From 1e1b1b9f73152b17b960c5c2b1531d66ca4ddbe0 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期一, 26 五月 2025 18:15:11 +0800
Subject: [PATCH] 移植完新版lora和新版测距代码，lora传输有问题未解决
---
keil/include/drivers/uwb_app.c | 30 ++++++++++++++++++++++++------
1 files changed, 24 insertions(+), 6 deletions(-)
diff --git a/keil/include/drivers/uwb_app.c b/keil/include/drivers/uwb_app.c
index bf2bb11..315abe6 100644
--- a/keil/include/drivers/uwb_app.c
+++ b/keil/include/drivers/uwb_app.c
@@ -50,6 +50,7 @@
static uint16_t tagid_list[TAG_NUM_IN_SYS];
uint16_t CmpTagInList(uint16_t tagid);
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos);
+uint8_t report_ancnum;
static uint8_t send_buffer[100];
static uint8_t tagofflinetime[TAG_NUM_IN_SYS];
uint32_t temp_count=0;
@@ -280,7 +281,7 @@
/* RX done process handler. */
int8_t rssi;
uint32_t range_timeout_us = 2000000;//yuan5000
-uint8_t flag_temp2,flag_temp1;
+uint8_t flag_temp2,flag_temp1,resp_tx_flag;
uint16_t uwb_losttimer;
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{ uint8_t valid_sts=0;
@@ -289,7 +290,7 @@
/** UWB RX success */
if (rx_report->err_code == UWB_RX_OK)
- {
+ { resp_tx_flag=0;
/* Received data does not contain FCS */
rx_length = rx_report->pkt_len;
memcpy(rx_buf, rx_report->pkt_data, rx_length);
@@ -302,6 +303,10 @@
rssi = rx_report->rssi;
receive_flag=1;
Anchor_App();
+ if(resp_tx_flag==0)
+ {
+ OpenUWB();
+ }
#ifdef STS_MODE
valid_sts= sts_valid_check();
if (valid_sts)
@@ -329,9 +334,9 @@
temp_count= phy_timer_count_get();
memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
rx_length = 0;
- // OpenUWB();//再次开启UWB接收
+ OpenUWB();//再次开启UWB接收
}
- OpenUWB();//再次开启UWB接收
+ //OpenUWB();//再次开启UWB接收
}
/* TX done process handler. */
@@ -345,6 +350,7 @@
{
temp_count= phy_timer_count_get();
temp_internal=temp_count;
+ OpenUWB();
resp_tx_num++;
// OpenUWB();//再次开启UWB接收
//LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
@@ -460,11 +466,18 @@
// }
// anchordata_num=j;
//}
+uint16_t report_ancdist[ANC_MAX_NUM],report_ancid[ANC_MAX_NUM];
void TagListUpdate(void)
{
uint16_t i,j=0,k=0;
for(i=0; i<taglist_num; i++)
- {
+ {
+
+ if(tagofflinetime[i]<REPORT_TAG_KEEPTIMES)
+ {
+ report_ancid[k]=tagid_list[i];
+ report_ancdist[k++]=(uint16_t)tagdist_list[i];
+ }
if(tagofflinetime[i]++<TAG_KEEPTIMES)
{
tagid_list[j]=tagid_list[i];
@@ -473,6 +486,7 @@
tagofflinetime[j++]=tagofflinetime[i];
}
}
+ report_ancnum = k;
taglist_num=j;
}
@@ -508,6 +522,7 @@
temp_resp_i64=resp_tx_ts_i64;
temp_count3= phy_timer_count_get();
flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
+ resp_tx_flag=1;//限制重复开启
tagofflinetime[taglist_pos] = 0;//更新标签通信
// temp_count1=phy_timer_count_get();
//while(mac_is_busy());
@@ -528,8 +543,11 @@
enumwltagstate wltag_state=RANGE;
uint32_t wltag_statetimer,wltag_uwbtimer;
uint32_t uwbtasktimer=0,uwbtagsendtimer=0;
+uint8_t report_ancnum;
+uint16_t report_ancdist[ANC_MAX_NUM],report_ancid[ANC_MAX_NUM];
void IdleTask(void)
{UART_CheckReceive();
+ UART0_CheckReceive();
//if(read_5v_input_pca())
// {
// if(state5v==0)
@@ -583,7 +601,7 @@
if(secondtask_search_flag)//更新S时间TICK
{
HIDO_TimerTick();
- TagListUpdate();
+ //TagListUpdate();
// GPS_Poll();
// if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
// nomove_count++;
--
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