From 7b81c9f59686b683618cf95bd7f51951cdb1afed Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期五, 08 八月 2025 17:46:41 +0800
Subject: [PATCH] 去掉所有调试打印，改为55AA12URT报文输出
---
keil/uwb_app.c | 102 +++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 86 insertions(+), 16 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index c70881a..da9c81a 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -116,7 +116,7 @@
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. */
@@ -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)
@@ -463,7 +472,7 @@
//void TagListUpdate(void)
//{
// uint8_t i,j=0;
-// for(i=0; i<anchordata_num; i++)
+// for(i=0; i<taglist_num; i++)
// {
// if(tagofflinetime[i]++<QUIT_SLOT_TIME)
// {
@@ -471,18 +480,18 @@
// tagofflinetime[j++]=tagofflinetime[i];
// }
// }
-// anchordata_num=j;
+// taglist_num=j;
//}
void TagListUpdate(void)
{
uint16_t i,j=0,k=0;
for(i=0; i<taglist_num; i++)
{
- if(tagofflinetime[i]++<TAG_KEEPTIMES)
+ if(tagofflinetime[i]++<10)
{
tagid_list[j]=tagid_list[i];
tagdist_list[j] = tagdist_list[i];
- anchordata_bat[j]=anchordata_bat[i];//电量随之更新
+ anchordata_bat[j]=anchordata_bat[i];//电量随之更新
anchordata_version[j]=anchordata_version[i];
tagofflinetime[j++]=tagofflinetime[i];
}
@@ -642,13 +651,42 @@
if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//防止溢出
}
-uint8_t uwbsend[200];
-
+uint8_t uwbsend[1000];
+static uint8_t usart_send[1024];
+extern uint8_t bat_percent;
+uint16_t tagseq=0;
void UWBIdleTask(void)
{
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;
@@ -658,11 +696,42 @@
memcpy(&uwbsend[4],&tagid_list,taglist_num*2);
memcpy(&uwbsend[4+taglist_num*2],&tagdist_list,taglist_num*2);
memcpy(&uwbsend[4+taglist_num*4],&anchordata_version,taglist_num*2);
- uart_send(UART_ID0, uwbsend,taglist_num*6+4, NULL);
- taglist_num=0;
-// for(int i=0;i<anchordata_num;i++)
+
+ //新增URT协议
+if(taglist_num>20) //最多上传20个基站数据，距离最近的20个
+{taglist_num = 20;
+}
+usart_send[0] = 0x55;//正常6模式
+usart_send[1] = 0xAA;//正常模式
+usart_send[2] = 0x12;//正常模式
+usart_send[3] = 15+5*(taglist_num);//数据段长度
+memcpy(&usart_send[4],&g_com_map[DEV_ID],2);
+usart_send[6] = tagseq;
+usart_send[7] = (tagseq++)>>8;
+usart_send[8] = bat_percent;
+//usart_send[9] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5|uwb_state<<6;
+ usart_send[9]=0;
+// memcpy(&usart_send[10],&rec_tagheight,2);
+usart_send[12] = 0;
+usart_send[13] = 0;
+usart_send[14] = 0;
+usart_send[15] = 0;
+usart_send[16] = taglist_num;
+uint16_t checksum;
+memcpy(&usart_send[17],&tagid_list,2*taglist_num);
+memcpy(&usart_send[17+taglist_num*2],&tagdist_list,2*taglist_num);
+memcpy(&usart_send[17+taglist_num*4],&anchordata_bat,taglist_num);
+checksum = Checksum_u16(&usart_send[2],15+5*taglist_num);
+memcpy(&usart_send[17+5*taglist_num],&checksum,2);
+uart_send(UART_ID0, &usart_send,19+5*taglist_num, NULL);
+while(uart_tx_in_progress(UART_ID0));
+ //URT输出协议
+// uart_send(UART_ID0, uwbsend,taglist_num*6+4, NULL);
+ // taglist_num=0;
+// LOG_INFO(TRACE_MODULE_APP,"当前测距基站数量%d.\r\n",taglist_num);
+// for(int i=0;i<taglist_num;i++)
// {
-// LOG_INFO(TRACE_MODULE_APP,"当前测距基站ID:%x,距离:%d.\r\n",tagid_list[0],tagdist_list[0]);
+// LOG_INFO(TRACE_MODULE_APP,"当前测距基站ID:%x,距离:%d.\r\n",tagid_list[i],tagdist_list[i]);
// }
}
}
@@ -787,7 +856,7 @@
current_count=phy_timer_count_get();
while(mac_is_busy())
{
- Calibration_Time();
+// Calibration_Time();
IdleTask();
current_count=phy_timer_count_get();
if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
@@ -885,6 +954,7 @@
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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