From e6a35a9ad44e3db48c7bae45dbb7d8e3983373cf Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期一, 17 二月 2025 17:24:29 +0800
Subject: [PATCH] 1.29，改为轮询查询uwb测距
---
Src/application/dw_mbx_tag.c | 33 ++++++++++++++++++++++++---------
1 files changed, 24 insertions(+), 9 deletions(-)
diff --git a/Src/application/dw_mbx_tag.c b/Src/application/dw_mbx_tag.c
index 4116f52..39ad98b 100644
--- a/Src/application/dw_mbx_tag.c
+++ b/Src/application/dw_mbx_tag.c
@@ -45,6 +45,7 @@
static u8 tagofflinetime[ANC_MAX_NUM];
u8 taglist_num;
uint16_t tagid_list[ANC_MAX_NUM],tagdist_list[ANC_MAX_NUM];
+uint16_t test111;
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos) //0 mainbase 1 first near_base
{
uint8_t motorstate;
@@ -81,7 +82,8 @@
result = dwt_starttx(DWT_START_TX_DELAYED);
if(result==0)
- {
+ {
+ test111++;
start_time=HAL_LPTIM_ReadCounter(&hlptim1);
timeout=100; //单位0.1ms
end_time=start_time+(timeout<<2);
@@ -141,7 +143,8 @@
uint32_t rec_syncid,status_reg;
uint16_t checksum;
uint8_t kk;
-
+
+ UWB_Wkup();
// dwt_setrxtimeout(3000);//设定接收超时时间，0位没有超时时间
// dwt_rxenable(0);//打开接收
// HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_RESET);
@@ -161,9 +164,21 @@
// if(current_time>=end_time&¤t_time<end_time+15000)
// break;
// };
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
+ dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
+ dwt_rxenable(0);//打开接收
+ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到接收成功或者出现错误
+ {
+ IdleTask();
+ };
status_reg = dwt_read32bitreg(SYS_STATUS_ID);
- dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0);
- if (status_reg & SYS_STATUS_RXFCG && status_reg!=0xffffffff)//成功接收
+ if(status_reg==0xffffffff)
+ {
+// printf("UWB芯片状态：0xffffffff，设备重启");
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+// dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0);
+ if (status_reg & SYS_STATUS_RXFCG)//成功接收
{
uint16_t tag_recv_interval;
float temp_tagpos;
@@ -233,10 +248,10 @@
// dwt_rxenable(0);
}
- dwt_forcetrxoff();
- dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
- dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
- dwt_rxenable(0);
+// dwt_forcetrxoff();
+// dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
+// dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
+// dwt_rxenable(0);
}
wg_state_enum wg_state = WG_Lost;
@@ -290,7 +305,7 @@
uint16_t heatbeat_count = 3600;
int16_t intheight;
#define HEATBEAT_UPDATE_TIME 3600
-#define LORA_REPORT_MAXANC_NUM 7
+#define LORA_REPORT_MAXANC_NUM 14
extern float Height;
u8 tarray[20]= {1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20};
void LoraReportPoll(void)
--
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