From faec15f04af4bdb99bfe8e17d85fae1e2cfdb381 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期二, 08 八月 2023 10:53:34 +0800
Subject: [PATCH] 2.8，用户数据增加到16字节
---
Src/application/dw_ds_anc.c | 14 +++++++-------
1 files changed, 7 insertions(+), 7 deletions(-)
diff --git a/Src/application/dw_ds_anc.c b/Src/application/dw_ds_anc.c
index f47ab6d..36dc486 100644
--- a/Src/application/dw_ds_anc.c
+++ b/Src/application/dw_ds_anc.c
@@ -146,7 +146,7 @@
}
return i;
}
-uint8_t uwb_rec_userdata[2];
+uint8_t uwb_rec_userdata[16];
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos) //0 mainbase 1 first near_base
{
uint8_t motorstate;
@@ -321,7 +321,7 @@
usart_send[0]=0x55;
usart_send[1]=0xAA;
usart_send[2] = 1;//正常模式
- usart_send[3] = 17;//数据段长度
+ usart_send[3] = 17+14;//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);
@@ -332,10 +332,10 @@
usart_send[14] = button;
usart_send[15] = firstpath_power;
usart_send[16] = rx_power;
- memcpy(&usart_send[17],&uwb_rec_userdata,2);
- checksum = Checksum_u16(&usart_send[2],17);
- memcpy(&usart_send[19],&checksum,2);
- USART_puts(usart_send,21);
+ memcpy(&usart_send[17],&uwb_rec_userdata,16);
+ checksum = Checksum_u16(&usart_send[2],31);
+ memcpy(&usart_send[33],&checksum,2);
+ USART_puts(usart_send,35);
}else{
if(g_com_map[MODBUS_ID1]==1)
{
@@ -386,7 +386,6 @@
memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
//将收到的tag_id分别写入各次通讯的包中，为多标签通讯服务，防止一次通讯中接收到不同ID标签的数据
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
- memcpy(&uwb_rec_userdata,&rx_buffer[POLL_USERDATA_IDX],2);
if(group_id== rx_buffer[GROUP_ID_IDX])
{
switch(rx_buffer[MESSAGE_TYPE_IDX])
@@ -400,6 +399,7 @@
memcpy(&rec_ancidlist,&rx_buffer[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
memcpy(&rec_ancdistlist,&rx_buffer[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
memcpy(&rec_antdelay,&rx_buffer[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
+ memcpy(&uwb_rec_userdata,&rx_buffer[POLL_USERDATA_IDX],16);
#ifdef USART_ALL_OUTPUT
usart_send[2] = 0x0c;//正常模式
usart_send[3] = 8+rec_nearbase_num*4;//数据段长度
--
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