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 | 63 ++++++++++++++++++++++++-------
1 files changed, 48 insertions(+), 15 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index d6a5764..da9c81a 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -472,7 +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)
// {
@@ -480,18 +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];
}
@@ -651,8 +651,10 @@
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)
{
@@ -681,10 +683,10 @@
}
- if(taglist_num>6)
- {
- taglist_num=6;
- }
+// if(taglist_num>6)
+// {
+// taglist_num=6;
+// }
uwbtasktimer = HIDO_TimerGetTick();
UWBOneSecondTask();
uwbsend[0]=0x55;
@@ -694,11 +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]);
// }
}
}
@@ -823,7 +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)
--
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