_count;
uint8_t ancdist_hist[11];
-
+uint16_t calCRC;
void NearPoll(void)
{
@@ -825,12 +826,7 @@
recbase_num=0;
// motor_state=0;
- if(motor_state!=0&&motor_state!=3)
- {
- motor_flag = 1;
- }else{
- motor_flag = 0;
- }
+
tx_near_msg[BATTARY_IDX] = bat_percent;
tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
@@ -968,8 +964,7 @@
mainbase_dist=temp_dist;
nearbase_distlist[0] = temp_dist;
base_mindist = temp_dist;
- if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
- motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
+
if(frame_len==28)
{
memcpy(&rec_maxrangelen,&rx_buffer[MAXRANGE_DISTANCE],2);
@@ -1098,29 +1093,33 @@
}
if(para_update)
- {
-
- pack_msgtype = rec_remotepara[0];
- pack_index = rec_remotepara[1];
- pack_length = rec_remotepara[2];
- if(pack_msgtype==2)
- {
- if( pack_index == MOTOR_ONTIME_INDEX)
- {
- // if(motor_keeptime==0)
- motor_keeptime = rec_remotepara[3];
- }else{
- if(pack_index<200)
+ {
+
+ calCRC = CRC_Compute(rec_remotepara,5);
+ if(memcmp(&calCRC,&rec_remotepara[5],2)==0)
+ {
+ pack_msgtype = rec_remotepara[0];
+ pack_index = rec_remotepara[1];
+ pack_length = rec_remotepara[2];
+ if(pack_msgtype==2)
+ {
+ if( pack_index == MOTOR_ONTIME_INDEX)
{
- memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
- //返回一个error状态
- //SendComMap(pack_datalen,pack_index);
- save_com_map_to_flash();
- delay_ms(100);
- NVIC_SystemReset();
+ // if(motor_keeptime==0)
+ motor_keeptime = rec_remotepara[3];
+ }else{
+ if(pack_index<200)
+ {
+ memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
+ //返回一个error状态
+ //SendComMap(pack_datalen,pack_index);
+ save_com_map_to_flash();
+ delay_ms(100);
+ NVIC_SystemReset();
+ }
}
- }
- }
+ }
+ }
}
if(get_newdist>=2)
{
@@ -1161,7 +1160,7 @@
{
static u8 regpoll_count=0;
mainbase_lost_count = 0;
- tag_frequency = REGISTER_FREQUENCY;
+ //tag_frequency = REGISTER_FREQUENCY;
bigslot_num = TOTAL_SLOTNUM/tag_frequency;
regpoll_count++;
if(regpoll_count%2)
@@ -1229,17 +1228,17 @@
}
}
}
+extern void FZNearPoll(void);
u32 id,error_times=0;
-
+u8 ttt = 1;
extern float Height;
-void Tag_App(void)//发送模式(TAG标签)
+void UWBWkWp(void)
{
- static uint8_t diccount = 0;
- //LED0_ON;
SPIx_CS_GPIO->BRR = SPIx_CS;
delay_us(700);
SPIx_CS_GPIO->BSRR = SPIx_CS;
id = dwt_readdevid() ;
+
while (DWT_DEVICE_ID != id)
{
// Dw1000_Init();
@@ -1252,6 +1251,13 @@
}
}
error_times = 0;
+}
+
+void Tag_App(void)//发送模式(TAG标签)
+{
+ static uint8_t diccount = 0,diccount2;
+ //LED0_ON;
+ UWBWkWp();
switch(tag_state)
{
case REGPOLL:
@@ -1295,7 +1301,9 @@
case SINGLEPOLL:
// Poll();
break;
- }
- userkey_state = !GET_USERKEY;
+ }
+ FZNearPoll();
+ dwt_forcetrxoff();
+ userkey_state = !GET_USERKEY;
dwt_entersleep();
}
--
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