From de542f653793306c903085bc3a1b590ce29caec8 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期四, 20 三月 2025 18:17:57 +0800
Subject: [PATCH] 时间同步BUG修复
---
keil/include/main/main.c | 95 ++++++++++++++++++++++++++++++++++-------------
1 files changed, 69 insertions(+), 26 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index d38c7de..90a9681 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -275,7 +275,7 @@
MinuteTask();
}
//UWB更新列表
- TagListUpdate();
+// TagListUpdate();
//GPS_Poll();
gps_power_state=1;//测试gps长开
//UWB状态检测
@@ -297,22 +297,26 @@
}
}
-// HIDO_TimerTick();
- nomove_count++;
+ HIDO_TimerTick();
+
}
+uint8_t stationary_flag;
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
uint8_t lora_wg_up=0;
extern uint8_t lora_tx_flag;
static void sleep_timer_callback(void *dev, uint32_t time)
{
+
+
g_start_send_flag=1;
+// HIDO_TimerGetTick();
HIDO_TimerTick();
// #ifdef DEBUG_BOXING
//// gpio_pin_clr(IO_PIN_5);//测试
// gpio_pin_set(IO_PIN_5);//测试
// lora_wg_up=1;
- lora_tx_flag=1;
+ lora_tx_flag++;
// lora_qiehuan++;
// IO_control_init();
// UWBPoll();
@@ -348,13 +352,25 @@
}
//GPS工作逻辑
-
+ if(nomove_count++>g_com_map[STATIONARY_TIME])
+ {
+ stationary_flag = 1;
+ } else
+ {
+ stationary_flag = 0;
+ }
+// nomove_count++;
+ #ifdef DEBUG_BOXING
+// gpio_pin_clr(BOXING_PIN);//测试
+ gpio_pin_set(BOXING_PIN);//测试
+ #endif
+ delay_us(1000);
}
-void phy_timer_callback(uint32_t time)
-{
- lora_tx_flag++;
-}
+//void phy_timer_callback(uint32_t time)
+//{
+// lora_tx_flag++;
+//}
void uart0_receive_callback()
{
@@ -381,10 +397,11 @@
Usart1ParseDataCallback = UsartParseDataHandler;//需改为默认为gps处理，UsartParseDataHandler为升级处理当调试时候改为
parameter_init_anchor();//g_com_map表初始化角色默认为基站
g_com_map[DEV_ID]=0x1234;
+ g_com_map[STATIONARY_TIME] = 10;
// g_com_map[GROUP_ID]=1;
dev_id=g_com_map[DEV_ID];//这里不太对
- group_id=g_com_map[GROUP_ID];//组ID
- g_com_map[LORA_POWER]=22;
+// group_id=g_com_map[GROUP_ID];//组ID
+ group_id=0x04;
tag_frequency = 1000/g_com_map[COM_INTERVAL];//测距频率这个存的是测距时间
memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
// g_com_map[ALARM_DISTANCE1] = 40;
@@ -498,8 +515,8 @@
uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);//开启dma
//串口1
- io_pin_mux_set(UART1_RX, IO_FUNC4);
- io_pin_mux_set(UART1_TX, IO_FUNC4);
+// io_pin_mux_set(UART1_RX, IO_FUNC4);
+// io_pin_mux_set(UART1_TX, IO_FUNC4);
}
void spi_init()
{
@@ -556,7 +573,31 @@
/********************************************************************************************************/
/********************************************************************************************************/
/********************************************************************************************************/
-
+//static uint16_t delaytime = 771;
+//extern uint16_t wg_report_freq,wg_report_id;
+//extern uint32_t wg_lost_count;
+//extern uint8_t shengji_flag;
+//extern uint8_t lora_jianting_flag,report_ancnum;
+//uint8_t imu_enable,motor_enable;
+//uint32_t time_flag_lorarx=0;
+//uint32_t lora_huanxing_count=0;
+//uint16_t Lora_wangguanid=0;
+//wg_state_enum wg_state = WG_Lost;
+//uint16_t wangguan_up_id;
+//uint8_t LoraUp_flag;
+//uint16_t rec_wenjian_daxiao;
+//uint16_t recnum[3];
+//uint16_t recv_flag=0;
+//uint16_t tx_flag=0;
+//uint16_t CRC16=0;
+//uint16_t DEST_ID=0;
+//uint16_t rec_value,rec_delaytime,rx_count,datalen_offset;
+//uint16_t Loratx_flag=0;
+//uint16_t Lorarx_flag=0;
+//uint16_t Lorarx_time_out_flag=0;
+//uint8_t tx_buf[5]={0,1,0,1,1};
+//uint32_t sleep_time_count=0;
+//uint32_t uwb_ceju_count=0;
wg_state_enum wg_state = WG_Lost;
/********************************************************************************************************/
static void Lora_irq_handler(enum IO_PIN_T pin)
@@ -564,17 +605,12 @@
RadioIrqProcess();
}
-
-
-
-
-
void Board_LORA_NVIC_Init(GPIO_IRQ_HANDLER_T irq_handler) //LORA 中断配置
{
// io_pin_mux_set(_4G_USART_RX_Pin,IO_FUNC0);//把原先io 变为普通GPIO
gpio_pin_set_dir(LORA_DIO , GPIO_DIR_IN, 0);
io_pull_set(LORA_DIO, IO_HIGH_Z, IO_PULL_UP_NONE);
- gpio_enable_irq(LORA_DIO, GPIO_IRQ_TYPE_RISING_EDGE, irq_handler);
+ gpio_enable_irq(LORA_DIO, GPIO_IRQ_TYPE_RISING_EDGE, irq_handler);
}
extern uint8_t pca9555writedata_input[10];//暂存输入寄存器所有配置的数组
static void pca_handler(enum IO_PIN_T pin)
@@ -588,7 +624,6 @@
uint8_t TXBuffer[8]={0,1,2,3,4,5,6,7};
uint8_t test_buf[10]={0,1,1,1,1,1,1,1,1,1};
int main(void)
-
{
board_clock_run();
// boot_deinit();
@@ -604,27 +639,35 @@
Board_gpio_init();
//board_led_init();
spi_init();
+
+
Board_LORA_NVIC_Init(Lora_irq_handler);
pca_input_detection_init(pca_handler);
IIC2_Init();
Accelerometer_Init();
PCA9555_init();
Lora_1268_Init();
-// SwitchLoraSettings(473,7,0);
+ SwitchLoraSettings(478,7,22);
Program_Init();
sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
-
-
+#ifdef DEBUG_BOXING
+ io_pin_mux_set(BOXING_PIN,IO_FUNC0);
+ gpio_pin_set_dir(BOXING_PIN,GPIO_DIR_OUT,0);
+ io_pull_set(BOXING_PIN,IO_PULL_DOWN,IO_PULL_UP_LEVEL4);
+#endif
Uwbinit();
OpenUWB();
-
while (1)
{
+ #ifdef DEBUG_BOXING
+ gpio_pin_clr(BOXING_PIN);//测试
+// gpio_pin_set(BOXING_PIN);//测试
+ #endif
Lora_Tx_Poll();
-// uwb_app_poll();
+ uwb_app_poll();
IdleTask();
}
}
--
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