加入气压数据输出在gps 跟uwb里

WXK

2025-05-26 dd4e6900813f4ca7e98d6d287baf1f8626303625

 keil/uwb_app.c

@@ -11,6 +11,8 @@
#include "board.h"
#include "lib_aoa.h"
#include "WS2812.h"
#include "TCPClient.h"

extern int simple_main(void);
extern int temp_main(void);
void Calibration_Time(void);
@@ -62,6 +64,7 @@
int16_t elevation = 0;
int16_t azimuth = 0;
uint8_t fom = 0;
extern CountState_t current_state;
int32_t distance;
uint8_t taglist_num;
float *sts_rssi=NULL;
@@ -81,7 +84,7 @@
#define RANGING_PERIOD_MS (1000)

/* This is the delay from Frame RX POLL frame to send RESP Frame */
#define POLL_RX_TO_RESP_TX_DLY_US 670U //yuan550极限
#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan550极限
//#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan550极限

#define RESP_TX_TO_FINAL_RX_DLY_US 500U
@@ -141,7 +144,7 @@
//    .phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment       */
//    .phy_cfg.rx_ant_id = UWB_RX_ANT_3,    /* UWB RX antenna port                       */
//};
#ifdef UWB_DW1000_XB
#ifdef UWB_MK8000_XB
static struct mk_uwb_configure config = {
    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
    .phy_cfg.ch_num = 5,                      /* Channel number.                           */
@@ -158,7 +161,7 @@
    .phy_cfg.rx_ant_id = UWB_RX_ANT_3,    /* UWB RX antenna port                       */
};
#endif
#ifdef UWB_DW1000_MBXJZ
#ifdef UWB_DW1000_MBXJZ_OLD
static struct mk_uwb_configure config = {
    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
    .phy_cfg.ch_num = 5,                      /* Channel number.                           */
@@ -356,9 +359,7 @@
      Anchor_App();
        if(resp_tx_flag==0)
        {
            #ifdef UWB_CK
            OpenUWB();
            #endif
        }
//         #ifdef STS_MODE
//            valid_sts= sts_valid_check();
@@ -389,9 +390,9 @@
        memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
        rx_length = 0;
        receive_error_flag=1;
            #ifdef UWB_CK
	
               OpenUWB();
            #endif

//      OpenUWB();//再次开启UWB接收
    }
//    CloseUWB();
@@ -412,9 +413,9 @@
        temp_count= phy_timer_count_get();
        temp_internal=temp_count;
        resp_tx_num++;
            #ifdef UWB_CK

            OpenUWB();
            #endif

//          OpenUWB();//再次开启UWB接收
        //LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
    }
@@ -669,6 +670,7 @@
 if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
 uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//防止溢出
}
extern uint16_t gaodu;
void UWBSendUDPTask(void)
{
   uint16_t checksum,tempdistarray[20];
@@ -709,8 +711,8 @@
//    }
//    Set4LEDColor(uwbled,rtkled,led4g,powerled);
    
    if(taglist_num>20)       //最多上传20个基站数据，距离最近的20个
        taglist_num = 20;
    if(taglist_num>14)       //最多上传20个基站数据，距离最近的20个
        taglist_num = 14;
                    usart_send[0]= 0x55;
                    usart_send[1]= 0xaa;
               usart_send[2] = 0x12;//正常模式 
@@ -722,8 +724,9 @@
//                    usart_send[8] = rxnum;
               usart_send[9] = userkey_state|0<<1|0<<2|0<<5|uwb_state<<6;
            //   memcpy(&usart_send[10],&rec_tagheight,2);
               usart_send[12] = 0;
               usart_send[13] = 0;
                    memcpy(&usart_send[12],gaodu,2);
//               usart_send[12] = 0;
//               usart_send[13] = 0;
               usart_send[14] = 0;
               usart_send[15] = 0;
               usart_send[16] = taglist_num;
@@ -734,7 +737,7 @@
               checksum = Checksum_u16(&usart_send[2],15+5*taglist_num);
               memcpy(&usart_send[17+5*taglist_num],&checksum,2);
               HexToAsciiSendUDP(usart_send,19+5*taglist_num);
                    taglist_num = 0;                    
//                    taglist_num = 0;                    
//                    rxnum=0;
}
void UWBIdleTask(void)
@@ -754,17 +757,23 @@
   {
      uwbtasktimer = HIDO_TimerGetTick();
      UWBOneSecondTask();
//        UWBSendUDPTask();
      if(g_com_map[UWBFrequency]==1)
        {
      UWBSendUDPTask();
        }
   }
}
int uwb_app_poll(void)
{
    UWBIdleTask();
}
extern uint8_t uwb_offtime_count;
int Anchor_App(void)
{
            uint8_t i;
            uint16_t tempid;
         uwb_offtime_count=0;
         current_state = STATE_NORMAL;
         if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//判断是否是和自己是同一组通讯的且为poll包
        {    flag_recsuccess = 1;
                  wltag_state=RANGE;//成功后从search切换为range
@@ -779,6 +788,8 @@
            memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
            memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
            uwbled=BLUE;
					  
					  
//            for(i=0; i<rec_nearbase_num; i++)
//            {
//                if(rec_ancidlist[i] == dev_id)
@@ -814,7 +825,7 @@
                                    Anchor_RecNearPoll(i);
                                    tagdist_list[taglist_pos]=rec_ancdistlist[i];
                                    anchordata_bat[taglist_pos] = battary;//保存该基站电量
                                                anchor_rssi[taglist_pos]=rssi;
                        anchor_rssi[taglist_pos]=rssi;
                                    if(taglist_pos==taglist_num)// taglist_pos==taglist_num 说明这个基站不在当前列表中
                                    {   //tempid==dev_id 说明基站下发测距报文有这个标签的信息
                                          taglist_num++;          //满足上述两种情况才会添加基站ID进入列表中，否则会出现标签不在基站列表中，标签也不响应的情况