增加了uwb_app配置

chen

2024-11-15 76dfec4622c64f983570f33588e81e63187fd809

 keil/uwb_app.c

@@ -13,6 +13,7 @@

extern int simple_main(void);
extern int temp_main(void);
void Calibration_Time(void);
void TagListUpdate(void);
extern void IO_LED_control_change(uint8_t data);
extern void IO_control_init(void);
@@ -51,8 +52,12 @@
uint32_t temp_count2=0;
uint32_t temp_count3=0;
uint32_t temp_internal=0;
int16_t elevation = 0;
int16_t azimuth = 0;
uint8_t fom = 0;
int32_t distance;
uint8_t taglist_num;
float *sts_rssi=NULL;
extern uint8_t recev_error_num;

extern Operation_step UWB_work_state;
@@ -241,7 +246,7 @@
/* RX done process handler. */
int8_t rssi;
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{
{      uint8_t valid_sts=0;
    // Power off radio
    power_off_radio();

@@ -259,7 +264,19 @@
        poll_rx_num++;
        rssi = rx_report->rssi;
        receive_flag=1;
        
            valid_sts= sts_valid_check();
      if (valid_sts)
      {
            aoa_calculate(&elevation, &azimuth);
            aoa_fom_get(NULL, &fom);
//            float pdoa[3];
//            pdoa[0] = pdoa_select_get(0, 3);
//            pdoa[1] = pdoa_select_get(1, 3);
//            pdoa[2] = pdoa_select_get(2, 3);
//            LOG_INFO(TRACE_MODULE_APP, "PDOA: %f %f %f\r\n", pdoa[0], pdoa[1], pdoa[2]);

               sts_rssi = sts_rssi_output_get();
         }
    }
    else
    {
@@ -405,11 +422,40 @@
uint16_t uwb_searchcount;
uint8_t flag_recsuccess;
uint8_t flag_temp2,flag_temp1;
 uint8_t valid_sts = 0;
int16_t elevation = 0;
int16_t azimuth = 0;
uint8_t fom = 0;
uint32_t start_receive_count_calibration;
uint32_t current_count_calibration;
uint8_t secondtask_search_count,secondtask_search_flag;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag,flag_secondtask;
void Calibration_Time(void)
{	
   current_count_calibration=phy_timer_count_get();
   if((current_count_calibration-start_receive_count_calibration>=MS_TO_PHY_TIMER_COUNT(500)||current_count_calibration+(UINT32_MAX-start_receive_count_calibration)>=MS_TO_PHY_TIMER_COUNT(500))
      &&!((end_receive_count-current_count_calibration<=MS_TO_PHY_TIMER_COUNT(200))||(end_receive_count+(UINT32_MAX-current_count_calibration)<=MS_TO_PHY_TIMER_COUNT(200))))
   {
      start_receive_count_calibration=current_count_calibration;//更新开始时间
//      MotorPoll();
		
      if(secondtask_search_count++%2==0)
    {
        secondtask_search_flag = 1;
    }else{
        secondtask_search_flag = 0;
    }
      if(secondtask_search_flag)//更新S时间TICK
      {
      HIDO_TimerTick();
      TagListUpdate();
//    GPS_Poll();
//      if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
//    nomove_count++;
//      else{
//      nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
//      }
      }
//      update_led_power_state();//更新等状态防止震动卡死在搜索
   }
}

int UwbRange(void)
{
    uint8_t i;
@@ -457,6 +503,7 @@
         current_count=phy_timer_count_get();
         while(mac_is_busy())
        {
                  Calibration_Time();
            IdleTask();
            current_count=phy_timer_count_get();
            if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)
@@ -505,7 +552,7 @@
            }
                  recev_error_num=0;
              range_timeout_us=5000;//恢复为5000进入range后
            LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度：%d.\r\n",g_com_map[BIND_DEV_ID],distance,rssi);
           LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度ANT0:%d,信号强度ANT2:%d\r\n",g_com_map[BIND_DEV_ID],distance,sts_rssi[0],sts_rssi[2]);
                  gpio_pin_clr(SCL_PIN);
        break;
            }
@@ -641,7 +688,7 @@
                }
                
                gpio_pin_clr(SCL_PIN);//测试
                        LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度：%d.\r\n",g_com_map[BIND_DEV_ID],distance,rssi);
                        LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度ANT0:%d,信号强度ANT2:%d\r\n",g_com_map[BIND_DEV_ID],distance,sts_rssi[0],sts_rssi[2]);
                return 1;//返回发送成功标志
            }