From 7d13fbde75b58ff4c9deaef95ca0c03a1083f8e8 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 29 八月 2025 10:26:55 +0800
Subject: [PATCH] 1.9，加入电量新计算方法 测试电池能干多久问题 目前1s检测一下adc
---
keil/uwb_tag.c | 64 ++++++++++++++++++++++++--------
1 files changed, 48 insertions(+), 16 deletions(-)
diff --git a/keil/uwb_tag.c b/keil/uwb_tag.c
index b692897..42dc9ad 100644
--- a/keil/uwb_tag.c
+++ b/keil/uwb_tag.c
@@ -29,7 +29,7 @@
#define POLL_DELAY 100U //yuan100U
/* Receive response timeout */
-#define RESP_RX_TIMEOUT_US 10000 //Yuan500 10mssuccess 300jixian
+#define RESP_RX_TIMEOUT_US 1000 //Yuan500 10mssuccess 300jixian
/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -568,7 +568,11 @@
// }
}
}
+extern int16_t fVoltage_mv;
uint8_t readgcom_flag1;
+uint32_t current_count11,current_count22,current_count33,current_count44,current_count55;
+uint16_t adc_caiji;
+uint8_t adc_one;
void DiscPoll2(void)
{
uint32_t temp1,temp2,dw_systime,mindist_slavebaseid,mindist;
@@ -616,7 +620,7 @@
recbase_num=0;
phy_timer_open(1, IRQ_PRIORITY_HIGH);
mac_register_process_handler(tx_int_callback, rx_int_callback);
- tx_near_msg[BATTARY_IDX] = bat_percent;
+ tx_near_msg[BATTARY_IDX] = (fVoltage_mv-1000)/10;;
// tx_near_msg[BUTTON_IDX] = 0/*userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5*/;
tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
// tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
@@ -639,6 +643,18 @@
poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//修正时间戳
temp_tag_count1=phy_timer_count_get();
+ adc_caiji++;
+ if(adc_caiji>30&&adc_one==0)
+ {
+ adc_one=1;
+ adc_caiji=0;
+ MinuteTask();
+ }
+ else if(adc_one==1&&adc_caiji>3600)
+ {
+ adc_caiji=0;
+ MinuteTask();
+ }
while(mac_is_busy());//等待发送完成
tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
@@ -648,21 +664,21 @@
flag_getresponse=0;
temp_tag_count2=phy_timer_count_get();
- resp_rx_en_start_u32 = poll_tx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);//设置发送多少s后接收按target独立时间起点算+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US为发送后要多久开启接收时间
+ resp_rx_en_start_u32 = temp_tag_count2+ US_TO_PHY_TIMER_COUNT(600);//设置发送多少s后接收按target独立时间起点算+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US为发送后要多久开启接收时间
temp_resp=resp_rx_en_start_u32;
- //tempflag=uwb_rx(1, resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);//开启接受并设置接收超时
- tempflag=uwb_rx(0,0, RESP_RX_TIMEOUT_US);
+ tempflag=uwb_rx(1,resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);
+// tempflag=uwb_rx(0,0, 15000);
receive_flag =0;
start_receive_count=phy_timer_count_get();
- poll_timeout=nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(30000);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
+ poll_timeout=US_TO_PHY_TIMER_COUNT(600);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
end_receive_count=start_receive_count+poll_timeout;
if(end_receive_count>=UINT32_MAX)
{end_receive_count-=UINT32_MAX;}
current_count=phy_timer_count_get();
mainbase_dist=100000;
mainbase_lost_count++;
- while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//循环接受包体,若为124.8K则是+62400000
- {
+// while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//循环接受包体,若为124.8K则是+62400000
+// {
current_count=phy_timer_count_get();//不断刷新当前计数器值
temp_tag_count2=phy_timer_count_get();
@@ -685,7 +701,8 @@
temp_dist = nearbase_distlist[rec_nearbasepos];
if(rx_buf[0]==0xff)
{xiaobiaoqian_flag=1;}
- tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
+ current_count11=phy_timer_count_get();
+// tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
}
else if(rx_buf[MSG_TYPE_IDX]==LORA_MSGTYPE_WGRESPTAG)
{
@@ -693,9 +710,10 @@
}
else
{
+ current_count22=phy_timer_count_get();
if(recbase_num!=nearbase_num+1)
{
- tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
+// tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
}
}
//gpio_pin_clr(IO_PIN_5);//测试
@@ -705,12 +723,14 @@
{//接收出错
receive_flag=0;
ggggg++;
- tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
+// tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
+ current_count33=phy_timer_count_get();
}
//gpio_pin_clr(IO_PIN_5);//测试
- }
+// }
delay_us(1);
uwb_rx_force_off(1);
+ current_count44=phy_timer_count_get();
// if(readgcom_flag1==0)
// {
CalculateDists(poll_tx_ts_i64); //计算距离并更新距离表
@@ -776,7 +796,7 @@
motor_flag = 0;
}
- tx_near_msg[BATTARY_IDX] = bat_percent;
+ tx_near_msg[BATTARY_IDX] = (fVoltage_mv-1000)/10;
tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
@@ -801,6 +821,18 @@
poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//修正时间戳
temp_tag_count1=phy_timer_count_get();
+ adc_caiji++;
+ if(adc_caiji>30&&adc_one==0)
+ {
+ adc_one=1;
+ adc_caiji=0;
+ MinuteTask();
+ }
+ else if(adc_one==1&&adc_caiji>1)
+ {
+ adc_caiji=0;
+ MinuteTask();
+ }
while(mac_is_busy());//等待发送完成
tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
@@ -811,10 +843,10 @@
recbase_num=0;
temp_tag_count2=phy_timer_count_get();
- resp_rx_en_start_u32 = poll_tx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);//设置发送多少s后接收按target独立时间起点算+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US为发送后要多久开启接收时间
+ resp_rx_en_start_u32 = temp_tag_count2+ US_TO_PHY_TIMER_COUNT(600);//设置发送多少s后接收按target独立时间起点算+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US为发送后要多久开启接收时间
temp_resp=resp_rx_en_start_u32;
- //tempflag=uwb_rx(1, resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);//开启接受并设置接收超时
- tempflag=uwb_rx(0,0, RESP_RX_TIMEOUT_US);
+ tempflag=uwb_rx(1, resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);//开启接受并设置接收超时
+// tempflag=uwb_rx(0,0, RESP_RX_TIMEOUT_US);
receive_flag =0;
start_receive_count=phy_timer_count_get();
poll_timeout=nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(RESP_RX_TIMEOUT_US);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
--
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