From dd4e6900813f4ca7e98d6d287baf1f8626303625 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期一, 26 五月 2025 09:55:21 +0800
Subject: [PATCH] 加入气压数据输出在gps 跟uwb里
---
keil/uwb_app.c | 43 +++++++++++++++++++++++++++----------------
1 files changed, 27 insertions(+), 16 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 9389d22..4dbf58a 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -11,6 +11,8 @@
#include "board.h"
#include "lib_aoa.h"
#include "WS2812.h"
+#include "TCPClient.h"
+
extern int simple_main(void);
extern int temp_main(void);
void Calibration_Time(void);
@@ -62,6 +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;
@@ -81,7 +84,7 @@
#define RANGING_PERIOD_MS (1000)
/* This is the delay from Frame RX POLL frame to send RESP Frame */
-#define POLL_RX_TO_RESP_TX_DLY_US 670U //yuan550极限
+#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan550极限
//#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan550极限
#define RESP_TX_TO_FINAL_RX_DLY_US 500U
@@ -141,7 +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. */
@@ -158,7 +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. */
@@ -356,9 +359,7 @@
Anchor_App();
if(resp_tx_flag==0)
{
- #ifdef UWB_CK
OpenUWB();
- #endif
}
// #ifdef STS_MODE
// valid_sts= sts_valid_check();
@@ -389,9 +390,9 @@
memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
rx_length = 0;
receive_error_flag=1;
- #ifdef UWB_CK
+
OpenUWB();
- #endif
+
// OpenUWB();//再次开启UWB接收
}
// CloseUWB();
@@ -412,9 +413,9 @@
temp_count= phy_timer_count_get();
temp_internal=temp_count;
resp_tx_num++;
- #ifdef UWB_CK
+
OpenUWB();
- #endif
+
// OpenUWB();//再次开启UWB接收
//LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
}
@@ -669,6 +670,7 @@
if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//防止溢出
}
+extern uint16_t gaodu;
void UWBSendUDPTask(void)
{
uint16_t checksum,tempdistarray[20];
@@ -709,8 +711,8 @@
// }
// 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
@@ -722,8 +724,9 @@
// usart_send[8] = rxnum;
usart_send[9] = userkey_state|0<<1|0<<2|0<<5|uwb_state<<6;
// memcpy(&usart_send[10],&rec_tagheight,2);
- usart_send[12] = 0;
- usart_send[13] = 0;
+ memcpy(&usart_send[12],gaodu,2);
+// usart_send[12] = 0;
+// usart_send[13] = 0;
usart_send[14] = 0;
usart_send[15] = 0;
usart_send[16] = taglist_num;
@@ -734,7 +737,7 @@
checksum = Checksum_u16(&usart_send[2],15+5*taglist_num);
memcpy(&usart_send[17+5*taglist_num],&checksum,2);
HexToAsciiSendUDP(usart_send,19+5*taglist_num);
- taglist_num = 0;
+// taglist_num = 0;
// rxnum=0;
}
void UWBIdleTask(void)
@@ -754,17 +757,23 @@
{
uwbtasktimer = HIDO_TimerGetTick();
UWBOneSecondTask();
-// UWBSendUDPTask();
+ if(g_com_map[UWBFrequency]==1)
+ {
+ UWBSendUDPTask();
+ }
}
}
int uwb_app_poll(void)
{
UWBIdleTask();
}
+extern uint8_t uwb_offtime_count;
int Anchor_App(void)
{
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
@@ -779,6 +788,8 @@
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;
+
+
// for(i=0; i<rec_nearbase_num; i++)
// {
// if(rec_ancidlist[i] == dev_id)
@@ -814,7 +825,7 @@
Anchor_RecNearPoll(i);
tagdist_list[taglist_pos]=rec_ancdistlist[i];
anchordata_bat[taglist_pos] = battary;//保存该基站电量
- anchor_rssi[taglist_pos]=rssi;
+ anchor_rssi[taglist_pos]=rssi;
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
--
Gitblit v1.9.3