From bbda93c707809c7d2dc3eab268b1f2e5f538eb86 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期三, 11 一月 2023 16:04:38 +0800
Subject: [PATCH] 增加CRC文件
---
Src/application/dw_app.c | 66 ++++++++++++++++++++++++--------
1 files changed, 49 insertions(+), 17 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 0fd9a2a..cbf97ef 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -29,8 +29,9 @@
#include <stdio.h>
#include "beep.h"
#include "modbus.h"
+#include "CRC.h"
-#define USART_INTEGRATE_OUTPUT
+//#define USART_INTEGRATE_OUTPUT
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -78,7 +79,7 @@
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. */
@@ -337,7 +338,7 @@
flag_getresponse=0;
start_count=HAL_LPTIM_ReadCounter(&hlptim1);
recbase_num=0;
- timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
+ timeout=nearbase_num*SLOT_SCALE+4;
end_count=start_count+(timeout<<5);
if(end_count>=32768)
{end_count-=32768;}
@@ -384,6 +385,12 @@
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)
+ {
+ para_update = 1;
+ memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
+ }
if(last_nearbase_num==0)
{
get_newbase=1;
@@ -417,7 +424,7 @@
nearbase_distlist[rec_nearbasepos]=temp_dist;
if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
- rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
+
mainbase_lost_count=0;
flag_finalsend=1;
@@ -499,14 +506,10 @@
if(mainbase_lost_count>tag_frequency*BASELOST_STOPMOTOR_TIME)
{motor_state=0; }
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
- nearbase_num=recbase_num;
- j=0;
- if(mainbase_lost_count>1)
- {
- last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
- }
+ nearbase_num=recbase_num;
// tyncpoll_time=0;
next_nearbase_num=0;
+ j = 0;
for(i=0;i<last_nearbase_num+get_newbase;i++)
{
if(exsistbase_list[i]>0)
@@ -518,10 +521,11 @@
exsistbase_list[i]--;
}
}
-
- if(recbase_num<3)
- {next_nearbase_num=next_nearbase_num;}
- last_nearbase_num = next_nearbase_num;
+ if(mainbase_lost_count>1&&exsistbase_list[0] != 0)
+ {
+ last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
+ }
+ last_nearbase_num = next_nearbase_num;
for(i=0;i<last_nearbase_num-1;i++)
{
for(j=0;j<last_nearbase_num-1;j++)
@@ -570,8 +574,36 @@
nearbase_distlist[i]=0x1ffff;
}
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);
-
+//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
+if(para_update)
+ {
+ uint16_t calCRC;
+ calCRC = CRC_Compute(rec_remotepara,5);
+ if(memcmp(&calCRC,&rec_remotepara[5],2)==0)
+ { uint8_t pack_msgtype,pack_index,pack_length;
+ pack_msgtype = rec_remotepara[0];
+ pack_index = rec_remotepara[1];
+ pack_length = rec_remotepara[2];
+ if(pack_msgtype==2)
+ {
+ if( pack_index == 1)//MOTOR_ONTIME_INDEX)
+ {
+
+ // 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();
+ }
+ }
+ }
+ }
+ }
}
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
void GetNearMsg(void)
@@ -650,6 +682,6 @@
//GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
break;
}
- bat_percent=Get_Battary_UWB();
dwt_entersleep();
+ bat_percent=Get_VDDVlotage();
}
--
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