1.12添加无测距休眠30秒开一次测距

zhangbo

2025-05-07 fc89f1e7e828ce2045d9744ab4816b30d72e4c22

 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);
@@ -81,7 +83,7 @@
#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
@@ -356,9 +358,9 @@
      Anchor_App();
        if(resp_tx_flag==0)
        {
            #ifdef UWB_CK

            OpenUWB();
            #endif

        }
//         #ifdef STS_MODE
//            valid_sts= sts_valid_check();
@@ -389,9 +391,9 @@
        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 +414,9 @@
        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);
    }
@@ -734,7 +736,7 @@
               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)
@@ -761,6 +763,7 @@
{
    UWBIdleTask();
}
extern uint8_t uwb_offtime_count;
int Anchor_App(void)
{
            uint8_t i;
@@ -779,6 +782,8 @@
            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;
                 uwb_offtime_count=0;
                 CountState_t current_state = STATE_SLEEP;
//            for(i=0; i<rec_nearbase_num; i++)
//            {
//                if(rec_ancidlist[i] == dev_id)
@@ -814,7 +819,7 @@
                                    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