From 1054b166ecc7213bef839f1328d8c7a9c747c379 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期三, 11 九月 2024 09:24:05 +0800
Subject: [PATCH] 修改为一分钟上报一次心跳，解决不稳定问题
---
keil/uwb_app.c | 57 ++++++++++++++++++++++++++++++++++++++-------------------
1 files changed, 38 insertions(+), 19 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 29f1786..16e516b 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -216,7 +216,7 @@
poll_rx_num++;
rssi = rx_report->rssi;
receive_flag=1;
- recev_error_num=0;
+
}
else
{
@@ -276,7 +276,7 @@
anchordata_dist[i] = dist;
anchordata_bat[i] = battary;
tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
- if(dist>0)
+// if(dist>0)
distance=dist*0.5+distance*0.5;
}
uint16_t CmpTagInList(uint16_t tagid)
@@ -347,7 +347,8 @@
while(mac_is_busy());
gpio_pin_clr(SCL_PIN);
}
-uint16_t uwb_searchcount;
+uint16_t uwb_searchcount,range_timeout_us = 5000;
+uint8_t flag_recsuccess;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
int UwbRange(void)
{
@@ -378,24 +379,36 @@
mac_register_process_handler(tx_int_callback, rx_int_callback);
receive_flag = 0;
+ flag_recsuccess = 0;
temp_count3=phy_timer_count_get();
gpio_pin_set(SCL_PIN);
- uwb_rx(0, 0, RX_SYNC_WIN_US);//开启接收
- while(mac_is_busy());
- temp_count2=phy_timer_count_get();
-// start_receive_count=phy_timer_count_get();
-// poll_timeout=rec_nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(DELAY_DEFAULT);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
-// end_receive_count=start_receive_count+poll_timeout;
-// if(end_receive_count>=UINT32_MAX)
-// {end_receive_count-=UINT32_MAX;}
-// current_count=phy_timer_count_get();
-// while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//循环接受包体,若为124.8K则是+62400000
-// {
+ uwb_rx(0, 0, range_timeout_us);//开启接收
+ // while(mac_is_busy());
+ // temp_count2=phy_timer_count_get();
+ start_receive_count=phy_timer_count_get();
+ poll_timeout=US_TO_PHY_TIMER_COUNT(range_timeout_us);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
+ end_receive_count=start_receive_count+poll_timeout;
+ if(end_receive_count>=UINT32_MAX)
+ {end_receive_count-=UINT32_MAX;}
+ current_count=phy_timer_count_get();
+ while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//循环接受包体,若为124.8K则是+62400000
+ {
+ current_count=phy_timer_count_get();
+ while(mac_is_busy())
+ {
+ IdleTask();
+ current_count=phy_timer_count_get();
+ if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
+ {
+ break;
+ }
+ }
if(receive_flag==1)//成功接收
{
if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL&&!memcmp(&rx_buf[TAG_ID_IDX],&g_com_map[BIND_DEV_ID],2))//判断是否是和自己是同一组通讯的且为poll包
- { temp_count2=phy_timer_count_get();
+ { flag_recsuccess = 1;
+ temp_count2=phy_timer_count_get();
frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
battary = rx_buf[BATTARY_IDX];
rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX]; //标签传过来的他与基站交互的基站id数目
@@ -428,11 +441,18 @@
Anchor_RecNearPoll(i);
}
+ recev_error_num=0;
sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度：%d.\r\n",g_com_map[BIND_DEV_ID],distance,rssi);
- }
+ break;
+ }
} else {
- sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
+ uwb_rx(0, 0, range_timeout_us);
+ }
+ }
+ if(!flag_recsuccess)
+ {
+ sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-3));//测试
LOG_INFO(TRACE_MODULE_APP,"测距失败，计数：%d\r\n",recev_error_num);
if(recev_error_num++>5)
{
@@ -441,8 +461,7 @@
uwb_searchcount = 0;
search_open_flag = 1;
}
- }
-
+ }
gpio_pin_clr(SCL_PIN);
}
--
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