调试差不多了 加速度计 lora收发 电量都调试好了

WXK

2023-11-09 1a2da7d4f327ddb7fb40c85a87da8a1ca7098568

 Src/application/dw_ancapp.c

@@ -52,7 +52,8 @@
static uint8_t flag_syncbase,sync_seq,synclost_timer,temp_nearbaspos;
static uint16_t sync_timer;
static uint8_t send_buffer[150];
static uint8_t frame_seq_nb2,battary,button,ancidlist_num;
static uint8_t battary,button,ancidlist_num;
uint8_t frame_seq_nb2;
uint8_t rec_nearbase_num;
static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS],rec_ancdistlist[TAG_NUM_IN_SYS];
static int16_t rec_antdelay;
@@ -233,18 +234,24 @@
         {

                        current_time=HAL_LPTIM_ReadCounter(&hlptim1);
        if(current_time>end_time/*||current_time<end_time+15000*/)
        if(current_time>end_time+((32768/1000)*3)/*||current_time<end_time+15000*/)
        { 
//        printf("debug2 timec:%d timee:%d\r\n",current_time,end_time);
        break;}
//                    if(lp_time-uwb_timeout>2)
//                        break;
                    if(lp_time-uwb_timeout>2)
                        break;
            };
            dwt_rxenable(0);

}
uint8_t power_and_key=0;

uint16_t target_tagid[12] = {0x1316,0x1394,0x1265,0x1318,0x1306,0x1304,0x1376,0x1312,0x1277,0x1388,0x1140,0x1392};
uint16_t Lora_tx_ancid[50];
uint16_t Lora_tx_ancdist[50];
uint8_t Lora_tx_anc_electricity[50];
uint8_t Lora_tx_ancnum=0;
uint8_t break_flag ;
uint16_t RX_TIMEOUTs_UWB;
void Anchor_App(void)
{
   
@@ -252,7 +259,7 @@
   u16 tempid;
   uint32_t rec_syncid;
   uint16_t checksum;
   
   uint8_t kk;
    
    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
@@ -260,7 +267,7 @@
    
    
    start_time=HAL_LPTIM_ReadCounter(&hlptim1);
        end_time=start_time+((32768/1000)*20);
        end_time=start_time+((32768/1000)*2);
        if(end_time>=32768)
       {end_time-=32768;}
        current_time=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -289,7 +296,7 @@
      //将收到的tag_id分别写入各次通讯的包中，为多标签通讯服务，防止一次通讯中接收到不同ID标签的数据
      memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);

        
//        HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET);
//        printf("ID %x\r\n",tag_id_recv);            
      switch(rx_buffer[MESSAGE_TYPE_IDX])
      {uint8_t target_tagi;
@@ -331,28 +338,46 @@
                {
                    if(rec_ancidlist[i] == dev_id)
                    {
//                        PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],-(int8_t)firstpath_power);  
                        
                       // PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);  
                        for(kk=0;kk<Lora_tx_ancnum;kk++)
                        {
                          if(Lora_tx_ancid[kk]==tag_id_recv)
                          {
//                          Lora_tx_ancnum--;
                          Lora_tx_ancdist[kk]=rec_ancdistlist[i];
                              Lora_tx_anc_electricity[kk]=battary;
                              break_flag=1;
                              break;
                    }
                }
//            #ifdef USART_ALL_OUTPUT
                    usart_send[2] = 0x12;//正常模式 
               usart_send[3] = 8+rec_nearbase_num*4;//数据段长度
                    memcpy(&usart_send[4],&tag_id_recv,2);
               usart_send[6] = frame_seq_nb2;//包序
                    power_and_key=battary<<1;//把按键跟电量2合1，发出去
                    power_and_key=power_and_key+button;
                    memcpy(usart_send+7,&power_and_key,1);

                    usart_send[8] = rec_nearbase_num;//lora等待应答位
                    usart_send[9] = lora_yingda_flag;
               memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);				
               memcpy(&usart_send[10+rec_nearbase_num*2],&rec_ancdistlist,2*rec_nearbase_num);
               checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
               memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
//               UART_PushFrame(usart_send,12+rec_nearbase_num*4);
//            #endif
                        if(break_flag)
                        {
                            break_flag=0;
                            break;
                        }
                        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;
                        Lora_tx_ancnum++;
                        RX_TIMEOUTs_UWB++;
                     }
                }
////            #ifdef USART_ALL_OUTPUT
//                    usart_send[2] = 0x12;//正常模式 
//               usart_send[3] = 8+rec_nearbase_num*4;//数据段长度
//                    memcpy(&usart_send[4],&tag_id_recv,2);
//               usart_send[6] = frame_seq_nb2;//包序
//                    power_and_key=battary<<1;//把按键跟电量2合1，发出去
//                    power_and_key=power_and_key+button;
//                    memcpy(usart_send+7,&power_and_key,1);
//                    usart_send[8] = lora_yingda_flag;//lora等待应答位
//                    usart_send[9] = rec_nearbase_num;//lora等待应答位
////                    usart_send[9] = lora_yingda_flag;
//               memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);				
//               memcpy(&usart_send[10+rec_nearbase_num*2],&rec_ancdistlist,2*rec_nearbase_num);
//               checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
//               memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
////               UART_PushFrame(usart_send,12+rec_nearbase_num*4);
////            #endif

            taglist_pos=CmpTagInList(tag_id_recv);
                if(taglist_num>=TAG_NUM_IN_SYS)