From dd60d4eaeb6346b7089bbc9ee5d69813eafca3ec Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期五, 30 八月 2024 15:36:57 +0800
Subject: [PATCH] V1.4
---
keil/uwb_app.c | 19 +++++++++++++------
1 files changed, 13 insertions(+), 6 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 2e708f4..def6e7f 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -254,6 +254,7 @@
static int32_t tagdist_list[TAG_NUM_IN_SYS];
uint16_t random_time;
//anchor
+int32_t hist_dist;
void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary)
{
uint8_t i;
@@ -274,8 +275,8 @@
anchordata_dist[i] = dist;
anchordata_bat[i] = battary;
tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
- //if(dist>0)
- distance=dist;
+ if(dist>0)
+ distance=dist*0.5+distance*0.5;
}
uint16_t CmpTagInList(uint16_t tagid)
{ uint16_t i;
@@ -426,10 +427,12 @@
Anchor_RecNearPoll(i);
}
+ sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度：%d.\r\n",g_com_map[BIND_DEV_ID],distance,rssi);
}
} else {
- LOG_INFO(TRACE_MODULE_APP,"测距失败\r\n");
+ sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
+ LOG_INFO(TRACE_MODULE_APP,"测距失败，计数：%d\r\n",recev_error_num);
if(recev_error_num++>5)
{
recev_error_num=0;
@@ -438,7 +441,7 @@
search_open_flag = 1;
}
}
- sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
+
gpio_pin_clr(SCL_PIN);
}
@@ -483,11 +486,12 @@
{
end_receive_count-=UINT32_MAX;
}
-
+ current_count=phy_timer_count_get();
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(mac_is_busy())
{
+ IdleTask();
current_count=phy_timer_count_get();
if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
{
@@ -540,6 +544,7 @@
uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
}
+ // LOG_INFO(TRACE_MODULE_APP,"超时定时器：%x,%x,%x\r\n",start_receive_count,end_receive_count,current_count);
gpio_pin_clr(SCL_PIN);//测试
return 0;//返回绑定失败标志
}
@@ -548,7 +553,6 @@
#define SEARCH_TIMESTEMP 120
void UWBPoll(void)
{
- LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
switch(UWB_work_state)
{
case LINK_SUCCESS:
@@ -571,6 +575,8 @@
uwb_led_off();
if(link_success_flag)
UWB_work_state=LINK_SUCCESS;
+ }else{
+ LOG_INFO(TRACE_MODULE_APP,"等待进入搜索模式：%d\r\n",SEARCH_TIMESTEMP-uwb_searchcount);
}
}
@@ -600,6 +606,7 @@
//link_error_count=0;
update_led_power_state();//更新灯状态
}
+ LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
}
uint8_t GetUWBBindState(void)
--
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