From 6e5211bf6d6279e343cf0f8fca0341b78a29de9e Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期四, 15 五月 2025 18:04:17 +0800
Subject: [PATCH] 初步能连接上，但是直接停止无任何测距版本
---
keil/include/main/main.c | 104 +++++++++++++++++++++++++++------------------------
1 files changed, 55 insertions(+), 49 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index f98589e..c9a34a8 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -109,7 +109,7 @@
//
//*****************************************************************************
#define WSF_BUF_POOLS 5
-void Fira_Ranging_Task(void);
+void Fira_Change_Task(void);
// Default pool descriptor.
static wsfBufPoolDesc_t poolDescriptors[WSF_BUF_POOLS] = {
{32, 26}, {64, 24}, {128, 4}, {256 + 32, 4}, {1024 + 32, 2},
@@ -191,55 +191,11 @@
break;
}
}
-wsfHandlerId_t handlerId;
-void Fira_Ranging_Task(void)
+
+void Fira_Change_Task(void)
{
- //
- // Create app task
- //
- handlerId = WsfOsSetNextHandler(app_handler);
- app_init(handlerId);
-
- //
- // Create ranging task or test task
- //
- handlerId = WsfOsSetNextHandler(ranging_handler);
- ranging_init(handlerId);
-
-#ifdef UWB_UCI_TEST_EN
- // Create test task
- handlerId = WsfOsSetNextHandler(uwb_test_handler);
- uwb_test_init(handlerId);
-#endif
-
- uwb_open();
-
- // set advanced parameters
- struct PHY_ADV_CONFIG_T adv_config =
- {
- // RPM0: 40, RPM3: 60
- .thres_fap_detect = 60,
- // RPM0: 4, RPM3: 8
- .nth_scale_factor = 8,
- // RFrame SP0: 0/1, Others: 0/1/2/3
- .ranging_performance_mode = 3,
-#if RX_ANT_PORTS_NUM == 4
- .skip_weakest_port_en = 1,
-#else
- .skip_weakest_port_en = 0,
-#endif
- };
- phy_adv_params_configure(&adv_config);
-
- // which RX ports will be used for AoA/PDoA
- phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
-
- uwbs_init();
- uwb_app_config.ranging_flow_mode = (uint8_t)(RANGING_FLOW_FIRA);
- uwb_app_config.filter_en = (uint8_t)(FILTER_EN);
- uwb_app_config.session_param.tx_power_level = board_param.tx_power_fcc[CALIB_CH(uwb_app_config.ppdu_params.ch_num)];
- uwb_app_config.ppdu_params.rx_ant_id = (uint8_t)(RX_MAIN_ANT_PORT);
}
+extern uint8_t normal_flag;
int main(void)
{
// Initialize MCU system
@@ -270,9 +226,53 @@
{
LOG_INFO(TRACE_MODULE_APP, "Memory pool is not enough %d\r\n", wsfBufMemLen - FREE_MEM_SIZE);
}
+//
+ // Create app task
+ //
+ wsfHandlerId_t handlerId = WsfOsSetNextHandler(app_handler);
+ app_init(handlerId);
-
+ //
+ // Create ranging task or test task
+ //
+ handlerId = WsfOsSetNextHandler(ranging_handler);
+ ranging_init(handlerId);
+#ifdef UWB_UCI_TEST_EN
+ // Create test task
+ handlerId = WsfOsSetNextHandler(uwb_test_handler);
+ uwb_test_init(handlerId);
+#endif
+
+ uwb_open();
+
+// // set advanced parameters
+// struct PHY_ADV_CONFIG_T adv_config =
+// {
+// // RPM0: 40, RPM3: 60
+// .thres_fap_detect = 60,
+// // RPM0: 4, RPM3: 8
+// .nth_scale_factor = 8,
+// // RFrame SP0: 0/1, Others: 0/1/2/3
+// .ranging_performance_mode = 3,
+//#if RX_ANT_PORTS_NUM == 4
+// .skip_weakest_port_en = 1,
+//#else
+// .skip_weakest_port_en = 0,
+//#endif
+// };
+// phy_adv_params_configure(&adv_config);
+
+// // which RX ports will be used for AoA/PDoA
+// phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
+
+// uwbs_init();
+// uwb_app_config.ranging_flow_mode = (uint8_t)(RANGING_FLOW_FIRA);
+// uwb_app_config.filter_en = (uint8_t)(FILTER_EN);
+// uwb_app_config.session_param.tx_power_level = board_param.tx_power_fcc[CALIB_CH(uwb_app_config.ppdu_params.ch_num)];
+// uwb_app_config.ppdu_params.rx_ant_id = (uint8_t)(RX_MAIN_ANT_PORT);
+ Uwb_init();//默认为我们测距配置
+ OpenUWB();
//
// Create UCI transmission layer task
//
@@ -295,6 +295,12 @@
while (1)
{
wsfOsDispatcher();
+ if(normal_flag)
+ {
+
+ uwb_app_poll();//我们的测距逻辑
+ IdleTask();
+ }
power_manage();
}
--
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