这个版本专门测试周围基站数量的 通过串口打印 波特率921600 如果要升级读取等功能用上个版本

WXK

2 天以前 2ea6286cc6eeb393d57ace3022634a9e86e7e01d

 keil/uwb_app.c

@@ -230,6 +230,8 @@
extern uint16_t mubiao_anchor_ID;
uint8_t Lora_qingqiu_flag;
extern uint16_t Lora_qingqiu_bao;
uint8_t shengji_flag;
extern uint8_t Dtu_shengji_jindu[20];
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{      uint8_t valid_sts=0;
    uint16_t checksum1 = 0,dest_id;
@@ -252,7 +254,7 @@
        receive_flag=1;
//        uart_send(UART_ID0, rx_buf,rx_length, NULL);
        gpio_pin_toggle(IO_PIN_4);
        if(rx_buf[MESSAGE_TYPE_IDX]==MBX_POLL)
        if(rx_buf[MESSAGE_TYPE_IDX]==MBX_POLL&&!shengji_flag)
        {
        Anchor_App();
        }
@@ -265,6 +267,7 @@
            {
                if(!memcmp(&dev_id,&dest_id,2)/*||dest_id==0xffff||(dest_id==0xfffe&&get_channel==5)*/)
                {
                    shengji_flag=1;
                    switch(rx_buf[MSG_TYPE_IDX])
                    {
                    case LORA_MSGTYPE_UPDATE_CONFIRM:
@@ -286,8 +289,13 @@
                        break;
                    
                    case 0x99:
                    LOG_INFO(TRACE_MODULE_APP, "收到结束升级请求\r\n",Lora_qingqiu_bao);
                        delay_ms(500);
//                    LOG_INFO(TRACE_MODULE_APP, "收到结束升级请求\r\n",Lora_qingqiu_bao);
                    delay_ms(200);
                    Dtu_shengji_jindu[4]=100;
                    memcpy(&Dtu_shengji_jindu[5],&mubiao_anchor_ID,2);
                    uart_send(UART_ID0, Dtu_shengji_jindu,9, NULL);
                    
                        delay_ms(1000);
//                        Lora_upanc_flag=0;
                        Lora_qingqiu_flag=0;
                        NVIC_SystemReset();
@@ -464,7 +472,7 @@
//void TagListUpdate(void)
//{
//    uint8_t i,j=0;
//    for(i=0; i<anchordata_num; i++)
//    for(i=0; i<taglist_num; i++)
//    {
//        if(tagofflinetime[i]++<QUIT_SLOT_TIME)
//        {
@@ -472,18 +480,18 @@
//            tagofflinetime[j++]=tagofflinetime[i];
//        }
//    }
//    anchordata_num=j;
//    taglist_num=j;
//}
void TagListUpdate(void)
{
uint16_t i,j=0,k=0;
    for(i=0; i<taglist_num; i++)
    {
          if(tagofflinetime[i]++<TAG_KEEPTIMES)
          if(tagofflinetime[i]++<10)
        {
            tagid_list[j]=tagid_list[i];
            tagdist_list[j] = tagdist_list[i];
                  anchordata_bat[j]=anchordata_bat[i];//电量随之更新
         anchordata_bat[j]=anchordata_bat[i];//电量随之更新
            anchordata_version[j]=anchordata_version[i];
            tagofflinetime[j++]=tagofflinetime[i];
        }
@@ -643,13 +651,40 @@
   if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
      uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//防止溢出
}
uint8_t uwbsend[200];
uint8_t uwbsend[1000];

void UWBIdleTask(void)
{

   if(HIDO_TimerGetTick()-uwbtasktimer >=1)
   {
            
    for(uint16_t i=0;i<taglist_num-1;i++)
    {
        for(uint16_t j=0;j<taglist_num-1-i;j++)
        {
            if(tagdist_list[j]>tagdist_list[j+1])
            {
                uint16_t id,dist,version;
                uint8_t bat;
                id = tagid_list[j];
                dist = tagdist_list[j];
                version = anchordata_version[j];
                tagid_list[j] = tagid_list[j+1];
                tagdist_list[j] = tagdist_list[j+1];
                anchordata_version[j] = anchordata_version[j+1];
                tagid_list[j+1] = id;
                tagdist_list[j+1] = dist;
                anchordata_version[j+1] = version;
            }
        }
    
    }
    
//        if(taglist_num>6)
//        {
//        taglist_num=6;
//        }
      uwbtasktimer = HIDO_TimerGetTick();
      UWBOneSecondTask();
        uwbsend[0]=0x55;
@@ -659,12 +694,13 @@
        memcpy(&uwbsend[4],&tagid_list,taglist_num*2);
        memcpy(&uwbsend[4+taglist_num*2],&tagdist_list,taglist_num*2);
        memcpy(&uwbsend[4+taglist_num*4],&anchordata_version,taglist_num*2);
        uart_send(UART_ID0, uwbsend,taglist_num*6+4, NULL);
        taglist_num=0;
//        for(int i=0;i<anchordata_num;i++)
//        {
//        LOG_INFO(TRACE_MODULE_APP,"当前测距基站ID:%x,距离:%d.\r\n",tagid_list[0],tagdist_list[0]);
//        }
//        uart_send(UART_ID0, uwbsend,taglist_num*6+4, NULL);
      //  taglist_num=0;
        LOG_INFO(TRACE_MODULE_APP,"当前测距基站数量%d.\r\n",taglist_num);
        for(int i=0;i<taglist_num;i++)
        {
        LOG_INFO(TRACE_MODULE_APP,"当前测距基站ID:%x,距离:%d.\r\n",tagid_list[i],tagdist_list[i]);
        }
   }
}
int uwb_app_poll(void)
@@ -788,7 +824,7 @@
         current_count=phy_timer_count_get();
         while(mac_is_busy())
        {
                  Calibration_Time();
//                  Calibration_Time();
            IdleTask();
            current_count=phy_timer_count_get();
            if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)
@@ -886,7 +922,7 @@
    phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
   #endif
    // Set calibration parameters
    config.phy_cfg.ch_num=g_com_map[NEARBASE_ID1];
//    config.phy_cfg.ch_num=g_com_map[NEARBASE_ID1];
    uwb_calibration_params_set(config.phy_cfg.ch_num);
   #ifndef STS_MODE
   // set advanced parameters