From 5102fff8a13c0319d8125a51d3d2354e7aacdcea Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期四, 31 七月 2025 16:40:06 +0800
Subject: [PATCH] 修改为2HZ发poll包，修改second task从原来2s一次为1s一次
---
keil/uwb_app.c | 39 ++++++++++++++++++++++-----------------
1 files changed, 22 insertions(+), 17 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index ae5a830..6526fdf 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -355,6 +355,8 @@
//}
}
float temp1,temp2;
+uint8_t aoa_fom[TAG_NUM_IN_SYS];
+static int16_t tagdist_list[TAG_NUM_IN_SYS];
static void angle_result_filter(uint8_t *mac_addr, int16_t *angle, uint8_t type)
{
if (angle == NULL)
@@ -411,16 +413,17 @@
angle_result_filter(&mac_addr,&elevation, KF_DATA_TYPE_ELEVATION);
angle_azimuth[taglist_pos]=(uint16_t)mk_q7_to_s16(azimuth);
angle_elevation[taglist_pos]=(uint16_t)mk_q7_to_s16(elevation);
+ aoa_fom[taglist_pos]=fom;
//buffer_message_send();
//int16_t azimth=mk_q7_to_s16(azimuth),elevate=mk_q7_to_s16(elevation);
// // filter process
- LOG_INFO(TRACE_MODULE_APP, "PDoA 0x%04x Azimuth %d Elevation %d FoM %u area%#x\r\n",tag_id_recv, mk_q7_to_s16(azimuth),
- mk_q7_to_s16(elevation), fom,show_location[taglist_pos]);
+ LOG_INFO(TRACE_MODULE_APP, "PDoA 0x%04x Azimuth %d Elevation %d FoM %u distance %d rssi %d\r\n",tag_id_recv, mk_q7_to_s16(azimuth),
+ mk_q7_to_s16(elevation), fom,tagdist_list[taglist_pos],rssi);
allow_flag=0;
}
- }
+ }
if(resp_tx_flag==0)
{
OpenUWB();
@@ -485,8 +488,8 @@
extern uint32_t tag_id_authorization_list[1024];
static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
uint8_t anchordata_num = 0;
-static int16_t tagdist_list[TAG_NUM_IN_SYS];
-uint8_t rssi_quality[TAG_NUM_IN_SYS];
+
+
uint16_t state_button[TAG_NUM_IN_SYS];
uint16_t pressure[TAG_NUM_IN_SYS];
uint16_t random_time;
@@ -640,10 +643,10 @@
uint8_t rssi_temp=tag_rssi[j];
tag_rssi[j]=tag_rssi[j+1];
tag_rssi[j+1]=rssi_temp;
- //信号质量交换
- uint8_t temp_quality=rssi_quality[j];
- rssi_quality[j]=rssi_quality[j+1];
- rssi_quality[j+1]=temp_quality;
+ //角度置信度交换
+ uint8_t temp_fom=aoa_fom[j];
+ aoa_fom[j]=aoa_fom[j+1];
+ aoa_fom[j+1]=temp_fom;
//设备状态交换
uint16_t temp_state=state_button[j];
state_button[j]=state_button[j+1];
@@ -698,13 +701,12 @@
}
taglist_num=j;
sort_tag_lists();//增加距离小的排到前面逻辑
- update_show_buffer();//根据角度和距离判断区域位置
- gpio_pin_set(CHANGE_UART_PIN);//；拉高打印输出
- buffer_message_send();//发送测距报文信息
-// //delay_ms(10);
- buffer_485_send(show_location);//发送显示信息
- while(uart_tx_in_progress(UART_ID0));
- gpio_pin_clr(CHANGE_UART_PIN);//；拉低变接收
+ //update_show_buffer();//根据角度和距离判断区域位置
+// gpio_pin_set(CHANGE_UART_PIN);//；拉高打印输出
+ //buffer_message_send();//发送测距报文信息
+ //buffer_485_send(show_location);//发送显示信息
+// while(uart_tx_in_progress(UART_ID0));
+// gpio_pin_clr(CHANGE_UART_PIN);//；拉低变接收
}
uint8_t position;
@@ -1085,7 +1087,7 @@
memcpy(&usart0_send[11+i*16],&angle_azimuth[i],2);//angle_azithum
memcpy(&usart0_send[13+i*16],&angle_elevation[i],2);//angle_elevation
memcpy(&usart0_send[15+i*16],&tag_rssi[i],1); //信号强度
- memcpy(&usart0_send[16+i*16],&rssi_quality[i],1); //信号质量预留
+ memcpy(&usart0_send[16+i*16],&aoa_fom[i],1); //信号质量预留
usart0_send[17+i*16]=anchordata_bat[i];//标签电量
memcpy(&usart0_send[18+i*16],&state_button[i],2); //设备状态
memcpy(&usart0_send[20+i*16],&pressure[i],2); //气压
@@ -1093,7 +1095,10 @@
memcpy(&usart0_send[6+taglist_num*16],&yuliu,4); //预留位4位
checksum = Checksum_u16(&usart0_send[2],8+16*taglist_num);
memcpy(&usart0_send[10+16*taglist_num], &checksum, 2);
+ gpio_pin_set(CHANGE_UART_PIN);//；拉高打印输出
uart_send(UART_ID0, usart0_send,12+16*taglist_num, NULL);
+ while(uart_tx_in_progress(UART_ID0));
+ gpio_pin_clr(CHANGE_UART_PIN);//；拉低变接收
}
int Anchor_App(void)
{
--
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