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 | 169 +++++++++++++++++++++++++++-----------------------------
1 files changed, 82 insertions(+), 87 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 05052a3..cbf97ef 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -29,7 +29,9 @@
#include <stdio.h>
#include "beep.h"
#include "modbus.h"
+#include "CRC.h"
+//#define USART_INTEGRATE_OUTPUT
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -75,15 +77,15 @@
DISCPOLL,
GETNEARMSG,
NEARPOLL,
-}tag_state=GETNEARMSG;
+}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. */
9, /* TX preamble code. Used in TX only. */
9, /* RX preamble code. Used in RX only. */
- 0, /* Use non-standard SFD (Boolean) */
+ 1, /* Use non-standard SFD (Boolean) */
DWT_BR_6M8, /* Data rate. */
DWT_PHRMODE_STD, /* PHY header mode. */
(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
@@ -295,6 +297,7 @@
u32 rec_tagpos_binary;
int16_t offset=2700;
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
+extern u16 last_lpcount;
void NearPoll(void)
{
@@ -304,7 +307,7 @@
u32 start_poll;
u8 i,j,getsync_flag=0,timeout;
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(RESP_RX_TIMEOUT_UUS);
+ dwt_setrxtimeout(10000);
tag_succ_times = 0;
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
if(next_nearbase_num>=MAX_NEARBASE_NUM)
@@ -316,7 +319,7 @@
nearbase_num=next_nearbase_num;
recbase_num=0;
// motor_state=0;
-
+ tx_near_msg[GROUP_ID_IDX] = group_id;
tx_near_msg[BATTARY_IDX] = bat_percent;
tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
@@ -335,7 +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;}
@@ -376,12 +379,18 @@
dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
dwt_rxenable(0);//打开接收
- if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
+ if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX]==group_id) //判断接收到的数据是否是response数据
{ u16 rec_nearbaseid,rec_nearbasepos;
poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
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;
@@ -415,7 +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;
@@ -429,7 +438,7 @@
final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
-
+ tx_near_msg[GROUP_ID_IDX] = group_id;
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
@@ -445,37 +454,18 @@
{flag_getresponse=1;}
lastsync_timer=sync_timer;
offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
- SetNextPollTime(tyncpoll_time);
- if(rec_remotepara_state&&rec_remotepara_state!=g_com_map[REMOTEPARA_STATE])
- {
- g_com_map[REMOTEPARA_STATE]=rec_remotepara_state;
- memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],REMOTEPARA_LEN);
- memcpy(&g_com_map[COM_INTERVAL],&rec_remotepara[0],8);
- memcpy(&g_com_map[POWER],&rec_remotepara[8],10);
- save_com_map_to_flash();
- delay_ms(100);
- NVIC_SystemReset();
-
- }
-
- // count_offset=sync_count-current_count-143;
- // current_slottimes=(ancsync_time-10000)/(g_com_map[COM_INTERVAL]*1000);
- // nextpoll_delaytime=tyncpoll_time*1000+g_com_map[COM_INTERVAL]*1000-((ancsync_time)%(g_com_map[COM_INTERVAL]*1000))-4300;
-// if(abs(ancsync_time-910000)<1000)
+// SetNextPollTime(tyncpoll_time);
+// if(rec_remotepara_state==1)
// {
-// nextpoll_delaytime+=10000;
-// }
-// if(nextpoll_delaytime<2000)
-// {
-// nextpoll_delaytime+=g_com_map[COM_INTERVAL]*1000;
-// }
-// lastpoll_count= current_count+(nextpoll_delaytime)/LPTIMER_LSB;
-// if(lastpoll_count>LPTIMER_1S_COUNT)
-// lastpoll_count-=LPTIMER_1S_COUNT;
-// __HAL_LPTIM_COMPARE_SET(&hlptim1, lastpoll_count);
- /////////////////////////////////////////
-// dwt_setdelayedtrxtime(final_tx_time);
-// result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+// memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],REMOTEPARA_LEN);
+// memcpy(&g_com_map[COM_INTERVAL],&rec_remotepara[0],8);
+// memcpy(&g_com_map[POWER],&rec_remotepara[8],10);
+// if(g_com_map[COM_INTERVAL]>0&&g_com_map[COM_INTERVAL]<1000&&g_com_map[POWER]<67&&g_com_map[POWER]>0)
+// {save_com_map_to_flash();
+// delay_ms(100);
+// }
+// NVIC_SystemReset();
+// }
}else{
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
@@ -494,13 +484,6 @@
if(motor_state<(rx_buffer[MOTORSTATE_INDEX]&0xf)&&(rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
{
motor_state=rx_buffer[MOTORSTATE_INDEX];
- }
- if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
- {
- para_update = 1;
- tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
- para_len = frame_len-22;
- memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
}
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
@@ -522,24 +505,11 @@
}
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(exsistbase_list[0]==0)
- {
-// u8 temp_adc,random_value;
-// random_value=0;
-// for(i=0;i<8;i++)
-// {
-// temp_adc=Get_ADC_Value();
-// random_value=random_value|((temp_adc&0x01)<<i);
-// }
- tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
- tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- SetNextPollTime(tyncpoll_time);
- }
+ dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+ 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)
@@ -551,10 +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++)
@@ -581,36 +552,58 @@
{
nearbaseid_list[i]=true_nearbase_idlist[i];
nearbase_distlist[i]=true_nearbase_distlist[i];
- if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==0xa)
+ if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==KEEP_TIMES)
{
memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
report_num++;
}
}
+ #ifdef USART_INTEGRATE_OUTPUT
+ usart_send[0] = 0x55;
+ usart_send[1] = 0xAA;
+ usart_send[2] = 4;//正常模式
+ usart_send[3] = report_num*6+2;//正常模式
+ checksum = Checksum_u16(&usart_send[2],report_num*6+2);
+ memcpy(&usart_send[4+report_num*6],&checksum,2);
+ USART_puts(usart_send,6+report_num*6);
+ #endif
+
for(i=0;i<MAX_NEARBASE_NUM;i++)
{
nearbase_distlist[i]=0x1ffff;
}
- if(para_update)
- {
- uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
- pack_msgtype = rec_remotepara[0];
- pack_index = rec_remotepara[1];
- pack_length = rec_remotepara[2];
- if(pack_msgtype==2)
- {
- 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();
- }
- }
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)
@@ -623,6 +616,7 @@
}
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&nearmsg_mainbase,2);
memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
+ tx_near_msg[GROUP_ID_IDX] = group_id;
tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
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
@@ -659,10 +653,10 @@
tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
}
-
+u32 id;
void Tag_App(void)//发送模式(TAG标签)
{
- u32 id;
+
//LED0_ON;
id = dwt_readdevid() ;
while (DWT_DEVICE_ID != id)
@@ -689,4 +683,5 @@
break;
}
dwt_entersleep();
+ bat_percent=Get_VDDVlotage();
}
--
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