From a0539c862b71248602919b1ebdad764e72dc7fb7 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期一, 24 二月 2025 15:30:13 +0800
Subject: [PATCH] 1
---
keil/uwb_app.c | 88 +++++++++++++++++++++++---------------------
1 files changed, 46 insertions(+), 42 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index b73614a..9cd795b 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -10,7 +10,7 @@
#include "global_param.h"
#include "board.h"
#include "lib_aoa.h"
-
+#include "WS2812.h"
extern int simple_main(void);
extern int temp_main(void);
void Calibration_Time(void);
@@ -469,6 +469,7 @@
{
tagid_list[j]=tagid_list[i];
tagdist_list[j] = tagdist_list[i];
+ anchordata_bat[j]=anchordata_bat[i];//电量随之更新
tagofflinetime[j++]=tagofflinetime[i];
}
}
@@ -547,7 +548,7 @@
&&!((end_receive_count-current_count_calibration<=MS_TO_PHY_TIMER_COUNT(200))||(end_receive_count+(UINT32_MAX-current_count_calibration)<=MS_TO_PHY_TIMER_COUNT(200))))
{
start_receive_count_calibration=current_count_calibration;//更新开始时间
-// MotorPoll();
+
if(secondtask_search_count++%2==0)
{
@@ -600,46 +601,46 @@
}
int uwb_app_poll(void)
{
- switch(wltag_state)
- {
- case RANGE:
- if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
- {
- wltag_uwbtimer = HIDO_TimerGetTick();
- OpenUWB();
- }
- else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1)
- {
- wltag_uwbtimer = HIDO_TimerGetTick();
- CloseUWB();
- }
- if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
- {
- wltag_statetimer = HIDO_TimerGetTick();
- if(uwb_rx_flag==0)//若要切换到搜索模式时没有开启则开启UWB
- {
- OpenUWB();
- }
- wltag_state = SEARCH;
- }
- break;
- case SEARCH:
- if(HIDO_TimerGetTick()-wltag_statetimer>1)
- {
- wltag_statetimer = HIDO_TimerGetTick();
- wltag_state = CLOSE;
- CloseUWB();
- }
- break;
- case CLOSE:
- if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
- {
- wltag_statetimer = HIDO_TimerGetTick();
- wltag_state = SEARCH;
- OpenUWB();
- }
- break;
- }
+// switch(wltag_state)
+// {
+// case RANGE:
+// if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
+// {
+// wltag_uwbtimer = HIDO_TimerGetTick();
+// OpenUWB();
+// }
+// else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1)
+// {
+// wltag_uwbtimer = HIDO_TimerGetTick();
+// CloseUWB();
+// }
+// if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
+// {
+// wltag_statetimer = HIDO_TimerGetTick();
+// if(uwb_rx_flag==0)//若要切换到搜索模式时没有开启则开启UWB
+// {
+// OpenUWB();
+// }
+// wltag_state = SEARCH;
+// }
+// break;
+// case SEARCH:
+// if(HIDO_TimerGetTick()-wltag_statetimer>1)
+// {
+// wltag_statetimer = HIDO_TimerGetTick();
+// wltag_state = CLOSE;
+// CloseUWB();
+// }
+// break;
+// case CLOSE:
+// if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
+// {
+// wltag_statetimer = HIDO_TimerGetTick();
+// wltag_state = SEARCH;
+// OpenUWB();
+// }
+// break;
+// }
UWBIdleTask();
}
int Anchor_App(void)
@@ -659,6 +660,7 @@
memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
+ uwbled=BLUE;
// for(i=0; i<rec_nearbase_num; i++)
// {
// if(rec_ancidlist[i] == dev_id)
@@ -693,10 +695,12 @@
{
Anchor_RecNearPoll(i);
tagdist_list[taglist_pos]=rec_ancdistlist[i];
+ anchordata_bat[taglist_pos] = battary;//保存该基站电量
if(taglist_pos==taglist_num)// taglist_pos==taglist_num 说明这个基站不在当前列表中
{ //tempid==dev_id 说明基站下发测距报文有这个标签的信息
taglist_num++; //满足上述两种情况才会添加基站ID进入列表中，否则会出现标签不在基站列表中，标签也不响应的情况
tagid_list[taglist_pos] = tag_id_recv;
+
}
break;
}
--
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