From 2656eff0472262bd13bab16b41a3176a52895d69 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期五, 25 七月 2025 16:46:18 +0800
Subject: [PATCH] 添加了运动静止位，V2.15
---
keil/uwb_app.c | 23 ++++++++++++-----------
1 files changed, 12 insertions(+), 11 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 45aa7e4..ca413f8 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -49,11 +49,11 @@
//resp函数
void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary);//找到自己的id信息对应位置更新自己的交互信息
static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts);//用来对应位置放入时间戳
-static uint16_t tagid_list[TAG_NUM_IN_SYS];
+uint16_t tagid_list[TAG_NUM_IN_SYS];
uint16_t CmpTagInList(uint16_t tagid);
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos);
static uint8_t send_buffer[100];
-static uint8_t tagofflinetime[TAG_NUM_IN_SYS];
+uint8_t tagofflinetime[TAG_NUM_IN_SYS];
uint32_t temp_count=0;
uint32_t temp_count1=0;
uint32_t temp_endcount1=0;
@@ -145,7 +145,7 @@
// .phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
//};
#ifdef UWB_MK8000_XB
-static struct mk_uwb_configure config = {
+ struct mk_uwb_configure config = {
.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
.phy_cfg.ch_num = 5, /* Channel number. */
.phy_cfg.code_index = 9, /* TRX preamble code */
@@ -162,7 +162,7 @@
};
#endif
#ifdef UWB_DW1000_MBXJZ_OLD
-static struct mk_uwb_configure config = {
+ struct mk_uwb_configure config = {
.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
.phy_cfg.ch_num = 5, /* Channel number. */
.phy_cfg.code_index = 9, /* TRX preamble code */
@@ -423,10 +423,10 @@
}
uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
uint16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
-static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
-static int8_t anchor_rssi[TAG_NUM_IN_SYS];
+uint8_t anchordata_bat[TAG_NUM_IN_SYS];
+int8_t anchor_rssi[TAG_NUM_IN_SYS];
uint8_t anchordata_num = 0;
-static int16_t tagdist_list[TAG_NUM_IN_SYS];
+int16_t tagdist_list[TAG_NUM_IN_SYS];
uint16_t random_time;
//anchor
int32_t hist_dist;
@@ -671,6 +671,7 @@
uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//防止溢出
}
extern uint16_t gaodu;
+extern uint8_t jingzhi_flag;
void UWBSendUDPTask(void)
{
uint16_t checksum,tempdistarray[20];
@@ -722,7 +723,7 @@
usart_send[7] = (tagseq++)>>8;
usart_send[8] = bat_percent;
// usart_send[8] = rxnum;
- usart_send[9] = userkey_state|0<<1|0<<2|0<<5|uwb_state<<6;
+ usart_send[9] = userkey_state|jingzhi_flag<<1|0<<2|0<<5|uwb_state<<6;
// memcpy(&usart_send[10],&rec_tagheight,2);
memcpy(&usart_send[12],gaodu,2);
// usart_send[12] = 0;
@@ -760,7 +761,7 @@
step_count = mir3da_get_step(); // 获取步数
uwbtasktimer = HIDO_TimerGetTick();
UWBOneSecondTask();
- if(g_com_map[UWBFrequency]==1&&uwb_OpenClose_flag==1)
+ if(g_com_map[UWBFrequency]==1&&uwb_OpenClose_flag==1&¤t_state==STATE_NORMAL)
{
UWBSendUDPTask();
}
@@ -776,7 +777,7 @@
uint8_t i;
uint16_t tempid;
uwb_offtime_count=0;
-#ifdef CEJU_ZIUMIAN
+#ifdef CEJU_XIUMIAN
current_state = STATE_NORMAL;
#endif
if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//判断是否是和自己是同一组通讯的且为poll包
@@ -820,7 +821,7 @@
// Anchor_RecNearPoll(i);
// }
taglist_pos=CmpTagInList(tag_id_recv);
- if(taglist_num>=TAG_NUM_IN_SYS)
+ if(taglist_pos>=TAG_NUM_IN_SYS)
return 0;
for(i=0; i<rec_nearbase_num; i++)
{
--
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