From 9aed5d7e7b3c7bf09da712e9c272ece401a7acc9 Mon Sep 17 00:00:00 2001
From: QuakeGod <QuakeGod@sina.com>
Date: 星期一, 25 十一月 2024 14:51:23 +0800
Subject: [PATCH] add UltraSonic and MultiWireLess
---
Radio_LLCC68/Radio/KWireLess.c | 334 +++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 261 insertions(+), 73 deletions(-)
diff --git a/Radio_LLCC68/Radio/KWireLess.c b/Radio_LLCC68/Radio/KWireLess.c
index 7707420..184a407 100644
--- a/Radio_LLCC68/Radio/KWireLess.c
+++ b/Radio_LLCC68/Radio/KWireLess.c
@@ -113,7 +113,7 @@
*/
#define MASTER_RX_TIMEOUT_VALUE 80 //mS
#define SLAVE_RX_TIMEOUT_VALUE 400 //mS
-#define CYCLE_TIME 120 //mS
+#define CYCLE_TIME 80 //mS
const stWLConfig defaultWLConfig =
{
@@ -159,8 +159,8 @@
-#define WL_RX_BUFFER_SIZE 256 // Define the payload size here
-#define WL_TX_BUFFER_SIZE 128 // Define the payload size here
+#define WL_RX_BUFFER_SIZE 160 // Define the payload size here
+#define WL_TX_BUFFER_SIZE 160 // Define the payload size here
uint16_t nTimeOnAir;
/*
@@ -169,9 +169,10 @@
*/
//uint16_t BufferSize = BUFFER_SIZE;
-uint8_t RX_Buffer[WL_RX_BUFFER_SIZE];
-uint8_t TX_Buffer[WL_TX_BUFFER_SIZE];
+uint8_t KwRx_Buffer[WL_RX_BUFFER_SIZE];
+uint8_t KwTx_Buffer[WL_TX_BUFFER_SIZE];
+#define WL_TT_EACH_SIZE 64 // transparent transmission byte size for each send
States_t State = LOWPOWER;
@@ -385,7 +386,7 @@
{
KMem.WDT[44] = size;
if (size <= 120) {
- memcpy( RX_Buffer, payload, size );
+ memcpy( KwRx_Buffer, payload, size );
memcpy(&KMem.WDT[64],payload,size);
}else
{
@@ -535,12 +536,13 @@
}
return;
}
+
int KWLMasterParsePkt(int nChn,int size)
{
bool CRC_OK =1;
///*
- crc_value=RadioComputeCRC(RX_Buffer,size-2,CRC_TYPE_IBM);//璁＄畻寰楀嚭瑕佸彂閫佹暟鎹寘CRC鍊�
- if (RX_Buffer[size-2] != (crc_value&0xff) && RX_Buffer[size-1] != (crc_value >> 8))
+ crc_value=RadioComputeCRC(KwRx_Buffer,size-2,CRC_TYPE_IBM);//璁＄畻寰楀嚭瑕佸彂閫佹暟鎹寘CRC鍊�
+ if (KwRx_Buffer[size-2] != (crc_value&0xff) && KwRx_Buffer[size-1] != (crc_value >> 8))
{
KwRunStat.CRCErr++;
KwRunStat.ErrStat=500;
@@ -549,7 +551,7 @@
CRC_OK = 1;
}
//*/
- pstKLPacket p1 = (pstKLPacket) RX_Buffer;
+ pstKwPacket p1 = (pstKwPacket) KwRx_Buffer;
if(CRC_OK && p1->STSign == enRplySign ) //memcmp(RX_Buffer,PongMsg,4)==0
{
if (p1->DstAddr == MixAddr(WLCfg.nChannel,WLCfg.nRadioAddr))
@@ -561,8 +563,8 @@
KwRunStat.CtnLstPkts=0;
if (p1->Stat==0) {
- KwRunStat.tRSSI = RX_Buffer[10];
- KwRunStat.tSNR = RX_Buffer[11];
+ KwRunStat.tRSSI = KwRx_Buffer[10];
+ KwRunStat.tSNR = KwRx_Buffer[11];
if (KwRunStat.tRSSI > -50) {
if (KwRunStat.Tx_Power > 0) {KwRunStat.Tx_Power--; SX126xSetRfTxPower(KwRunStat.Tx_Power);}
}else if (KwRunStat.tRSSI < -60) {
@@ -572,18 +574,94 @@
}
}else if (p1->Stat==1){
- KwRunStat.targetSentCount = RX_Buffer[8] + (RX_Buffer[9]<<8) + (RX_Buffer[10]<<16) + (RX_Buffer[11]<<24);
+ KwRunStat.targetSentCount = KwRx_Buffer[8] + (KwRx_Buffer[9]<<8) + (KwRx_Buffer[10]<<16) + (KwRx_Buffer[11]<<24);
}else if (p1->Stat==2) {
- KwRunStat.targetRecvdCount = RX_Buffer[8] + (RX_Buffer[9]<<8) + (RX_Buffer[10]<<16) + (RX_Buffer[11]<<24);
+ KwRunStat.targetRecvdCount = KwRx_Buffer[8] + (KwRx_Buffer[9]<<8) + (KwRx_Buffer[10]<<16) + (KwRx_Buffer[11]<<24);
}else if (p1->Stat==3) {
}
KMem.WDT[41]=(-KwRunStat.tRSSI) + ((-KwRunStat.tSNR)<<8);
- KMem.WFX[1]=(RX_Buffer[4]) + (RX_Buffer[5]<<8);
+ KMem.WFX[1]=(KwRx_Buffer[4]) + (KwRx_Buffer[5]<<8);
// KMem.WFX[1]=(RX_Buffer[4]) + (indicator3<<8);
- KMem.WFX[2]=(RX_Buffer[6]) + (RX_Buffer[7]<<8);
+ KMem.WFX[2]=(KwRx_Buffer[6]) + (KwRx_Buffer[7]<<8);
+
+// 鏁版嵁閫忎紶 鏁版嵁鐨勫彂閫佹垚鍔熶笌鍚︼紝闇�瑕佸湪瀵规柟鐨勫簲绛斿寘涓‘璁�
+ if (KwRunStat.sizesending > 0) {
+ // 纭姝ｅ湪鍙戦�佺殑锛屽彂閫佹垚鍔�
+ KwRunStat.sentsize += KwRunStat.sizesending;
+ KwRunStat.sizesending = 0;
+
+ if (KwRunStat.sentsize >= KwRunStat.sizetosend) {
+ //鏁翠綋 鍙戦�佸畬鎴�
+ KwRunStat.sizetosend =0;
+ KwRunStat.sentsize = 0;
+ KwRunStat.ttAirSize = 0;
+ // 鍙戦�佸畬鎴�
+ }
+ }
+// 鎺ュ彈鍒板鏂瑰彂鏉ョ殑鏁版嵁
+
+ if (p1->bHasData && size >= 14+3 ) {
+// int nFulllen1 = KwRx_Buffer[12];
+ int nthislen2 = KwRx_Buffer[13];
+ if (size >= 14 + nthislen2) {
+ if (p1->bHead) {
+ // 鏁版嵁鍖呯殑璧峰锛� 涓�涓柊鐨勬暟鎹寘鐨勫紑濮�
+ KwRunStat.ttRxSize = 0;
+// SendPacket(1, "H", 1);
+
+ }
+ memcpy (KwRunStat.ttRxBuf1 + KwRunStat.ttRxSize , KwRx_Buffer + 14 , nthislen2);
+ KwRunStat.ttRxSize += nthislen2;
+ if (p1->bTail)
+ {
+ // 宸茬粡鏀跺埌瀹屾暣鐨勪竴涓暟鎹寘
+ KwRunStat.ttRxRecved =1;
+ KwRunStat.ErrStat=500;
+// SendPacket(1, "T", 1);
+
+ // 鍚庣画鏁版嵁鍖呭鐞嗘祦绋� ;
+ if (Uart1Mode == 1) { // 澶勪簬閫忎紶妯″紡锛� 鏁版嵁鍙戝洖鍘汇��
+ SendPacket(1, KwRunStat.ttRxBuf1, KwRunStat.ttRxSize);
+ }
+ KwRunStat.ttRxSize = 0;
+ KwRunStat.ttRxRecved = 0;
+
+ // 鏆傛椂娴佺▼锛屽叏閮ㄥ彂鍥炲幓銆�
+// memcpy (KwRunStat.ttTxBuf1, KwRunStat.ttRxBuf1, KwRunStat.ttRxSize);
+// KwRunStat.sizetosend = KwRunStat.ttRxSize;
+// KwRunStat.sentsize = 0;
+// KwRunStat.sizesending = 0;
+ }
+
+ }
+ }
+
+/*
+
+
+
+ if (KwRunStat.ttAirSize > 0)
+ {
+ if (KwRunStat.bttAirHeader) { KwRunStat.ttRxRecved=0; }
+ memcpy(KwRunStat.ttRxBuf1 + KwRunStat.ttRxRecved,KwRunStat.ttAirBuf, KwRunStat.ttAirSize);
+ KwRunStat.ttRxRecved += KwRunStat.ttAirSize;
+
+ if (KwRunStat.bttAirTail) {
+ // 鏀跺埌 涓�涓暟鎹寘鐨勬渶鍚庨儴鍒�
+ KwRunStat.ttRxSize = KwRunStat.ttRxRecved;
+ if (Uart1Mode == 1) { // 澶勪簬閫忎紶妯″紡锛� 鏁版嵁鍙戝洖鍘汇��
+ SendPacket(1, KwRunStat.ttRxBuf1, KwRunStat.ttRxSize);
+ }
+ KwRunStat.ttRxSize = 0;
+ KwRunStat.ttRxRecved = 0;
+ }
+ KwRunStat.ttAirSize = 0;
+ }
+*/
+
}
}
@@ -592,10 +670,10 @@
int KWLSlaveParsePkt(int nChn,int size)
{
bool CRC_OK =1;
- pstKLPacket p1 = (pstKLPacket) RX_Buffer;
+ pstKwPacket p1 = (pstKwPacket) KwRx_Buffer;
///*
- crc_value=RadioComputeCRC(RX_Buffer,size-2,CRC_TYPE_IBM);//璁＄畻寰楀嚭瑕佸彂閫佹暟鎹寘CRC鍊�
- if (RX_Buffer[size-2] != (crc_value&0xff) && RX_Buffer[size-1] != (crc_value >> 8))
+ crc_value=RadioComputeCRC(KwRx_Buffer,size-2,CRC_TYPE_IBM);//璁＄畻寰楀嚭瑕佸彂閫佹暟鎹寘CRC鍊�
+ if (KwRx_Buffer[size-2] != (crc_value&0xff) && KwRx_Buffer[size-1] != (crc_value >> 8))
{
KwRunStat.CRCErr++;
// KwRunStat.ErrStat=500;
@@ -620,10 +698,10 @@
KwRunStat.lastRecvdtime=GetTick();
KwRunStat.lastAckTime = GetTick();
KwRunStat.CtnLstPkts=0;
-
- if (p1->Stat==0) {
- KwRunStat.tRSSI = RX_Buffer[10];
- KwRunStat.tSNR = RX_Buffer[11];
+ int nSeq = p1->nSeq;
+ if (nSeq==0) {
+ KwRunStat.tRSSI = KwRx_Buffer[10];
+ KwRunStat.tSNR = KwRx_Buffer[11];
if (KwRunStat.tRSSI > -50) {
if (KwRunStat.Tx_Power > 0) {KwRunStat.Tx_Power--; SX126xSetRfTxPower(KwRunStat.Tx_Power);}
}else if (KwRunStat.tRSSI < -60) {
@@ -631,17 +709,69 @@
if (KwRunStat.Tx_Power > WLCfg.Tx_Power) {KwRunStat.Tx_Power= WLCfg.Tx_Power; }
SX126xSetRfTxPower(KwRunStat.Tx_Power);
}
- }else if (p1->Stat==1){
- KwRunStat.targetSentCount = RX_Buffer[8] + (RX_Buffer[9]<<8) + (RX_Buffer[10]<<16) + (RX_Buffer[11]<<24);
- }else if (p1->Stat==2) {
- KwRunStat.targetRecvdCount = RX_Buffer[8] + (RX_Buffer[9]<<8) + (RX_Buffer[10]<<16) + (RX_Buffer[11]<<24);
- }else if (p1->Stat==3) {
+ }else if (nSeq==1){
+ KwRunStat.targetSentCount = KwRx_Buffer[8] + (KwRx_Buffer[9]<<8) + (KwRx_Buffer[10]<<16) + (KwRx_Buffer[11]<<24);
+ }else if (nSeq==2) {
+ KwRunStat.targetRecvdCount = KwRx_Buffer[8] + (KwRx_Buffer[9]<<8) + (KwRx_Buffer[10]<<16) + (KwRx_Buffer[11]<<24);
+ }else if (nSeq==3) {
}
- KMem.WFX[1]=(RX_Buffer[4]) + (RX_Buffer[5]<<8);
+ KMem.WFX[1]=(KwRx_Buffer[4]) + (KwRx_Buffer[5]<<8);
// KMem.WFX[1]=(RX_Buffer[4]) + (indicator3<<8);
- KMem.WFX[2]=(RX_Buffer[6]) + (RX_Buffer[7]<<8);
+ KMem.WFX[2]=(KwRx_Buffer[6]) + (KwRx_Buffer[7]<<8);
+// 鏁版嵁閫忎紶 鏁版嵁鐨勫彂閫佹垚鍔熶笌鍚︼紝闇�瑕佸湪瀵规柟鐨勫簲绛斿寘涓‘璁�
+ if (KwRunStat.sizesending > 0) {
+ // 纭姝ｅ湪鍙戦�佺殑锛屽彂閫佹垚鍔�
+ KwRunStat.sentsize += KwRunStat.sizesending;
+ KwRunStat.sizesending = 0;
+
+ if (KwRunStat.sentsize >= KwRunStat.sizetosend) {
+ //鏁翠綋 鍙戦�佸畬鎴�
+ KwRunStat.sizetosend =0;
+ KwRunStat.sentsize = 0;
+ KwRunStat.ttAirSize = 0;
+ // 鍙戦�佸畬鎴�
+ }
+ }
+
+ if (p1->bHasData && size >= 14+3 ) {
+// int nFulllen1 = KwRx_Buffer[12];
+ int nthislen2 = KwRx_Buffer[13];
+ if (size >= 14 + nthislen2) {
+ // 鏀跺埌涓�涓悎鏍肩殑鎼哄甫浼犵粺鏁版嵁鐨� 鍖呫��
+ if (p1->bHead) {
+ // 鏁版嵁娈电殑璧峰锛� 涓�涓柊鐨勬暟鎹鐨勫紑濮�
+ KwRunStat.ttRxSize = 0;
+ }
+ memcpy (KwRunStat.ttRxBuf1 + KwRunStat.ttRxSize, KwRx_Buffer + 14 , nthislen2);
+ KwRunStat.ttRxSize += nthislen2;
+ if (p1->bTail) {
+ // 宸茬粡鏀跺埌瀹屾暣鐨勪竴涓暟鎹
+ KwRunStat.ttRxRecved =1;
+ KwRunStat.ErrStat=500;
+
+ // 鍚庣画鏁版嵁娈靛鐞嗘祦绋� ;
+ if (Uart1Mode == 1) { // 澶勪簬閫忎紶妯″紡锛� 鏁版嵁鍙戝洖鍘汇��
+ SendPacket(1, KwRunStat.ttRxBuf1, KwRunStat.ttRxSize);
+ }
+ KwRunStat.ttRxSize = 0;
+ KwRunStat.ttRxRecved = 0;
+
+ // 鏆傛椂娴佺▼锛屽叏閮ㄥ彂鍥炲幓銆�
+// memcpy (KwRunStat.ttTxBuf1, KwRunStat.ttRxBuf1, KwRunStat.ttRxSize);
+// KwRunStat.sizetosend = KwRunStat.ttRxSize;
+// KwRunStat.sentsize = 0;
+// KwRunStat.sizesending = 0;
+// KwRunStat.ttRxRecved = 0;
+// KwRunStat.ttRxSize = 0;
+
+ }
+
+ }
+
+
+ }
KWLSlaveSendRplyPkt(1);
// Radio.StartCad();
// KMem.WFY[0]=(RX_Buffer[4]<<8) + RX_Buffer[5];
@@ -662,48 +792,77 @@
int KWLMasterSendReqPkt(int nChn)
{
int len1=12;
- pstKLPacket p1 = (pstKLPacket) TX_Buffer;
+ pstKwPacket p1 = (pstKwPacket) KwTx_Buffer;
p1->STSign = enReqSign;
p1->DstAddr = MixAddr(WLCfg.nChannel,WLCfg.nRadioAddr);
p1->Func = 0x3;
- p1->Stat = (p1->Stat + 1) &0x03; //0x00;
+ KwRunStat.nSeq = (KwRunStat.nSeq + 1)&0x03;
+ p1->Stat = KwRunStat.nSeq; //0x00;
p1->Data[0]=KMem.WFY[1];
p1->Data[1]=KMem.WFY[1]>>8;
p1->Data[2]=KMem.WFY[2];
p1->Data[3]=KMem.WFY[2]>>8;
-/*
- TX_Buffer[0] = 'P';
- TX_Buffer[1] = 'I';
- TX_Buffer[2] = 'N';
- TX_Buffer[3] = 'G';
- TX_Buffer[4] = KMem.WFY[1];
- TX_Buffer[5] = KMem.WFY[1]>>8;
- TX_Buffer[6] = KMem.WFY[2];
- TX_Buffer[7] = KMem.WFY[2]>>8;
-*/
if (p1->Stat == 0)
{
- TX_Buffer[10] = RssiValue;
- TX_Buffer[11] = SnrValue;
+ KwTx_Buffer[10] = RssiValue;
+ KwTx_Buffer[11] = SnrValue;
}else if (p1->Stat == 1){
- memcpy(TX_Buffer+8,&KwRunStat.sentCount,4);
+ memcpy(KwTx_Buffer+8,&KwRunStat.sentCount,4);
}else if (p1->Stat == 2) {
- memcpy(TX_Buffer+8,&KwRunStat.recvCount,4);
+ memcpy(KwTx_Buffer+8,&KwRunStat.recvCount,4);
}else if (p1->Stat == 3) {
}
- crc_value=RadioComputeCRC(TX_Buffer,len1,CRC_TYPE_IBM);//璁＄畻寰楀嚭瑕佸彂閫佹暟鎹寘CRC鍊�
- TX_Buffer[len1]=crc_value;
- TX_Buffer[len1+1]=crc_value>>8;
-
+// 鍙楅檺浜庣┖涓寘澶у皬鐨勯檺鍒讹紝 閫忎紶鏁版嵁鍙兘闇�瑕佸垎鍑犳鍙戦�併��
+// 鍙戦�佹柟璐熻矗鎷嗗寘锛� 鎺ユ敹鏂硅礋璐� 鍚堝寘锛� 鍙戦�佹柟鍙戦�佺涓�涓寘锛屾湁璧峰鏍囧織锛� 鍙戦�佹柟鍙戦�佹渶鍚庝竴涓寘锛屾湁缁撴潫鏍囧織銆�
+// 濡傛灉鍙湁涓�涓寘鐨勬暟鎹紝鍒欏悓鏃跺叿鏈夎捣濮嬪拰缁撴潫鏍囧織銆�
+// 涓棿鐨勬暟鎹寘锛屼笉鍏锋湁璧峰鏍囧織锛屼篃涓嶅叿鏈夌粨鏉熸爣蹇椼��
+// 鍒╃敤鍖呭簭鍒楀彿鏉ヤ繚璇� 涓棿 鐨勬暟鎹寘鐨� 瀹屾暣鎬� 鍜岄『搴忔纭�с��
+// 鍏堝疄鐜�1涓寘鐨勮浆鍙戙��
+ if (KwRunStat.sizetosend > 0) {
+ uchar bStart=0,bEnd=1;
+ int16_t thisToSend = KwRunStat.sizetosend - KwRunStat.sentsize;
+ if (thisToSend > WL_TT_EACH_SIZE) { thisToSend = WL_TT_EACH_SIZE; bEnd=0;}
+
+ if (KwRunStat.sentsize == 0) { // 绗竴娆″彂閫�
+ bStart = 1;
+ }
+
+ memcpy(KwRunStat.ttAirBuf, KwRunStat.ttTxBuf1 + KwRunStat.sentsize , thisToSend); // 鍙戦�佹暟鎹紝 濡傛灉涓婃鏈夛紝缁х画涓婃鐨勫彂銆�
+
+ KwRunStat.sizesending = thisToSend;
+ KwRunStat.ttAirSize = thisToSend;
+
+// KwRunStat.sentsize = 0;
+ KwRunStat.bttAirHeader = bStart;
+ KwRunStat.bttAirTail = bEnd;
+
+ p1->bHasData=1;
+ p1->bHead = bStart;
+ p1->bTail = bEnd;
+
+ KwTx_Buffer[len1] = KwRunStat.sizetosend;
+ KwTx_Buffer[len1+1] = thisToSend;
+
+ memcpy( KwTx_Buffer + len1 + 2 , KwRunStat.ttTxBuf1 + KwRunStat.sentsize, thisToSend);
+ len1 += 2 + thisToSend;
+
+ }
+
+
+ crc_value=RadioComputeCRC(KwTx_Buffer,len1,CRC_TYPE_IBM);//璁＄畻寰楀嚭瑕佸彂閫佹暟鎹寘CRC鍊�
+ KwTx_Buffer[len1]=crc_value;
+ KwTx_Buffer[len1+1]=crc_value>>8;
+
+
KMem.WDT[56]=crc_value;
-
+
KwRunStat.sentCount++;
KwRunStat.cycleTime = GetTick()- KwRunStat.lastSendtime ;
KwRunStat.lastSendtime = GetTick();
- Radio.Send( TX_Buffer, len1+2);
+ Radio.Send( KwTx_Buffer, len1+2);
KwRunStat.runStep=RS_SENDING;
KwRunStat.lastActTime = GetTick();
@@ -713,7 +872,7 @@
int KWLSlaveSendRplyPkt(int nChn)
{
int len1=12;
- pstKLPacket p1 = (pstKLPacket) TX_Buffer;
+ pstKwPacket p1 = (pstKwPacket) KwTx_Buffer;
p1->STSign = enRplySign;
p1->DstAddr = MixAddr(WLCfg.nChannel,WLCfg.nRadioAddr);
p1->Func = 0x3;
@@ -722,32 +881,60 @@
p1->Data[1]=KMem.WFY[1]>>8;
p1->Data[2]=KMem.WFY[2];
p1->Data[3]=KMem.WFY[2]>>8;
-/*
- TX_Buffer[0] = 'P';
- TX_Buffer[1] = 'O';
- TX_Buffer[2] = 'N';
- TX_Buffer[3] = 'G';
- TX_Buffer[4] = KMem.WFY[1];
- TX_Buffer[5] = KMem.WFY[1]>>8;
- TX_Buffer[6] = KMem.WFY[2];
- TX_Buffer[7] = KMem.WFY[2]>>8;
-*/
+
if (p1->Stat == 0)
{
- TX_Buffer[10] = RssiValue;
- TX_Buffer[11] = SnrValue;
+ KwTx_Buffer[10] = RssiValue;
+ KwTx_Buffer[11] = SnrValue;
}else if (p1->Stat == 1){
- memcpy(TX_Buffer+8,&KwRunStat.sentCount,4);
+ memcpy(KwTx_Buffer+8,&KwRunStat.sentCount,4);
}else if (p1->Stat == 2) {
- memcpy(TX_Buffer+8,&KwRunStat.recvCount,4);
+ memcpy(KwTx_Buffer+8,&KwRunStat.recvCount,4);
}else if (p1->Stat == 3) {
}
- crc_value=RadioComputeCRC(TX_Buffer,len1,CRC_TYPE_IBM);//璁＄畻寰楀嚭瑕佸彂閫佹暟鎹寘CRC鍊�
- TX_Buffer[len1]=crc_value;
- TX_Buffer[len1+1]=crc_value>>8;
- Radio.Send( TX_Buffer, len1+2);
+// 鍙楅檺浜庣┖涓寘澶у皬鐨勯檺鍒讹紝 閫忎紶鏁版嵁鍙兘闇�瑕佸垎鍑犳鍙戦�併��
+// 鍙戦�佹柟璐熻矗鎷嗗寘锛� 鎺ユ敹鏂硅礋璐� 鍚堝寘锛� 鍙戦�佹柟鍙戦�佺涓�涓寘锛屾湁璧峰鏍囧織锛� 鍙戦�佹柟鍙戦�佹渶鍚庝竴涓寘锛屾湁缁撴潫鏍囧織銆�
+// 濡傛灉鍙湁涓�涓寘鐨勬暟鎹紝鍒欏悓鏃跺叿鏈夎捣濮嬪拰缁撴潫鏍囧織銆�
+// 涓棿鐨勬暟鎹寘锛屼笉鍏锋湁璧峰鏍囧織锛屼篃涓嶅叿鏈夌粨鏉熸爣蹇椼��
+// 鍒╃敤鍖呭簭鍒楀彿鏉ヤ繚璇� 涓棿 鐨勬暟鎹寘鐨� 瀹屾暣鎬� 鍜岄『搴忔纭�с��
+// 鍏堝疄鐜�1涓寘鐨勮浆鍙戙��
+
+ if (KwRunStat.sizetosend > 0) {
+ uchar bStart=0,bEnd=1;
+ int16_t thisToSend = KwRunStat.sizetosend - KwRunStat.sentsize;
+ if (thisToSend > WL_TT_EACH_SIZE) { thisToSend = WL_TT_EACH_SIZE; bEnd=0;}
+
+ if (KwRunStat.sentsize == 0) { // 绗竴娆″彂閫�
+ bStart = 1;
+ }
+
+ memcpy(KwRunStat.ttAirBuf, KwRunStat.ttTxBuf1 + KwRunStat.sentsize , thisToSend); // 鍙戦�佹暟鎹紝 濡傛灉涓婃鏈夛紝缁х画涓婃鐨勫彂銆�
+
+ KwRunStat.sizesending = thisToSend;
+ KwRunStat.ttAirSize = thisToSend;
+
+// KwRunStat.sentsize = 0;
+ KwRunStat.bttAirHeader = bStart;
+ KwRunStat.bttAirTail = bEnd;
+
+ p1->bHasData=1;
+ p1->bHead = bStart;
+ p1->bTail = bEnd;
+
+ KwTx_Buffer[len1] = KwRunStat.sizetosend;
+ KwTx_Buffer[len1+1] = thisToSend;
+
+ memcpy( KwTx_Buffer + len1 + 2 , KwRunStat.ttTxBuf1 + KwRunStat.sentsize, thisToSend);
+ len1 += 2 + thisToSend;
+
+ }
+
+ crc_value=RadioComputeCRC(KwTx_Buffer,len1,CRC_TYPE_IBM);//璁＄畻寰楀嚭瑕佸彂閫佹暟鎹寘CRC鍊�
+ KwTx_Buffer[len1]=crc_value;
+ KwTx_Buffer[len1+1]=crc_value>>8;
+ Radio.Send( KwTx_Buffer, len1+2);
KwRunStat.runStep=RS_SENDING;
KwRunStat.lastActTime = GetTick();
@@ -795,7 +982,7 @@
switch (KwRunStat.runStep){
case RS_IDLE:
- if (GetTick() - KwRunStat.lastSendtime > (WLCfg.nCycleTime) *10){
+ if (GetTick() - KwRunStat.lastSendtime > (WLCfg.nCycleTime) *10 ||KwRunStat.sizetosend > 0 ){
Radio.StartCad();
KwRunStat.runStep = RS_MASTER_CAD;
KwRunStat.lastActTime = GetTick();
@@ -815,7 +1002,7 @@
case RS_SENT:
break;
case RS_RECVING:
- if (GetTick() - KwRunStat.lastSendtime > (WLCfg.nCycleTime) *10){
+ if (GetTick() - KwRunStat.lastSendtime > (WLCfg.nCycleTime) *10 || KwRunStat.bMasterRecved){
KwRunStat.ErrStat=5000;
KwRunStat.LostPackets++;
KwRunStat.CtnLstPkts++;
@@ -844,7 +1031,8 @@
KwRunStat.runStep = RS_IDLE;
- }
+ }
+
break;
case RS_RECVED:
KwRunStat.runStep = RS_IDLE;
--
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