更换了新的sdk，测试了实际的uwb测距

zhangbo

2024-11-01 f8013e4f432b323dfc3e3725a62858e73176742a

 keil/include/main/main.c

@@ -93,6 +93,7 @@
uint16_t warning_distance,prewarning_distance;
int16_t fVoltage_mv,first_search_flag;
uint8_t bat_percent,g_start_send_flag=1;
uint8_t LORA_REV_uwb_up =0;
uint8_t link_success_flag,motor_count;
uint16_t gps_wait_count;
uint8_t state5v = 1;
@@ -281,20 +282,21 @@
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
static void sleep_timer_callback(void *dev, uint32_t time)
{
    IO_control_init();
    UWBPoll();
    
    
    MotorPoll();
    g_start_send_flag=1;
//    IO_control_init();
//    UWBPoll();
//    
//    
//    MotorPoll();

    if(secondtask_count++%2==0)
    {
        flag_secondtask = 1;
    }else{
        flag_secondtask = 0;
    }
//    if(secondtask_count++%2==0)
//    {
//        flag_secondtask = 1;
//    }else{
//        flag_secondtask = 0;
//    }

    flag_sleeptimer = 1;
//    flag_sleeptimer = 1;

    //马达震动逻辑
    if(g_com_map[MOTOR_ENABLE])
@@ -338,6 +340,8 @@
{
    Usart1ParseDataCallback = UsartParseDataHandler;//需改为默认为gps处理，UsartParseDataHandler为升级处理当调试时候改为
    parameter_init_anchor();//g_com_map表初始化角色默认为基站
    g_com_map[DEV_ID]=0x6789;
    g_com_map[GROUP_ID]=9;
    dev_id=g_com_map[DEV_ID];//这里不太对
    group_id=g_com_map[GROUP_ID];//组ID
    tag_frequency = 1000/g_com_map[COM_INTERVAL];//测距频率这个存的是测距时间
@@ -492,45 +496,51 @@
uint32_t successful_cnt=0;
uint8_t flag_4guart_needinit=0;
#define TX_LEN  10
#define RX_LEN  10
uint8_t tx_test_buf[TX_LEN] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
uint8_t RF_RX_temp[RX_LEN]={0};
extern struct RxDoneMsg RxDoneParams;
static void Lora_irq_handler(enum IO_PIN_T pin)
{   
   ceshi++;
        rf_irq_process();
        if(rf_get_transmit_flag() == RADIO_FLAG_TXDONE)
        {
            rf_set_transmit_flag(RADIO_FLAG_IDLE);
            rf_enter_continous_rx();
//            rf_delay_ms(1000);
//            if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != OK)
//            {
////                DDL_Printf("tx fail \r\n");
////                rf_enter_continous_rx();
//            }
//            else
//            {
//                error_cnt ++;
////                DDL_Printf("Tx cnt %d\r\n", cnt );
//            }
        }
         //g_start_send_flag=1;
//        if(rf_get_transmit_flag() == RADIO_FLAG_TXDONE)
//        {
//            rf_set_transmit_flag(RADIO_FLAG_IDLE);
//            rf_enter_continous_rx();
////            rf_delay_ms(1000);
////            if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != OK)
////            {
//////                rf_enter_continous_rx();
////            }
////            else
////            {
////                error_cnt ++;
////            }
//        }
        if(rf_get_recv_flag() == RADIO_FLAG_RXDONE)
        {
            rf_set_recv_flag(RADIO_FLAG_IDLE);
                 memcpy(RF_RX_temp,RxDoneParams.Payload,RxDoneParams.Size);
                 if(RF_RX_temp[0]==0x48&&RF_RX_temp[1]==0x58)
                  {
                     LORA_REV_uwb_up=1;
							
                  }
                  // rf_enter_continous_rx(); //重新进入接收模式
                 //UwbRange();
//            DDL_Printf("Rx : SNR: %f ,RSSI: %d \r\n", RxDoneParams.Snr, RxDoneParams.Rssi);
            int i=0;
              //int i=0;
//            for(i = 0; i < RxDoneParams.Size; i++)
//            {
//                printf("0x%02x ", RxDoneParams.Payload[i]);
//            }
//            DDL_Printf("\r\n");
            error_cnt ++;
//            DDL_Printf("###Rx cnt %d##\r\n", cnt);
           // error_cnt ++;
        }
        if((rf_get_recv_flag() == RADIO_FLAG_RXTIMEOUT) || (rf_get_recv_flag() == RADIO_FLAG_RXERR))
        {
            rf_set_recv_flag(RADIO_FLAG_IDLE);
//            DDL_Printf("Rxerr\r\n");
        }
}
void Board_LORA_NVIC_Init(GPIO_IRQ_HANDLER_T irq_handler)  //LORA 中断配置
@@ -589,20 +599,20 @@
    Board_LORA_NVIC_Init(Lora_irq_handler);
    Lora_init();
    rf_set_default_para();
//    
    rf_enter_continous_rx();
//    rf_set_transmit_flag(RADIO_FLAG_TXDONE);
//    rf_set_transmit_flag(RADIO_FLAG_TXDONE);
//    if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != 0)
//    {
//        error_cnt++;
//    }
//    else
//    {
//        successful_cnt ++;
//    }     
    
    rf_enter_continous_tx();
//    rf_set_transmit_flag(RADIO_FLAG_TXDONE);
//    rf_set_transmit_flag(RADIO_FLAG_TXDONE);
    if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != 0)
    {
        error_cnt++;
//        printf("LORA Init Fail");
    }
    else
    {
        successful_cnt ++;
//        printf("LORA Init OK\r\n");
    }     
    
//  while (rf_get_transmit_flag() == RADIO_FLAG_IDLE) ;
//   
//  rf_set_transmit_flag(RADIO_FLAG_IDLE);
@@ -617,22 +627,37 @@
//    gps_air780_power_change(0,1);//开启gps，4G 
////加速度计初始化必须在IO_control_init之前因为复用SDA引脚
//    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
//         Program_Init();
         Program_Init();
//    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
//   
//    
//// Initialize low power mode
//    power_init();
//      AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
//    sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
    sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);

//    sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试

    sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
#ifdef DEBUG_BOXING
      io_pin_mux_set(IO_PIN_5,IO_FUNC0);
      gpio_pin_set_dir(IO_PIN_5,GPIO_DIR_OUT,0);
      io_pull_set(IO_PIN_5,IO_PULL_DOWN,IO_PULL_UP_LEVEL4);
#endif
//    board_acceleration_detection_init(move_handler);

    
    
    Uwbinit();
    while (1)
    {
         if(LORA_REV_uwb_up)
         {
           LORA_REV_uwb_up=0;
           UwbRange();
         }
        if(g_start_send_flag)
        {
            g_start_send_flag=0;
            
        }
				
        
       // UwbRange();
//        rf_irq_process();
//        if(rf_get_transmit_flag() == RADIO_FLAG_TXDONE)
//        {
@@ -650,23 +675,25 @@
//        }
            
            
//       
             
//            io14_state=gpio_pin_get_val(LORA_DIO);
            rf_set_transmit_flag(RADIO_FLAG_IDLE);
            rf_delay_ms(1000);
            rf_enter_continous_tx();
//            rf_set_transmit_flag(RADIO_FLAG_TXDONE);
            if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != OK)
            {
//                DDL_Printf("tx fail \r\n");
//                rf_enter_continous_rx();
            }
            else
            {
                successful_cnt ++;
//                DDL_Printf("Tx cnt %d\r\n", cnt );
            }
////       
//             
////            io14_state=gpio_pin_get_val(LORA_DIO);
//            rf_set_transmit_flag(RADIO_FLAG_IDLE);
//            rf_delay_ms(1000);
//            rf_enter_continous_tx();
////            rf_set_transmit_flag(RADIO_FLAG_TXDONE);
//            if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != OK)
//            {
////                rf_enter_continous_rx();
//            }
//            else
//            {
//                successful_cnt ++;
//            }
            
            
            
            
//          while (rf_get_transmit_flag() == RADIO_FLAG_IDLE) ;
//           
//          rf_set_transmit_flag(RADIO_FLAG_IDLE);