手环V1.12版本，修复GPS太快获得数据导致DMA缓存重复出现有效经纬度仅有一个报文保持不变的问题，修改从供电保护到正常后部分4G重连逻辑，增加查询...

chen

2024-11-13 f8dda0f9757bab836487931d88935e0d6a334e58

 keil/uwb_app.c

@@ -8,11 +8,14 @@
#include "dw_app_anchor.h"
#include "global_param.h"
#include "board.h"
#include "HIDO_TypeDef.h"


extern int simple_main(void);
extern int temp_main(void);
extern void Air780E_4G_POLL(void);
void TagListUpdate(void);
void Calibration_Time(void);
extern void IO_LED_control_change(uint8_t data);
extern void IO_control_init(void);

@@ -263,6 +266,8 @@
    }
}
uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
uint32_t start_receive_count_calibration;
uint32_t current_count_calibration;
static uint16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
uint8_t anchordata_num = 0;
@@ -377,7 +382,10 @@
uint32_t range_timeout_us = 5000;
uint16_t uwb_searchcount;
uint8_t flag_recsuccess;
uint8_t secondtask_search_count,secondtask_search_flag;
uint8_t flag_temp2,flag_temp1;
extern HIDO_UINT32 u32CurTick;
extern float nomove_count;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag,flag_secondtask;
int UwbRange(void)
{
@@ -427,8 +435,12 @@
      {
         current_count=phy_timer_count_get();
         while(mac_is_busy())
        {
        {		
						
//                  MotorPoll();
            IdleTask();
                  UserKeyTask();
                  IMUTask();
            current_count=phy_timer_count_get();
            if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)
            {
@@ -506,6 +518,39 @@
         return 0;
}

void Calibration_Time(void)
{	
   current_count_calibration=phy_timer_count_get();
   if((current_count_calibration-start_receive_count_calibration>=MS_TO_PHY_TIMER_COUNT(500)||current_count_calibration+(UINT32_MAX-start_receive_count_calibration)>=MS_TO_PHY_TIMER_COUNT(500))
      &&!((end_receive_count-current_count_calibration<=MS_TO_PHY_TIMER_COUNT(200))||(end_receive_count+(UINT32_MAX-current_count_calibration)<=MS_TO_PHY_TIMER_COUNT(200))))
   {
      start_receive_count_calibration=current_count_calibration;//更新开始时间
      MotorPoll();
		
      if(secondtask_search_count++%2==0)
    {
        secondtask_search_flag = 1;
    }else{
        secondtask_search_flag = 0;
    }
      if(secondtask_search_flag)//更新S时间TICK
      {
      HIDO_TimerTick();
      TagListUpdate();
    GPS_Poll();
      if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
    nomove_count++;
      else{
      nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
      }
      }
      update_led_power_state();//更新等状态防止震动卡死在搜索
   }
//   if(current_count_calibration-start_receive_count_calibration>=MS_TO_PHY_TIMER_COUNT(1000)||current_count_calibration+(UINT32_MAX-start_receive_count_calibration)>=MS_TO_PHY_TIMER_COUNT(1000))
//   {
//      HIDO_TimerTick();
//   }
}

//主函数绑定接受逻辑
int UwbSearch(void)
@@ -536,6 +581,7 @@

    // Register rx interrupt callback function
    mac_register_process_handler(tx_int_callback, rx_int_callback);
		
    receive_flag = 0;
    temp_count3=phy_timer_count_get();
      #ifdef BO_XING
@@ -543,7 +589,8 @@
      #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
      start_receive_count_calibration=start_receive_count;
    poll_timeout=US_TO_PHY_TIMER_COUNT(1000000);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
    end_receive_count=start_receive_count+poll_timeout;
    if(end_receive_count>=UINT32_MAX)
    {
@@ -553,8 +600,10 @@
    while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//循环接受包体,若为124.8K则是+62400000
    {
        while(mac_is_busy())
        {
        {      Calibration_Time();
            IdleTask();
                  UserKeyTask();
                  IMUTask();
            current_count=phy_timer_count_get();
            if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)
            {
@@ -645,6 +694,7 @@
            search_open_flag=0;
            uwb_led_on();
            link_success_flag=UwbSearch();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
                  Calibration_Time();
            uwb_led_off();
            if(link_success_flag)
                UWB_work_state=LINK_SUCCESS;