From a598fc473257ddd9eef10db36ada42af46b8b5bf Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 16 五月 2025 16:19:46 +0800
Subject: [PATCH] V1.20,按照杨总提供文档全部改好，主要涉及下发修改开启uwb gps开关 频率等
---
keil/uwb_app.c | 22 +++++++++++++---------
1 files changed, 13 insertions(+), 9 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 52d0fba..cd237a8 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -64,6 +64,7 @@
int16_t elevation = 0;
int16_t azimuth = 0;
uint8_t fom = 0;
+extern CountState_t current_state;
int32_t distance;
uint8_t taglist_num;
float *sts_rssi=NULL;
@@ -143,7 +144,7 @@
// .phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
// .phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
//};
-#ifdef UWB_DW1000_XB
+#ifdef UWB_MK8000_XB
static struct mk_uwb_configure config = {
.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
.phy_cfg.ch_num = 5, /* Channel number. */
@@ -160,7 +161,7 @@
.phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
};
#endif
-#ifdef UWB_DW1000_MBXJZ
+#ifdef UWB_DW1000_MBXJZ_OLD
static struct mk_uwb_configure config = {
.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
.phy_cfg.ch_num = 5, /* Channel number. */
@@ -358,9 +359,7 @@
Anchor_App();
if(resp_tx_flag==0)
{
-
OpenUWB();
-
}
// #ifdef STS_MODE
// valid_sts= sts_valid_check();
@@ -711,8 +710,8 @@
// }
// Set4LEDColor(uwbled,rtkled,led4g,powerled);
- if(taglist_num>20) //最多上传20个基站数据，距离最近的20个
- taglist_num = 20;
+ if(taglist_num>14) //最多上传20个基站数据，距离最近的20个
+ taglist_num = 14;
usart_send[0]= 0x55;
usart_send[1]= 0xaa;
usart_send[2] = 0x12;//正常模式
@@ -756,7 +755,10 @@
{
uwbtasktimer = HIDO_TimerGetTick();
UWBOneSecondTask();
-// UWBSendUDPTask();
+ if(g_com_map[UWBFrequency]==1)
+ {
+ UWBSendUDPTask();
+ }
}
}
int uwb_app_poll(void)
@@ -768,6 +770,8 @@
{
uint8_t i;
uint16_t tempid;
+ uwb_offtime_count=0;
+ current_state = STATE_NORMAL;
if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//判断是否是和自己是同一组通讯的且为poll包
{ flag_recsuccess = 1;
wltag_state=RANGE;//成功后从search切换为range
@@ -782,8 +786,8 @@
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;
- uwb_offtime_count=0;
- CountState_t current_state = STATE_SLEEP;
+
+
// for(i=0; i<rec_nearbase_num; i++)
// {
// if(rec_ancidlist[i] == dev_id)
--
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