From f8013e4f432b323dfc3e3725a62858e73176742a Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期五, 01 十一月 2024 15:16:32 +0800
Subject: [PATCH] 更换了新的sdk，测试了实际的uwb测距
---
keil/include/main/main.c | 169 ++++++++++++++++++++++++++++++++-----------------------
1 files changed, 98 insertions(+), 71 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 9d45cf1..2214a33 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -93,6 +93,7 @@
uint16_t warning_distance,prewarning_distance;
int16_t fVoltage_mv,first_search_flag;
uint8_t bat_percent,g_start_send_flag=1;
+uint8_t LORA_REV_uwb_up =0;
uint8_t link_success_flag,motor_count;
uint16_t gps_wait_count;
uint8_t state5v = 1;
@@ -281,20 +282,21 @@
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
static void sleep_timer_callback(void *dev, uint32_t time)
{
- IO_control_init();
- UWBPoll();
-
-
- MotorPoll();
+ g_start_send_flag=1;
+// IO_control_init();
+// UWBPoll();
+//
+//
+// MotorPoll();
- if(secondtask_count++%2==0)
- {
- flag_secondtask = 1;
- }else{
- flag_secondtask = 0;
- }
+// if(secondtask_count++%2==0)
+// {
+// flag_secondtask = 1;
+// }else{
+// flag_secondtask = 0;
+// }
- flag_sleeptimer = 1;
+// flag_sleeptimer = 1;
//马达震动逻辑
if(g_com_map[MOTOR_ENABLE])
@@ -338,6 +340,8 @@
{
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]=0x6789;
+ g_com_map[GROUP_ID]=9;
dev_id=g_com_map[DEV_ID];//这里不太对
group_id=g_com_map[GROUP_ID];//组ID
tag_frequency = 1000/g_com_map[COM_INTERVAL];//测距频率这个存的是测距时间
@@ -492,45 +496,51 @@
uint32_t successful_cnt=0;
uint8_t flag_4guart_needinit=0;
#define TX_LEN 10
+#define RX_LEN 10
uint8_t tx_test_buf[TX_LEN] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
+uint8_t RF_RX_temp[RX_LEN]={0};
extern struct RxDoneMsg RxDoneParams;
static void Lora_irq_handler(enum IO_PIN_T pin)
{
ceshi++;
rf_irq_process();
- if(rf_get_transmit_flag() == RADIO_FLAG_TXDONE)
- {
- rf_set_transmit_flag(RADIO_FLAG_IDLE);
- rf_enter_continous_rx();
-// rf_delay_ms(1000);
-// if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != OK)
-// {
-//// DDL_Printf("tx fail \r\n");
-//// rf_enter_continous_rx();
-// }
-// else
-// {
-// error_cnt ++;
-//// DDL_Printf("Tx cnt %d\r\n", cnt );
-// }
- }
+ //g_start_send_flag=1;
+// if(rf_get_transmit_flag() == RADIO_FLAG_TXDONE)
+// {
+// rf_set_transmit_flag(RADIO_FLAG_IDLE);
+// rf_enter_continous_rx();
+//// rf_delay_ms(1000);
+//// if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != OK)
+//// {
+////// rf_enter_continous_rx();
+//// }
+//// else
+//// {
+//// error_cnt ++;
+//// }
+// }
if(rf_get_recv_flag() == RADIO_FLAG_RXDONE)
{
rf_set_recv_flag(RADIO_FLAG_IDLE);
+ memcpy(RF_RX_temp,RxDoneParams.Payload,RxDoneParams.Size);
+ if(RF_RX_temp[0]==0x48&&RF_RX_temp[1]==0x58)
+ {
+ LORA_REV_uwb_up=1;
+
+ }
+ // rf_enter_continous_rx(); //重新进入接收模式
+ //UwbRange();
// DDL_Printf("Rx : SNR: %f ,RSSI: %d \r\n", RxDoneParams.Snr, RxDoneParams.Rssi);
- int i=0;
+ //int i=0;
// for(i = 0; i < RxDoneParams.Size; i++)
// {
// printf("0x%02x ", RxDoneParams.Payload[i]);
// }
-// DDL_Printf("\r\n");
- error_cnt ++;
-// DDL_Printf("###Rx cnt %d##\r\n", cnt);
+ // error_cnt ++;
}
if((rf_get_recv_flag() == RADIO_FLAG_RXTIMEOUT) || (rf_get_recv_flag() == RADIO_FLAG_RXERR))
{
rf_set_recv_flag(RADIO_FLAG_IDLE);
-// DDL_Printf("Rxerr\r\n");
}
}
void Board_LORA_NVIC_Init(GPIO_IRQ_HANDLER_T irq_handler) //LORA 中断配置
@@ -589,20 +599,20 @@
Board_LORA_NVIC_Init(Lora_irq_handler);
Lora_init();
rf_set_default_para();
+//
+ rf_enter_continous_rx();
+// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
+// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
+// if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != 0)
+// {
+// error_cnt++;
+// }
+// else
+// {
+// successful_cnt ++;
+// }
- rf_enter_continous_tx();
-// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
-// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
- if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != 0)
- {
- error_cnt++;
-// printf("LORA Init Fail");
- }
- else
- {
- successful_cnt ++;
-// printf("LORA Init OK\r\n");
- }
+
// while (rf_get_transmit_flag() == RADIO_FLAG_IDLE) ;
//
// rf_set_transmit_flag(RADIO_FLAG_IDLE);
@@ -617,22 +627,37 @@
// gps_air780_power_change(0,1);//开启gps，4G
////加速度计初始化必须在IO_control_init之前因为复用SDA引脚
// adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
-// Program_Init();
+ Program_Init();
// uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
-//
+//
//// Initialize low power mode
// power_init();
// AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
-// sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
+ sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
-// sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
-
+ sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
+#ifdef DEBUG_BOXING
+ io_pin_mux_set(IO_PIN_5,IO_FUNC0);
+ gpio_pin_set_dir(IO_PIN_5,GPIO_DIR_OUT,0);
+ io_pull_set(IO_PIN_5,IO_PULL_DOWN,IO_PULL_UP_LEVEL4);
+#endif
// board_acceleration_detection_init(move_handler);
-
-
-
+ Uwbinit();
while (1)
{
+ if(LORA_REV_uwb_up)
+ {
+ LORA_REV_uwb_up=0;
+ UwbRange();
+ }
+ if(g_start_send_flag)
+ {
+ g_start_send_flag=0;
+
+ }
+
+
+ // UwbRange();
// rf_irq_process();
// if(rf_get_transmit_flag() == RADIO_FLAG_TXDONE)
// {
@@ -650,23 +675,25 @@
// }
-//
-
-// io14_state=gpio_pin_get_val(LORA_DIO);
- rf_set_transmit_flag(RADIO_FLAG_IDLE);
- rf_delay_ms(1000);
- rf_enter_continous_tx();
-// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
- if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != OK)
- {
-// DDL_Printf("tx fail \r\n");
-// rf_enter_continous_rx();
- }
- else
- {
- successful_cnt ++;
-// DDL_Printf("Tx cnt %d\r\n", cnt );
- }
+////
+//
+//// io14_state=gpio_pin_get_val(LORA_DIO);
+// rf_set_transmit_flag(RADIO_FLAG_IDLE);
+// rf_delay_ms(1000);
+// rf_enter_continous_tx();
+//// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
+// if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != OK)
+// {
+//// rf_enter_continous_rx();
+// }
+// else
+// {
+// successful_cnt ++;
+// }
+
+
+
+
// while (rf_get_transmit_flag() == RADIO_FLAG_IDLE) ;
//
// rf_set_transmit_flag(RADIO_FLAG_IDLE);
--
Gitblit v1.9.3