From 367aa5722f83a17dcfe586726af74fef72db0081 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期四, 13 三月 2025 10:17:41 +0800
Subject: [PATCH] 协议未更改版本，测距550us 和帧间隔500us
---
keil/include/main/main.c | 48 ++++++++++++++++++++++++++++++++----------------
1 files changed, 32 insertions(+), 16 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index d38c7de..582355b 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -275,7 +275,7 @@
MinuteTask();
}
//UWB更新列表
- TagListUpdate();
+// TagListUpdate();
//GPS_Poll();
gps_power_state=1;//测试gps长开
//UWB状态检测
@@ -297,7 +297,7 @@
}
}
-// HIDO_TimerTick();
+ HIDO_TimerTick();
nomove_count++;
}
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
@@ -306,13 +306,14 @@
static void sleep_timer_callback(void *dev, uint32_t time)
{
g_start_send_flag=1;
+// HIDO_TimerGetTick();
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 +385,6 @@
// 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 +556,31 @@
/********************************************************************************************************/
/********************************************************************************************************/
/********************************************************************************************************/
-
+//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)
@@ -564,17 +588,12 @@
RadioIrqProcess();
}
-
-
-
-
-
void Board_LORA_NVIC_Init(GPIO_IRQ_HANDLER_T irq_handler) //LORA 中断配置
{
// io_pin_mux_set(_4G_USART_RX_Pin,IO_FUNC0);//把原先io 变为普通GPIO
gpio_pin_set_dir(LORA_DIO , GPIO_DIR_IN, 0);
io_pull_set(LORA_DIO, IO_HIGH_Z, IO_PULL_UP_NONE);
- gpio_enable_irq(LORA_DIO, GPIO_IRQ_TYPE_RISING_EDGE, irq_handler);
+ gpio_enable_irq(LORA_DIO, GPIO_IRQ_TYPE_RISING_EDGE, irq_handler);
}
extern uint8_t pca9555writedata_input[10];//暂存输入寄存器所有配置的数组
static void pca_handler(enum IO_PIN_T pin)
@@ -588,7 +607,6 @@
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();
@@ -610,21 +628,19 @@
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();
+ uwb_app_poll();
IdleTask();
}
}
--
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