From eddac77c8fa85acccbf6eeff48b1ff760c70843a Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 01 十一月 2023 15:33:01 +0800
Subject: [PATCH] 版本v2.7，大包字节uwb传输测试成功。
---
Src/main.c | 45 +++++++++++++++++++++++++++++++++++----------
1 files changed, 35 insertions(+), 10 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 578231b..a290b8a 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -31,7 +31,7 @@
#define NSH1 0x0001
#define GP 0x0002
-#define DEBUG_MODE
+//#define DEBUG_MODE
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -234,7 +234,7 @@
hardware_pici= STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+2);
hardware_type= STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+4);
//deca_sleep(1000);
- g_com_map[VERSION] = (2<<8)|4;
+ g_com_map[VERSION] = (2<<8)|7;
// g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
@@ -271,13 +271,13 @@
current_time=GetLPTime();
nomovesleep_time = g_com_map[NOMOVESLEEP_TIME];
interval = g_com_map[COM_INTERVAL];
- if(active_flag==0)
- {
- interval=1000;
- imu_enable=1;
- nomovesleep_time = 10;
- motor_enable=0;
- }
+// if(active_flag==0)
+// {
+// interval=1000;
+// imu_enable=1;
+// nomovesleep_time = 10;
+// motor_enable=0;
+// }
tag_frequency = 1000/interval;
if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK) //system time is 1010ms 1 puls=30.518us
{
@@ -354,6 +354,8 @@
{
//SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
+uint8_t i;
+uint8_t uwb_tx[300]={0,};
/* USER CODE END 0 */
/**
@@ -410,7 +412,10 @@
{
Error_Handler();
}
-
+ for(i=0;i<255;i++)
+ {
+ uwb_tx[i]=i;
+ }
// HAL_Delay(2000);
// mcu_sleep();
@@ -918,6 +923,25 @@
extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag;
float key_keeptime;
extern float motor_ontime,button_delay;
+uint32_t tagdisterror_list[TAG_NUM_IN_SYS];
+extern uint16_t taglist_num;
+extern int32_t tagdist_list[TAG_NUM_IN_SYS];
+extern uint16_t tagid_list[TAG_NUM_IN_SYS];
+void Up_tagdisterror_list_Poll()
+{
+ static uint8_t r=0;
+ for(r=0;r<taglist_num;r++)
+ {
+ tagdisterror_list[r]++;
+ if(tagdisterror_list[r]>10)
+ {
+ tagdist_list[r]=0;
+ tagid_list[r]=0;
+ taglist_num=taglist_num-1;
+ tagdisterror_list[r]=0;
+ }
+ }
+}
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
@@ -928,6 +952,7 @@
if(button_delay<1)
button_delay+=1/(float)tag_frequency;
nomove_count+=1/(float)tag_frequency;
+Up_tagdisterror_list_Poll();
if(motor_keeptime>0)
{
motor_keeptime-=1/(float)tag_frequency;
--
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