From ae42ba04bfca83ddca9df9d41061a365d4f57618 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 26 一月 2024 17:08:05 +0800
Subject: [PATCH] 加入GPS模块。加入低功耗串口
---
Src/application/dw_ancapp.c | 7 +++++--
1 files changed, 5 insertions(+), 2 deletions(-)
diff --git a/Src/application/dw_ancapp.c b/Src/application/dw_ancapp.c
index 39314f0..3b0a160 100644
--- a/Src/application/dw_ancapp.c
+++ b/Src/application/dw_ancapp.c
@@ -180,6 +180,7 @@
u16 basesystimer,uwb_losttimer;
uint8_t remotesend_state,remotesend_index;
uint16_t random_time;
+u32 value;
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos) //0 mainbase 1 first near_base
{
uint8_t motorstate;
@@ -195,10 +196,10 @@
if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式
{
random_time = (GetLPTime()%100);
- resp_tx_time = (poll_rx_ts+((random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
+ resp_tx_time = (poll_rx_ts+((/*value+*/random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
}else{
- resp_tx_time = (poll_rx_ts + ((rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
+ resp_tx_time = (poll_rx_ts + ((/*value+ */rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
}
dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
//dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
@@ -359,6 +360,7 @@
Lora_tx_ancid[Lora_tx_ancnum]=tag_id_recv;
Lora_tx_ancdist[Lora_tx_ancnum]=rec_ancdistlist[i];
Lora_tx_anc_electricity[Lora_tx_ancnum]=battary;
+// printf("接收到uwb测距:%d",Lora_tx_ancdist[0]);
Lora_tx_ancnum++;
RX_TIMEOUTs_UWB++;
}
@@ -413,6 +415,7 @@
break;
}
}
+
if(i==rec_nearbase_num)
{
seize_anchor=1; //抢占anchor
--
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