From deaaa18131675b17ef4fa49befa80cfb09778898 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期五, 13 六月 2025 18:09:02 +0800
Subject: [PATCH] 这是工卡机测试版本
---
keil/uwb_app.c | 32 +++++++++++++++++++++-----------
1 files changed, 21 insertions(+), 11 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 52d0fba..1d3e2a4 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();
@@ -671,6 +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];
@@ -711,8 +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
@@ -724,8 +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;
@@ -739,6 +740,7 @@
// taglist_num = 0;
// rxnum=0;
}
+extern uint32_t step_count;
void UWBIdleTask(void)
{
// if(receive_flag)
@@ -754,9 +756,13 @@
// }
if(HIDO_TimerGetTick()-uwbtasktimer >=1)
{
+ step_count = mir3da_get_step(); // 获取步数
uwbtasktimer = HIDO_TimerGetTick();
UWBOneSecondTask();
-// UWBSendUDPTask();
+ if(g_com_map[UWBFrequency]==1)
+ {
+ UWBSendUDPTask();
+ }
}
}
int uwb_app_poll(void)
@@ -768,6 +774,10 @@
{
uint8_t i;
uint16_t tempid;
+ uwb_offtime_count=0;
+ #ifdef CEJU_ZIUMIAN
+ current_state = STATE_NORMAL;
+ #endif
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 +792,8 @@
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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