阶段性调试完毕 可以测距跟给网关发送。

WXK

2024-03-08 1d51ac11e1da7c9b55da8c8b3a7e3756cc5f4ad8

 Src/application/dw_mbx_tag.c

@@ -128,8 +128,10 @@
   }
   return i;
}
extern uint8_t gps_state;
uint32_t temp231;
extern uint32_t uwbled,gpsled,loraled,powerled;
uint32_t uwbdezhuangtai;
void MbxTagUwbRec(void)
{
   
@@ -138,10 +140,10 @@
   uint32_t rec_syncid,status_reg;
   uint16_t checksum;
    uint8_t kk;
    
    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);
//    HAL_GPIO_WritePin(GPIOC, GPIO_PIN_5, GPIO_PIN_SET);
//    printf("成功接收LORA\r\n");
        temp231 =  dwt_read32bitreg(CHAN_CTRL_ID) ;
    start_time=HAL_LPTIM_ReadCounter(&hlptim1);
    timeout=100; //单位0.1ms
@@ -156,7 +158,8 @@
        if(current_time>=end_time&&current_time<end_time+15000)
            break;
    };
	
   uwbdezhuangtai=status_reg;
//    printf("UWB״̬:%x\r\n",uwbdezhuangtai);
   if (status_reg & SYS_STATUS_RXFCG && status_reg!=0xffffffff)//成功接收
      {
            uint16_t tag_recv_interval;
@@ -168,7 +171,8 @@
      dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
      memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
      //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);           
      memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);   
//gps_state=tag_id_recv;            
      switch(rx_buffer[MESSAGE_TYPE_IDX])
      {uint8_t target_tagi;
            case MBX_REG:
@@ -229,7 +233,11 @@
    
        dwt_forcetrxoff();
        dwt_entersleep();

//printf("UWB״̬:%x\r\n",uwbdezhuangtai);
//printf("ID:%x\r\n",tag_id_recv);
//printf("测距:%x\r\n",rec_ancdistlist[0]);
//uwbdezhuangtai=0;      
//tag_id_recv=0;
}
wg_state_enum wg_state = WG_Lost;
uint8_t lora_sendbuffer[200];
@@ -237,25 +245,26 @@
extern u8 wg_lost_count;
uint16_t wg_report_freq,wg_report_id;
#define WG_LOST_SWITCH_THRES   3
#define WG_LOST_NOUWB_COUNT    30
u8 closeuwb_flag;
#define WG_LOST_NOUWB_COUNT    60
#define DEFAULT_WG_ID       0xFFFF
u8 lora_jianting_flag = 1;
void LoraReportFreqPoll(void)
{
    if(wg_lost_count++>WG_LOST_NOUWB_COUNT)
    {
        closeuwb_flag = 1;
    }else{
        closeuwb_flag = 0;
        lora_jianting_flag = 0;
    } else {
        lora_jianting_flag = 1;
    }
    if(wg_state==WG_Lost)
    {
        wg_report_id = 0xffff;
        wg_report_id = DEFAULT_WG_ID;
        wg_report_freq = REPORT_MANGE_CHANNEL_FRQ; //如果丢失链接就进入WG管理信道。
    }else{
      if(wg_lost_count>WG_LOST_SWITCH_THRES)
      {
       wg_state = WG_Lost;
      }          
    } else {
        if(wg_lost_count>WG_LOST_SWITCH_THRES)
        {
            wg_state = WG_Lost;
        }
    }
}
static u16 checksum;
@@ -285,14 +294,14 @@
void LoraReportPoll(void)
{
   // delay_ms(100);
#ifdef _USE_BAR
    GetPressAndHeight();  
    intheight = Height*100;
#endif    
    #ifdef _SMT_TEST
    printf("气压值：%d",intheight);   
    #endif
    
//#ifdef _USE_BAR
//    GetPressAndHeight();  
//    intheight = Height*100;
//#endif    
//    #ifdef _SMT_TEST
//    printf("气压值：%d",intheight);   
//    #endif
//    printf("LORA发送\r\n");  
    if(sendcount++>0)
    TagListUpdate();
    
@@ -313,7 +322,7 @@
    lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGMSGTOWG;
    lora_sendbuffer[MSG_LENGTH] = 4*report_ancnum+ANCID_IDX;
#endif
    
//    2000f026   02020002  //000220200
    memcpy(&lora_sendbuffer[SOURCE_ID_IDX],&g_com_map[DEV_ID],2);
    memcpy(&lora_sendbuffer[DEST_ID_IDX],&wg_report_id,2);
    lora_sendbuffer[SEQNUM_IDX] = seq_num++;
@@ -328,6 +337,23 @@
    lora_sendbuffer[GPS_SPOWER_IDX] = gps_signalpower;
    lora_sendbuffer[GPS_CHAFENLINGQI] = gps_chafenlingqi;
#endif
    for(u16 i=0; i<report_ancnum-1; i++)
    {
        for(u16 j=0; j<report_ancnum-1-i; j++)
        {
            if(report_ancdist[j]>report_ancdist[j+1])
            {
                u16 id,dist;
                u8 bat;
                id = report_ancid[j];
                dist = report_ancdist[j];
                report_ancid[j] = report_ancid[j+1];
                report_ancdist[j] = report_ancdist[j+1];
                report_ancid[j+1] = id;
                report_ancdist[j+1] = dist;
            }
        }
    }
    memcpy(&lora_sendbuffer[BAR_HEIGHT_IDX],&intheight,2);
    lora_sendbuffer[ANCNUM_IDX] = report_ancnum;
    memcpy(&lora_sendbuffer[ANCID_IDX],report_ancid,report_ancnum*2);
@@ -338,11 +364,11 @@

//    LED_TB_ON;
    bat_percent=Get_Battary();  
    #ifdef _USE_BAR_
 //if(taglist_total_num>0)
 {
//    #ifdef _USE_BAR_
// //if(taglist_total_num>0)
// {
    GetPressAndHeight();  
    intheight = Height*100;   
 }
#endif  
// }
//#endif  
}