V2.5,限制基站数量最大8个

WXK

2024-04-19 368f1d8d7df81e3b1354ee992430571d07816c4f

 APL/App.c

@@ -57,7 +57,7 @@
static HIDO_UINT32 l_u32LocationTick = 0;
extern ST_GPS l_stGPS;
extern uint32_t uwbled,gpsled,loraled,powerled;
uint8_t uwb_send[100]={0x55,0xaa};
uint8_t uwb_send[200]={0x55,0xaa};
void Uwb_Zubao_Poll();
extern IWDG_HandleTypeDef hiwdg;
/*******************************************************************************
@@ -231,7 +231,7 @@
    //deca_sleep(1000);

    g_com_map[GROUP_ID]=3;
   g_com_map[VERSION] = (2<<8)|4;
   g_com_map[VERSION] = (2<<8)|5;

    if (g_com_map[COM_INTERVAL] <50)
    {
@@ -291,24 +291,24 @@
    printf("服务器地址: %d.%d.%d.%d:%d.\r\n",g_com_map[IP_0],g_com_map[IP_1],g_com_map[IP_2],g_com_map[IP_3],g_com_map[PORT]);
    printf("当前运动时GPS工作间隔: %d .\r\n",g_com_map[GPS_HZ]);
    printf("当前被拆时GPS工作间隔: %d .\r\n",g_com_map[CHAICHUGPS_HZ]);
       if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
    {        printf("TCP_RTCM模式,服务器地址: %d.%d.%d.%d:%d.\r\n",g_com_map[TCP_IP_0],g_com_map[TCP_IP_1],g_com_map[TCP_IP_2],g_com_map[TCP_IP_3],g_com_map[TCP_PORT]);
    }else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
    {
//        sprintf((char *)&g_com_map[NTRIP_HOST_INDEX],"140.143.212.42");
//        g_com_map[NTRIP_PORT_INDEX] = 8005;
//        sprintf((char *)&g_com_map[NTRIP_USERNANME_INDEX],"test006");
//        sprintf((char *)&g_com_map[NTRIP_PASSWORD_INDEX],"hxzk20151102");
//        sprintf((char *)&g_com_map[NTRIP_SOURCENAME_INDEX],"RTCM32_GNSS2");
        printf("NtripHost:%s.\r\n",(char *)&g_com_map[NTRIP_HOST_INDEX]);
        printf("NtripPort:%d.\r\n",g_com_map[NTRIP_PORT_INDEX]);
        printf("NtripUsername:%s.\r\n",(char *)&g_com_map[NTRIP_USERNANME_INDEX]);
        printf("NtripPassword:%s.\r\n",(char *)&g_com_map[NTRIP_PASSWORD_INDEX]);
        printf("NtripSourcename:%s.\r\n",(char *)&g_com_map[NTRIP_SOURCENAME_INDEX]);
    }else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NONE)
    { 
        printf("单点定位模式模式. \r\n");
    }
//       if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
//    {        printf("TCP_RTCM模式,服务器地址: %d.%d.%d.%d:%d.\r\n",g_com_map[TCP_IP_0],g_com_map[TCP_IP_1],g_com_map[TCP_IP_2],g_com_map[TCP_IP_3],g_com_map[TCP_PORT]);
//    }else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
//    {
////        sprintf((char *)&g_com_map[NTRIP_HOST_INDEX],"140.143.212.42");
////        g_com_map[NTRIP_PORT_INDEX] = 8005;
////        sprintf((char *)&g_com_map[NTRIP_USERNANME_INDEX],"test006");
////        sprintf((char *)&g_com_map[NTRIP_PASSWORD_INDEX],"hxzk20151102");
////        sprintf((char *)&g_com_map[NTRIP_SOURCENAME_INDEX],"RTCM32_GNSS2");
//        printf("NtripHost:%s.\r\n",(char *)&g_com_map[NTRIP_HOST_INDEX]);
//        printf("NtripPort:%d.\r\n",g_com_map[NTRIP_PORT_INDEX]);
//        printf("NtripUsername:%s.\r\n",(char *)&g_com_map[NTRIP_USERNANME_INDEX]);
//        printf("NtripPassword:%s.\r\n",(char *)&g_com_map[NTRIP_PASSWORD_INDEX]);
//        printf("NtripSourcename:%s.\r\n",(char *)&g_com_map[NTRIP_SOURCENAME_INDEX]);
//    }else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NONE)
//    { 
//        printf("单点定位模式模式. \r\n");
//    }
}

void IdleTask(void)
@@ -375,7 +375,8 @@
    uint16_t state_flag;
    u16 uwbchecksum;
    state_flag=fangchai_flag<<4;
    
            if(taglist_num>8)
        {taglist_num=8;}
        uwb_send[2] = 0x12;//正常模式 
        uwb_send[3] = 15+5*(taglist_num);//数据段长度
        memcpy(&uwb_send[4],&dev_id,2);
@@ -390,7 +391,8 @@
        uwb_send[14] = 0;
        uwb_send[15] = 0;
        uwb_send[16] = taglist_num;

        if(taglist_num>7)
        {taglist_num=7;}
        memcpy(&uwb_send[17],&tagid_list,2*taglist_num);
        memcpy(&uwb_send[17+taglist_num*2],&tagdist_list,2*taglist_num);
        memcpy(&uwb_send[17+taglist_num*4],&tagbat_list,taglist_num);