From 3b7f39134908d81041e9550f75169d671f95d0e5 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期五, 06 六月 2025 15:57:29 +0800
Subject: [PATCH] V1.1铁鞋专属升级工卡，修改uwb配置参数为64len并且修改回包时间让其能测距升级
---
keil/uwb_app.c | 51 ++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 44 insertions(+), 7 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index c70881a..adb1757 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -78,7 +78,7 @@
#define RANGING_PERIOD_MS (1000)
/* This is the delay from Frame RX POLL frame to send RESP Frame */
-#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan600 success 并且不卡busy
+#define POLL_RX_TO_RESP_TX_DLY_US 1100U //yuan600 success 并且不卡busy
#define RESP_TX_TO_FINAL_RX_DLY_US 500U
@@ -116,14 +116,14 @@
uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
struct UWB_CONFIG_T phy_cfg;
};
-
+extern uint8_t uwb_ch;
static 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 */
.phy_cfg.mean_prf = MEAN_PRF_64M, /* Mean prf 64/128/256M */
.phy_cfg.data_bit_rate = DATA_BR_6M8, /* Data rate 6.8M */
- .phy_cfg.sync_sym = PREAM_LEN_128, /* Preamble duration, length of preamble 128 */
+ .phy_cfg.sync_sym = PREAM_LEN_64, /* Preamble duration, length of preamble 128 */
.phy_cfg.sfd_sym = NON_STD_NSFD5_8, /* Identifier for SFD sequence */
.phy_cfg.ranging_bit = 1, /* ranging bit set 1 */
.phy_cfg.trx_mode = TRX_MODE_15_4A, /* IEEE802.15.4z - BPRF mode */
@@ -230,6 +230,8 @@
extern uint16_t mubiao_anchor_ID;
uint8_t Lora_qingqiu_flag;
extern uint16_t Lora_qingqiu_bao;
+uint8_t shengji_flag;
+extern uint8_t Dtu_shengji_jindu[20];
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{ uint8_t valid_sts=0;
uint16_t checksum1 = 0,dest_id;
@@ -251,7 +253,8 @@
rssi = rx_report->rssi;
receive_flag=1;
// uart_send(UART_ID0, rx_buf,rx_length, NULL);
- if(rx_buf[MESSAGE_TYPE_IDX]==MBX_POLL)
+ gpio_pin_toggle(IO_PIN_4);
+ if(rx_buf[MESSAGE_TYPE_IDX]==MBX_POLL&&!shengji_flag)
{
Anchor_App();
}
@@ -264,6 +267,7 @@
{
if(!memcmp(&dev_id,&dest_id,2)/*||dest_id==0xffff||(dest_id==0xfffe&&get_channel==5)*/)
{
+ shengji_flag=1;
switch(rx_buf[MSG_TYPE_IDX])
{
case LORA_MSGTYPE_UPDATE_CONFIRM:
@@ -285,8 +289,13 @@
break;
case 0x99:
- LOG_INFO(TRACE_MODULE_APP, "收到结束升级请求\r\n",Lora_qingqiu_bao);
- delay_ms(500);
+// LOG_INFO(TRACE_MODULE_APP, "收到结束升级请求\r\n",Lora_qingqiu_bao);
+ delay_ms(200);
+ Dtu_shengji_jindu[4]=100;
+ memcpy(&Dtu_shengji_jindu[5],&mubiao_anchor_ID,2);
+ uart_send(UART_ID0, Dtu_shengji_jindu,9, NULL);
+
+ delay_ms(1000);
// Lora_upanc_flag=0;
Lora_qingqiu_flag=0;
NVIC_SystemReset();
@@ -317,7 +326,7 @@
// }
}
}
-
+
#ifdef STS_MODE
valid_sts= sts_valid_check();
if (valid_sts)
@@ -649,6 +658,33 @@
if(HIDO_TimerGetTick()-uwbtasktimer >=1)
{
+
+ for(uint16_t i=0;i<taglist_num-1;i++)
+ {
+ for(uint16_t j=0;j<taglist_num-1-i;j++)
+ {
+ if(tagdist_list[j]>tagdist_list[j+1])
+ {
+ uint16_t id,dist,version;
+ uint8_t bat;
+ id = tagid_list[j];
+ dist = tagdist_list[j];
+ version = anchordata_version[j];
+ tagid_list[j] = tagid_list[j+1];
+ tagdist_list[j] = tagdist_list[j+1];
+ anchordata_version[j] = anchordata_version[j+1];
+ tagid_list[j+1] = id;
+ tagdist_list[j+1] = dist;
+ anchordata_version[j+1] = version;
+ }
+ }
+
+ }
+
+ if(taglist_num>6)
+ {
+ taglist_num=6;
+ }
uwbtasktimer = HIDO_TimerGetTick();
UWBOneSecondTask();
uwbsend[0]=0x55;
@@ -885,6 +921,7 @@
phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
#endif
// Set calibration parameters
+// config.phy_cfg.ch_num=g_com_map[NEARBASE_ID1];
uwb_calibration_params_set(config.phy_cfg.ch_num);
#ifndef STS_MODE
// set advanced parameters
--
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