From 13cd19475cb91e0eebdc79743e32e77a2a212f0e Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期一, 22 一月 2024 22:20:38 +0800
Subject: [PATCH] 修改部分代码
---
Src/application/dw_app.c | 33 +++++++++++++++++++--------------
1 files changed, 19 insertions(+), 14 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index bea83cb..bdb24bd 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -253,6 +253,8 @@
{
current_count=HAL_LPTIM_ReadCounter(&hlptim1);
target_count = GetUwbPollCount();
+ if(target_count<0)
+ target_count+=32768;
while(current_count<target_count||current_count>target_count+16384)
{
current_count=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -271,23 +273,26 @@
bat_percent=Get_VDDVlotage();
next_poll_state = Next_Poll_LORASYNC;
}else{
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- target_count = GetWGRecSyncCount()-2000/LPTIMER_LSB; //提前2ms进入接收状态
- while(current_count<target_count||current_count>target_count+16384)
- {
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- if(current_count<target_count-300)
- {
- break;
- }
- }
- LoraSyncRecPoll();
- if(GetRangeState())
+ LoraSyncRecPoll();
+ if(GetRangeState()) //获取当前测距状态，是否开启。如果开启下次为测距，否为同步
{
next_poll_state = Next_Poll_RANGE;
}else{
next_poll_state = Next_Poll_LORASYNC;
- }
-
+ }
+ }
+ if(next_poll_state == Next_Poll_LORASYNC)
+ {
+ target_count = GetUwbPollCount()-4000/LPTIMER_LSB; //同步则提前4ms唤醒，如果在同步间隔内，则会快速进入休眠。
+ if(target_count<0)
+ target_count+=32768;
+ __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
+ }else{
+
+ target_count = GetUwbPollCount()-2000/LPTIMER_LSB; //测距提前4ms唤醒
+
+ if(target_count<0)
+ target_count+=32768;
+ __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
}
}
--
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