V1.13版本修改接收时间和帧间隔和延迟接收时间参数，适配铁鞋稳定一对多测距版本

chen

2025-06-03 dcbd0e93b5cc05ea9f1e1152c7951a37e12d177f

 keil/include/main/main.c

@@ -61,10 +61,14 @@
#define TEST_UART_MODE TEST_UART_DMA_MODE

#define NUM_SAMPLES 1
#define SLEEP_START_TIME 120
#define SLEEP_START_TIME 10
#define FREQ_LOST_TIME 5
#define NOTAG_FREQ  1
#define BATTERY_GET_TIME 3600
uint8_t enable_sleep_count,sleep_flag;
#define DEBUG_MODE

uint32_t battery_get_count;
//#define DEBUG_MODE
uint32_t reboot_num;
struct UART_CFG_T test_uart_cfg =
{
        .parity = UART_PARITY_NONE,
@@ -88,7 +92,11 @@
        .int_tx = false,
#endif
      };

static void app_wdt_callback(void *dev, uint32_t status)
{
    ASSERT(status, "WDT TIMEOUT，程序复位");
      //LOG_INFO(TRACE_MODULE_APP, "程序卡死，看门狗复位");
}
static uint32_t sample[NUM_SAMPLES] = {0};
static struct ADC_CFG_T usr_adc_cfg = {
    .mode = ADC_MODE_CONTINUE,    /* Selected single conversion mode  */
@@ -103,22 +111,32 @@
    .high_pulse_time = 4,
    .settle_time = 1,
};
 struct WDT_CFG_T app_wdt_cfg = {
        .timeout = 32768 * 30,
        .rst_en = true,
        .int_en = true,
        .callback = app_wdt_callback,
    };

uint8_t state5v = 1;
uint8_t state5v = 0;
uint8_t bat_percent=0,g_start_send_flag=1;
int16_t fVoltage_mv;
uint8_t bat_percent;
extern uint32_t dev_id;
extern uint8_t group_id;
uint8_t tag_frequence;
extern float freqlost_count;
uint8_t tag_frequency;
void UartDeinit(void);
void UartInit(void);
void Program_Init(void);
void IdleTask(void);
void boot_deinit(void);
void Get_batterty_Voltage(void);
void Calculate_battery_percent(void);
uint8_t sleep_limit_time=1;
static void uart_receive_callback(void *dev, uint32_t err_code)
{      
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}
void UartInit(void)
{
@@ -132,17 +150,59 @@
uart_close(UART_ID0);
uart_close(UART_ID1);
}
void Get_batterty_Voltage(void)
{
    battery_monitor_open();
    fVoltage_mv=battery_monitor_get();
   battery_monitor_close();  
   Calculate_battery_percent();
}
void Calculate_battery_percent(void)
{
            if(fVoltage_mv < 3000)
        {
            bat_percent = 0;
        }
        else if(fVoltage_mv > 3500)
        {
            bat_percent = 100;
        }
        else
        {
            bat_percent = ((fVoltage_mv - 3000) /8);
        }
            //LOG_INFO(TRACE_MODULE_APP, "The voltage is %d ,percent is %%%d \r\n",fVoltage_mv,bat_percent);
}
static void sleep_timer_callback(void *dev, uint32_t time)
{
    //sleep_timer_start(__MS_TO_32K_CNT(1000));
   static uint8_t lost_jumpcount=0;
   reboot_num++;
   if(reboot_num>=3600)
      NVIC_SystemReset(); //软复位回到bootloader
      enable_sleep_count++;
   if(enable_sleep_count==SLEEP_START_TIME){

	
   if(enable_sleep_count==sleep_limit_time){
      enable_sleep_count=0;
      sleep_flag=1;
   }
      g_start_send_flag=1;
    //LOG_INFO(TRACE_MODULE_APP, "Sleep timer interrupt callback\r\n");
   if(battery_get_count++>=BATTERY_GET_TIME)
   {
   Get_batterty_Voltage();
   battery_get_count=0;
   }
//   if(freqlost_count++>FREQ_LOST_TIME)
//   {
//            tag_frequency = NOTAG_FREQ;
//        if(lost_jumpcount++>=4) //无测距情况下，每5秒发一次；
//        {
//            lost_jumpcount = 0;
//            g_start_send_flag=1;
//        }
//   }else{
//      g_start_send_flag=1;
//   }
   g_start_send_flag=1;
}
static void adc_callback(void *data, uint32_t number)
{
@@ -166,8 +226,9 @@
            bat_percent = ((fVoltage_mv - 3300) /8);
        }
    }
       LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
       //LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
}

static void voltage_input_handler(enum IO_PIN_T pin)
{
//LOG_INFO(TRACE_MODULE_APP, "中断唤醒\r\n");
@@ -178,22 +239,25 @@
parameter_init();//g_com_map表初始化
group_id=g_com_map[GROUP_ID];
memcpy(&dev_id ,&g_com_map[DEV_ID],2);
tag_frequence=1000/g_com_map[COM_INTERVAL];	
g_com_map[VERSION] = (1<<8)|5;
tag_frequency=1000/g_com_map[COM_INTERVAL];	
g_com_map[VERSION] = (1<<8)|13;
LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
LOG_INFO(TRACE_MODULE_APP,"固件版本:UWB-标签 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
LOG_INFO(TRACE_MODULE_APP,"固件版本:UWB-免布线信标 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
}
uint8_t test1;
void IdleTask(void)
{ UART0_CheckReceive();
   test1=gpio_pin_get_val(INPUT_5V_Pin);
   if(gpio_pin_get_val(INPUT_5V_Pin))
   {
        	
   
      //UART_CheckSend();
// bat_percent=Get_Battary();
      if(state5v==0)
      {
         state5v=1;
         sleep_flag=0;
         sleep_limit_time=30;//新增插入串口后30s不休眠
         enable_sleep_count=0;//重新插拔可以重置时间
      }   
   }else{
        if(state5v==1)
@@ -245,6 +309,7 @@

    // Disable watchdog timer
    wdt_close(WDT_ID0);
      wdt_open(WDT_ID0,&app_wdt_cfg);//30s最大上限检测喂狗
    //LOG_INFO(TRACE_MODULE_APP, "UWB qiang  test example\r\n");
      
    // open system timer
@@ -260,6 +325,8 @@
       uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
      // Initialize low power mode
    power_init();
      Get_batterty_Voltage();//获取当前内部电压
      //Calculate_battery_percent();
      //adc_open(&usr_adc_cfg);
      //adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
    // Enable sleep timer
@@ -275,11 +342,11 @@
   #endif
      //Serial0_PutString("进入app测试\r\n");
    while (1)
    { 
    {  
         if(g_start_send_flag)
         {
         //LOG_INFO(TRACE_MODULE_APP, "测距ing");
			
         wdt_ping(WDT_ID0);//喂狗
         g_start_send_flag = 0;
         gpio_pin_set(LED_PIN);//亮
         TagRange();
@@ -288,6 +355,7 @@
         }else{
         IdleTask();   
         }
         LoraUp_Poll();
#ifndef DEBUG_MODE
         if(sleep_flag){//开始一段时间无休眠
                  trace_flush();