修改部分代码

yincheng.zhong

2024-01-22 13cd19475cb91e0eebdc79743e32e77a2a212f0e

修改部分代码

 MDK-ARM/L051.uvguix.zhyin

@@ -93,8 +93,8 @@
      <flags>2</flags>
      <showCmd>3</showCmd>
      <MinPosition>
        <xPos>-32000</xPos>
        <yPos>-32000</yPos>
        <xPos>-1</xPos>
        <yPos>-1</yPos>
      </MinPosition>
      <MaxPosition>
        <xPos>-1</xPos>
@@ -111,7 +111,7 @@
      <RegID>0</RegID>
      <MDITabState>
        <Len>1449</Len>
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      </MDITabState>
    </MDIClientArea>
    <ViewEx>
@@ -1150,7 +1150,7 @@
        <RecentRowIndex>0</RecentRowIndex>
        <RectRecentDocked>
          <Len>16</Len>
          <Data>030000006600000041010000E5010000</Data>
          <Data>0300000066000000410100001D020000</Data>
        </RectRecentDocked>
        <RectRecentFloat>
          <Len>16</Len>
@@ -1190,7 +1190,7 @@
        <RecentRowIndex>0</RecentRowIndex>
        <RectRecentDocked>
          <Len>16</Len>
          <Data>0300000051020000FD05000049030000</Data>
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        </RectRecentDocked>
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@@ -1250,7 +1250,7 @@
        <RecentRowIndex>0</RecentRowIndex>
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          <Data>0300000051020000FD050000F5020000</Data>
        </RectRecentDocked>
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@@ -1270,7 +1270,7 @@
        <RecentRowIndex>0</RecentRowIndex>
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        </RectRecentDocked>
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@@ -1799,14 +1799,14 @@
      </Window>
      <DockMan>
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        <OriginalItems>
          <Len>1423</Len>
@@ -1838,7 +1838,7 @@
        <Name>Debug</Name>
        <Buttons>
          <Len>2373</Len>
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        </Buttons>
        <OriginalItems>
          <Len>898</Len>
@@ -3603,30 +3603,30 @@
    <ActiveMDIGroup>0</ActiveMDIGroup>
    <MDIGroup>
      <Size>100</Size>
      <ActiveTab>2</ActiveTab>
      <ActiveTab>6</ActiveTab>
      <Doc>
        <Name>..\Src\application\dw_mbx_anc.c</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>53</TopLine>
        <CurrentLine>64</CurrentLine>
        <ColumnNumber>18</ColumnNumber>
        <TopLine>76</TopLine>
        <CurrentLine>97</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>../Src/application/dw_mbx_anc.h</Name>
        <ColumnNumber>26</ColumnNumber>
        <TopLine>31</TopLine>
        <CurrentLine>54</CurrentLine>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>24</TopLine>
        <CurrentLine>49</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\application\dw_app.c</Name>
        <ColumnNumber>40</ColumnNumber>
        <TopLine>253</TopLine>
        <CurrentLine>266</CurrentLine>
        <ColumnNumber>12</ColumnNumber>
        <TopLine>261</TopLine>
        <CurrentLine>276</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
@@ -3651,7 +3651,7 @@
      </Doc>
      <Doc>
        <Name>../Src/main.c</Name>
        <ColumnNumber>13</ColumnNumber>
        <ColumnNumber>22</ColumnNumber>
        <TopLine>490</TopLine>
        <CurrentLine>492</CurrentLine>
        <Folding>1</Folding>
@@ -3660,9 +3660,9 @@
      </Doc>
      <Doc>
        <Name>..\Src\radio\Lora.c</Name>
        <ColumnNumber>63</ColumnNumber>
        <TopLine>160</TopLine>
        <CurrentLine>162</CurrentLine>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>275</TopLine>
        <CurrentLine>291</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
@@ -3732,7 +3732,7 @@
      </Doc>
      <Doc>
        <Name>../Src/application/global_param.h</Name>
        <ColumnNumber>30</ColumnNumber>
        <ColumnNumber>34</ColumnNumber>
        <TopLine>13</TopLine>
        <CurrentLine>23</CurrentLine>
        <Folding>1</Folding>

 Src/application/dw_app.c

@@ -253,6 +253,8 @@
  {
    current_count=HAL_LPTIM_ReadCounter(&hlptim1);
    target_count = GetUwbPollCount();
    if(target_count<0)
      target_count+=32768;
    while(current_count<target_count||current_count>target_count+16384)
    {
        current_count=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -271,23 +273,26 @@
    bat_percent=Get_VDDVlotage();
    next_poll_state = Next_Poll_LORASYNC;
  }else{
    current_count=HAL_LPTIM_ReadCounter(&hlptim1);
    target_count = GetWGRecSyncCount()-2000/LPTIMER_LSB; //提前2ms进入接收状态
    while(current_count<target_count||current_count>target_count+16384)
    {
        current_count=HAL_LPTIM_ReadCounter(&hlptim1);
        if(current_count<target_count-300)
        {
            break;
        }
    }
      LoraSyncRecPoll();
      if(GetRangeState())
      if(GetRangeState())  //获取当前测距状态，是否开启。如果开启下次为测距，否为同步
      {
        next_poll_state = Next_Poll_RANGE;
      }else{
        next_poll_state = Next_Poll_LORASYNC;
      }
  }
  if(next_poll_state == Next_Poll_LORASYNC)  
  {
   target_count = GetUwbPollCount()-4000/LPTIMER_LSB;  //同步则提前4ms唤醒，如果在同步间隔内，则会快速进入休眠。
      if(target_count<0)
      target_count+=32768;
    __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
  }else{
      
        target_count = GetUwbPollCount()-2000/LPTIMER_LSB; //测距提前4ms唤醒
     
      if(target_count<0)
      target_count+=32768;
    __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
  }
}

 Src/application/dw_mbx_anc.c

@@ -71,14 +71,27 @@
    synclock_zero_count = rec_sync_count-(uint32_t)wg_sync_polltime_100us*100/LPTIMER_LSB;
    if(synclock_zero_count<0)
        synclock_zero_count+=32768;
    uwbpoll_time_count = synclock_zero_count + (uint32_t)g_com_map[UWBPOLLTIME_MS_IDX]*1000/LPTIMER_LSB;
    uwbpoll_time_count = synclock_zero_count + (uint32_t)g_com_map[UWBPOLLTIME_MS_IDX]*1000/LPTIMER_LSB; //设定好的UWB发送时间
    if(uwbpoll_time_count>32768)
        uwbpoll_time_count-=32768;
}
static uint16_t current_count,target_count;
void LoraSyncRecPoll(void) 
{
    if(sync_interval_count++>=sync_interval_s)
    {
        current_count=HAL_LPTIM_ReadCounter(&hlptim1); //如果需要触发同步就会等待触发时间，提前2ms打开接收
        target_count = GetWGRecSyncCount()-2000/LPTIMER_LSB; //提前2ms进入接收状态
        if(target_count<0)
          target_count+=32768;
        while(current_count<target_count||current_count>target_count+16384)
        {
            current_count=HAL_LPTIM_ReadCounter(&hlptim1);
            if(current_count<target_count-300)
            {
                break;
            }
        }
        sync_interval_count = 0;
        flag_sync_success = 0;
        SwitchLoraToSyncRec(); //切换lora接收频点
@@ -89,6 +102,7 @@
        if(end_count>=32768)
        {end_count-=32768;}
        current_count=HAL_LPTIM_ReadCounter(&hlptim1);
        
       while(GetFlagLoraWaitSync())
       {
         current_count=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -110,7 +124,8 @@
                }else{
                    sync_state = Sync_Sleep;
                }
                switch(lora_recbuffer[SUBMSGTYPE_IDX])
                SyncStateSwitch();
                switch(lora_recbuffer[SUBMSGTYPE_IDX]) //子状态函数
                {
                    case SUBMSG_READ_ANCPARA: