1

WXK

2024-02-28 2250f814cfcfee313c64b2e01b7e1485a2f6ee4e

 Src/application/dw_app.c

@@ -72,7 +72,7 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4

//#define _UWB_4G
#define _UWB_4G

static dwt_config_t config = {
#ifdef _UWB_4G
@@ -243,32 +243,30 @@
    }  
}
#include "radio.h"
#include "dw_mbx_anc.h"
u8 lora_start_poll_buff[4] = {LORA_MSGTYPE_RANGEPOLL,'I','N','G'};

uint16_t current_count,target_count;
typedef enum{   Next_Poll_RANGE,
                Next_Poll_LORASYNC,
}nextpoll_enum;
nextpoll_enum next_poll_state;
extern uint8_t sync_lost_count;
void Tag_App(void)//发送模式(TAG标签)
{     
  if(next_poll_state==Next_Poll_RANGE)  
    SyncStateSwitch();
  if(next_poll_state==Next_Poll_RANGE)  //读取本次的工作状态 测距还是同步
  {
    current_count=HAL_LPTIM_ReadCounter(&hlptim1);
    target_count = GetUwbPollCount();
    SwitchLoraSettings(UWB_CHANNEL_FRQ,5); //切换lora接收频点  
    while(current_count<target_count||current_count>target_count+16384)
    {
        current_count=HAL_LPTIM_ReadCounter(&hlptim1);
        if(current_count<target_count-300)
        {
            break;
        }
    }

    SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],5,g_com_map[LORA_POWER]); //切换lora接收频点  

    memcpy(&lora_start_poll_buff[ANC_ID_IDX],&g_com_map[DEV_ID],2);
    Radio.Send(lora_start_poll_buff, 4);
    UWB_Wkup();
    UWB_Wkup();   
    delay_us(700);
    MBXANCPoll();
   dwt_entersleep();
    bat_percent=Get_VDDVlotage();
    next_poll_state = Next_Poll_LORASYNC;
  }else{
     LoraSyncRecPoll();
@@ -279,18 +277,23 @@
        next_poll_state = Next_Poll_LORASYNC;
      }      
  }
  if(next_poll_state == Next_Poll_LORASYNC)  
  Radio.Sleep();
  if(next_poll_state == Next_Poll_LORASYNC)  //设定下一次的唤醒时间
  {
   target_count = GetUwbPollCount()-4000/LPTIMER_LSB;  //同步则提前4ms唤醒，如果在同步间隔内，则会快速进入休眠。
//      if(sync_state==Sync_Lost)
//      {
//          target_count = GetLoraSyncCount()-(18000)/LPTIMER_LSB+sync_lost_count*1000;
//      }else
      {
        target_count = GetLoraSyncCount()-(18000)/LPTIMER_LSB;  //比上次收到的lora提前17ms唤醒（lora接收大概17ms），如果在同步间隔内，则会快速进入休眠。
      }
      if(target_count<0)
      target_count+=32768;
    __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
  }else{

        target_count = GetUwbPollCount()-2000/LPTIMER_LSB; //测距提前4ms唤醒
     
      if(target_count<0)
      target_count+=32768;
    target_count = GetUwbPollCount(); //测距提前2ms唤醒
    __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
  }
  
}