From e5e8561aca3f7fd61596c425745fb954926f1965 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期四, 15 六月 2023 15:27:06 +0800
Subject: [PATCH] V1.67 1.修复基站电量检测不对bug。 2.重新生成了cube 3小组ID改成3
---
Src/application/dw_app.c | 45 ++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 44 insertions(+), 1 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index ef8207f..0ac5c30 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -351,6 +351,35 @@
}
}
+extern uint8_t module_power,imu_enable,motor_enable;
+void Registor_Poll(void)
+{
+ static u8 regpoll_count=0;
+ u8 timeout;
+
+ tx_near_msg[MESSAGE_TYPE_IDX] = MBX_REG;
+ tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
+ tx_near_msg[REGP_FREQUENCY_INDEX] = bat_percent;
+ tx_near_msg[REGP_POWER_INDEX] = module_power;
+ memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);
+ memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[GROUP_ID],2);
+ memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[DIST_OFFSET],2);
+ memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[MAX_REPORT_ANC_NUM],2);
+ dwt_writetxdata(23, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(23, 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
+ start_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ timeout=50;
+ end_count=start_count+(timeout<<2);
+ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS)))//不断查询芯片状态直到成功接收或者发生错误
+ {
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ if(current_count>=end_count&¤t_count<end_count+15000)
+ break;
+
+ };
+
+}
float range_lost_time = 0;
u16 rec_nearbaseid,rec_nearbasepos;
void NearPoll(void)
@@ -640,7 +669,7 @@
}
}
}
-
+u8 regpoll_count;
u32 id;
void Tag_App(void)//发送模式(TAG标签)
{
@@ -659,6 +688,20 @@
}
delay_us(100);
g_Resttimer=0;
+ if(freqlost_count>FREQ_LOST_TIME)
+ {
+ if(regpoll_count++>11) //待机状态1分钟上传一次基站状态
+ {
+ regpoll_count = 0;
+ Registor_Poll();
+ }
+ }else{
+ if(regpoll_count++>59)//测距状态1分钟上传一次基站状态
+ {
+ regpoll_count = 0;
+ Registor_Poll();
+ }
+ }
NearPoll();
dwt_entersleep();
bat_percent=Get_VDDVlotage();
--
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