车载手环V1.11版本，解决adc采集总是100%问题，修改gps串口判断部分逻辑，低功耗稳定版本

chen

2024-10-29 f44a16e4dfb664beb54f523eedabf19322caab7c

 keil/uwb_app.c

@@ -35,7 +35,7 @@
extern uint16_t tag_frequency;
extern uint16_t disoffset;
static uint8_t frame_len,recpoll_len,current_syncid,new_tagid,seize_anchor,result,g_start_sync_flag;
extern uint8_t gps_power_state,motor_power_state,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state;
extern uint8_t gps_power_state,motor_power_state,uwb_state,air780_power_state,gps_success_state,red_charge_state,green_charge_state,air780_success_state;
int poll_rx_num,resp_tx_num;
//resp函数
void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary);//找到自己的id信息对应位置更新自己的交互信息
@@ -79,7 +79,7 @@
/* RX window open in advance */
#define RX_WIN_IN_ADVANCE_US (150)

#define DELAY_BETWEEN_TWO_FRAME_UUS 1400
#define DELAY_BETWEEN_TWO_FRAME_UUS 600 //yuan1400

/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -271,6 +271,7 @@
//anchor
int32_t hist_dist;
int16_t temp_recdist_before_offset;
int16_t dist_temp;
void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary)
{
    uint8_t i;
@@ -291,8 +292,9 @@
    anchordata_dist[i] = dist;
    anchordata_bat[i] = battary;
    tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
      dist_temp=dist;
//    if(dist>0)
      if(temp_recdist_before_offset!=0x1ffff&&temp_recdist_before_offset!=0&&temp_recdist_before_offset!=0x7fff&&distance!=0x1ffff)
      if(temp_recdist_before_offset!=0&&distance!=0x1ffff)
      {
    distance=dist*0.5+distance*0.5;
      }else{
@@ -368,13 +370,15 @@
    uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
    temp_count1=phy_timer_count_get();
    while(mac_is_busy());
      #ifdef BO_XING
    gpio_pin_clr(SCL_PIN);
      #endif
}
uint32_t range_timeout_us = 5000;
uint16_t uwb_searchcount;
uint8_t flag_recsuccess;
uint8_t flag_temp2;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
uint8_t flag_temp2,flag_temp1;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag,flag_secondtask;
int UwbRange(void)
{
    uint8_t i;
@@ -406,8 +410,10 @@
    receive_flag = 0;
      flag_recsuccess = 0;
    temp_count3=phy_timer_count_get();
      #ifdef BO_XING
    gpio_pin_set(SCL_PIN);
    flag_temp2=uwb_rx(0, 0, range_timeout_us);//开启接收
      #endif
    flag_temp1=uwb_rx(0, 0, range_timeout_us);//开启接收
   
   // while(mac_is_busy());
  //  temp_count2=phy_timer_count_get();
@@ -434,7 +440,7 @@
    {

        if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL&&!memcmp(&rx_buf[TAG_ID_IDX],&g_com_map[BIND_DEV_ID],2))//判断是否是和自己是同一组通讯的且为poll包
        {   flag_recsuccess = 1;
        {    flag_recsuccess = 1;
                sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
                 temp_count2=phy_timer_count_get();
            frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
@@ -471,11 +477,14 @@
                  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);
                  #ifdef BO_XING
                  gpio_pin_clr(SCL_PIN);
                  #endif
        break;
            }
    } else {
         flag_temp2=uwb_rx(0, 0, range_timeout_us);
    }
    } 
      //失败或者接受被高发射机打断都会再次开启接收
         flag_temp1=uwb_rx(0, 0, range_timeout_us);
   }
      delay_us(1);
      uwb_rx_force_off(1);
@@ -492,7 +501,7 @@
        }
         }

    gpio_pin_clr(SCL_PIN);
   
         
         return 0;
}
@@ -529,7 +538,9 @@
    mac_register_process_handler(tx_int_callback, rx_int_callback);
    receive_flag = 0;
    temp_count3=phy_timer_count_get();
      #ifdef BO_XING
    gpio_pin_set(SCL_PIN);
      #endif
    flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收
    start_receive_count=phy_timer_count_get();
    poll_timeout=US_TO_PHY_TIMER_COUNT(2000000);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
@@ -556,7 +567,7 @@
        {
            if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL&&!memcmp(&rx_buf[TAG_ID_IDX],&g_com_map[BIND_DEV_ID],2))//判断是否是和自己是同一组通讯的且为poll包
            {   
                       sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-15));//测试
                       sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-13));//测试
                        range_timeout_us=20000;//将下次range开启后超时时间设为20ms之后再range里恢复
                        temp_count2=phy_timer_count_get();
                frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
@@ -591,20 +602,23 @@
                    seize_anchor=1;   //抢占anchor
                    Anchor_RecNearPoll(i);
                }
                
                #ifdef BO_XING
                gpio_pin_clr(SCL_PIN);//测试
                        #endif
                        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);
                return 1;//返回发送成功标志
            }

        }
            temp_count3=phy_timer_count_get();
        flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收

    }
      delay_us(1);
      delay_us(2);
      uwb_rx_force_off(1);
    // LOG_INFO(TRACE_MODULE_APP,"超时定时器：%x,%x,%x\r\n",start_receive_count,end_receive_count,current_count);
      #ifdef BO_XING
    gpio_pin_clr(SCL_PIN);//测试
      #endif
    return 0;//返回绑定失败标志
}
//}
@@ -663,7 +677,7 @@
        //link_error_count+=g_com_map[COM_INTERVAL];
        //if(link_error_count>=g_com_map[4G_INTERNAL])
        //link_error_count=0;
        update_led_power_state();//更新灯状态
       // update_led_power_state();//更新灯状态
    }
     LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
}