V1.36 1.增加UWB芯片电量检测 2.解决基站轮流丢包的问题。

yincheng.zhong

2022-10-28 7b8a137768f244173209f115738366efa7878b2f

 Src/application/dw_app.c

@@ -78,7 +78,7 @@
   NEARPOLL,
}tag_state=NEARPOLL;
static dwt_config_t config = {
   5,               /* Channel number. */
   2,               /* Channel number. */
   DWT_PRF_64M,     /* Pulse repetition frequency. */
   DWT_PLEN_128,    /* Preamble length. */
   DWT_PAC8,        /* Preamble acquisition chunk size. Used in RX only. */
@@ -296,6 +296,7 @@
u32 rec_tagpos_binary;
int16_t offset=2700;
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
extern u16 last_lpcount;
void NearPoll(void)
{
   
@@ -446,18 +447,18 @@
                           {flag_getresponse=1;}
                           lastsync_timer=sync_timer;
                           offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
                           SetNextPollTime(tyncpoll_time);
                           if(rec_remotepara_state==1)
                           {
                                      memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],REMOTEPARA_LEN);
                              memcpy(&g_com_map[COM_INTERVAL],&rec_remotepara[0],8);
                              memcpy(&g_com_map[POWER],&rec_remotepara[8],10);
                                        if(g_com_map[COM_INTERVAL]>0&&g_com_map[COM_INTERVAL]<1000&&g_com_map[POWER]<67&&g_com_map[POWER]>0)
                              {save_com_map_to_flash();
                              delay_ms(100);										
                                        }
                                        NVIC_SystemReset();
                           } 
//                           SetNextPollTime(tyncpoll_time);
//                           if(rec_remotepara_state==1)
//                           {
//                                      memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],REMOTEPARA_LEN);
//                              memcpy(&g_com_map[COM_INTERVAL],&rec_remotepara[0],8);
//                              memcpy(&g_com_map[POWER],&rec_remotepara[8],10);
//                                        if(g_com_map[COM_INTERVAL]>0&&g_com_map[COM_INTERVAL]<1000&&g_com_map[POWER]<67&&g_com_map[POWER]>0)
//                              {save_com_map_to_flash();
//                              delay_ms(100);										
//                                        }
//                                        NVIC_SystemReset();
//                           } 
                        }else{
                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                           
@@ -500,18 +501,9 @@
            dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
         nearbase_num=recbase_num;
            j=0;
         if(exsistbase_list[0]==0)
         if(mainbase_lost_count>1)
         {
//          u8 temp_adc,random_value;
//            random_value=0;
//            for(i=0;i<8;i++)
//            {
//               temp_adc=Get_ADC_Value();
//               random_value=random_value|((temp_adc&0x01)<<i);
//            }
            tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;	
            SetNextPollTime(tyncpoll_time);
                last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
         }
      //   tyncpoll_time=0;
         next_nearbase_num=0;
@@ -658,5 +650,6 @@
         //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
         break;
   }
    bat_percent=Get_Battary_UWB();
   dwt_entersleep();
}