From 08ea5e84edd3b20371a679e72146a939ba658994 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期二, 11 三月 2025 10:21:56 +0800
Subject: [PATCH] UWB测距正常，还有部分逻辑没验证与改写
---
keil/include/main/main.c | 39 ++++++++++++++++++++++++++++-----------
1 files changed, 28 insertions(+), 11 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index d38c7de..f492e06 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -297,7 +297,7 @@
}
}
-// HIDO_TimerTick();
+ HIDO_TimerTick();
nomove_count++;
}
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
@@ -306,13 +306,12 @@
static void sleep_timer_callback(void *dev, uint32_t time)
{
g_start_send_flag=1;
- HIDO_TimerTick();
// #ifdef DEBUG_BOXING
//// gpio_pin_clr(IO_PIN_5);//测试
// gpio_pin_set(IO_PIN_5);//测试
// lora_wg_up=1;
- lora_tx_flag=1;
+ lora_tx_flag++;
// lora_qiehuan++;
// IO_control_init();
// UWBPoll();
@@ -384,7 +383,6 @@
// g_com_map[GROUP_ID]=1;
dev_id=g_com_map[DEV_ID];//这里不太对
group_id=g_com_map[GROUP_ID];//组ID
- g_com_map[LORA_POWER]=22;
tag_frequency = 1000/g_com_map[COM_INTERVAL];//测距频率这个存的是测距时间
memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
// g_com_map[ALARM_DISTANCE1] = 40;
@@ -556,7 +554,31 @@
/********************************************************************************************************/
/********************************************************************************************************/
/********************************************************************************************************/
-
+//static uint16_t delaytime = 771;
+//extern uint16_t wg_report_freq,wg_report_id;
+//extern uint32_t wg_lost_count;
+//extern uint8_t shengji_flag;
+//extern uint8_t lora_jianting_flag,report_ancnum;
+//uint8_t imu_enable,motor_enable;
+//uint32_t time_flag_lorarx=0;
+//uint32_t lora_huanxing_count=0;
+//uint16_t Lora_wangguanid=0;
+//wg_state_enum wg_state = WG_Lost;
+//uint16_t wangguan_up_id;
+//uint8_t LoraUp_flag;
+//uint16_t rec_wenjian_daxiao;
+//uint16_t recnum[3];
+//uint16_t recv_flag=0;
+//uint16_t tx_flag=0;
+//uint16_t CRC16=0;
+//uint16_t DEST_ID=0;
+//uint16_t rec_value,rec_delaytime,rx_count,datalen_offset;
+//uint16_t Loratx_flag=0;
+//uint16_t Lorarx_flag=0;
+//uint16_t Lorarx_time_out_flag=0;
+//uint8_t tx_buf[5]={0,1,0,1,1};
+//uint32_t sleep_time_count=0;
+//uint32_t uwb_ceju_count=0;
wg_state_enum wg_state = WG_Lost;
/********************************************************************************************************/
static void Lora_irq_handler(enum IO_PIN_T pin)
@@ -588,7 +610,6 @@
uint8_t TXBuffer[8]={0,1,2,3,4,5,6,7};
uint8_t test_buf[10]={0,1,1,1,1,1,1,1,1,1};
int main(void)
-
{
board_clock_run();
// boot_deinit();
@@ -605,26 +626,22 @@
//board_led_init();
spi_init();
Board_LORA_NVIC_Init(Lora_irq_handler);
- pca_input_detection_init(pca_handler);
IIC2_Init();
Accelerometer_Init();
PCA9555_init();
Lora_1268_Init();
-// SwitchLoraSettings(473,7,0);
+ SwitchLoraSettings(478,7,22);
Program_Init();
sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
-
Uwbinit();
OpenUWB();
-
while (1)
{
Lora_Tx_Poll();
-// uwb_app_poll();
IdleTask();
}
}
--
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