这是工卡机测试版本

zhangbo

10 天以前 deaaa18131675b17ef4fa49befa80cfb09778898

 keil/uwb_app.c

@@ -64,6 +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;
@@ -358,9 +359,7 @@
      Anchor_App();
        if(resp_tx_flag==0)
        {

            OpenUWB();

        }
//         #ifdef STS_MODE
//            valid_sts= sts_valid_check();
@@ -671,6 +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];
@@ -711,8 +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 
@@ -724,8 +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;
@@ -739,6 +740,7 @@
//                    taglist_num = 0;                    
//                    rxnum=0;
}
extern uint32_t step_count;
void UWBIdleTask(void)
{
//    if(receive_flag)
@@ -754,11 +756,13 @@
//    }
   if(HIDO_TimerGetTick()-uwbtasktimer >=1)
   {
      step_count = mir3da_get_step(); // 获取步数
      uwbtasktimer = HIDO_TimerGetTick();
      UWBOneSecondTask();
      #ifdef UWB_CK
      if(g_com_map[UWBFrequency]==1)
        {
      UWBSendUDPTask();
      #endif
        }
   }
}
int uwb_app_poll(void)
@@ -771,7 +775,9 @@
            uint8_t i;
            uint16_t tempid;
         uwb_offtime_count=0;
         CountState_t current_state = STATE_NORMAL;
   #ifdef  CEJU_ZIUMIAN
    current_state = STATE_NORMAL;
   #endif
         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