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_mbx_anc.c | 19 +++++++++++++++++--
1 files changed, 17 insertions(+), 2 deletions(-)
diff --git a/Src/application/dw_mbx_anc.c b/Src/application/dw_mbx_anc.c
index ad2bd16..41bd3b8 100644
--- a/Src/application/dw_mbx_anc.c
+++ b/Src/application/dw_mbx_anc.c
@@ -71,14 +71,27 @@
synclock_zero_count = rec_sync_count-(uint32_t)wg_sync_polltime_100us*100/LPTIMER_LSB;
if(synclock_zero_count<0)
synclock_zero_count+=32768;
- uwbpoll_time_count = synclock_zero_count + (uint32_t)g_com_map[UWBPOLLTIME_MS_IDX]*1000/LPTIMER_LSB;
+ uwbpoll_time_count = synclock_zero_count + (uint32_t)g_com_map[UWBPOLLTIME_MS_IDX]*1000/LPTIMER_LSB; //设定好的UWB发送时间
if(uwbpoll_time_count>32768)
uwbpoll_time_count-=32768;
}
+static uint16_t current_count,target_count;
void LoraSyncRecPoll(void)
{
if(sync_interval_count++>=sync_interval_s)
{
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1); //如果需要触发同步就会等待触发时间，提前2ms打开接收
+ target_count = GetWGRecSyncCount()-2000/LPTIMER_LSB; //提前2ms进入接收状态
+ if(target_count<0)
+ target_count+=32768;
+ while(current_count<target_count||current_count>target_count+16384)
+ {
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ if(current_count<target_count-300)
+ {
+ break;
+ }
+ }
sync_interval_count = 0;
flag_sync_success = 0;
SwitchLoraToSyncRec(); //切换lora接收频点
@@ -89,6 +102,7 @@
if(end_count>=32768)
{end_count-=32768;}
current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+
while(GetFlagLoraWaitSync())
{
current_count=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -110,7 +124,8 @@
}else{
sync_state = Sync_Sleep;
}
- switch(lora_recbuffer[SUBMSGTYPE_IDX])
+ SyncStateSwitch();
+ switch(lora_recbuffer[SUBMSGTYPE_IDX]) //子状态函数
{
case SUBMSG_READ_ANCPARA:
--
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