开发未完成

yincheng.zhong

2024-02-06 a6c4135e127ac1d14023101eb364d61fac7e9166

 Src/application/dw_mbx_anc.c

@@ -2,11 +2,7 @@
///////////////////////////////////免布线时间同步代码


typedef enum{   Sync_Lost, //同步丢失         同步时间 100秒同步一次，每次同步开启2秒，发起测距请求
                Sync_Range,//同步状态 测距    同步时间 10秒同步一次，开启10ms，发起测距请求
                Sync_Config,//同步状态 配置   同步时间 1秒同步一次，不发起测距请求
                Sync_Sleep, //同步状态 休眠    同步时间 100秒同步一次，不发起测距请求
}sync_state_enum;

sync_state_enum sync_state = Sync_Lost;

static uint8_t sync_interval_s,range_state = 0;
@@ -17,23 +13,23 @@
    switch(sync_state)
    {
        case Sync_Lost:
            sync_interval_s = 100;
            sync_listen_ms =2000;
            sync_interval_s = 10; //100
            sync_listen_ms =1500;
            range_state = 1;
            break;
        case Sync_Range:
            sync_interval_s = 10;
            sync_listen_ms =5;
            sync_interval_s = 10; //10
            sync_listen_ms =10;
            range_state = 1;
            break;
        case Sync_Config:
            sync_interval_s = 1;
            sync_listen_ms =5;
            sync_listen_ms =10;
            range_state = 0;
            break;
        case Sync_Sleep:
            sync_interval_s = 100;
            sync_listen_ms =5;
            sync_interval_s = 10;//10
            sync_listen_ms =10;
            range_state = 0;
            break;   
    }
@@ -47,7 +43,7 @@


static uint16_t current_count,poll_startcount,start_count,end_count,poll_timeout;
static uint8_t sync_interval_count = 0,flag_sync_success,sync_lost_count;
 uint8_t sync_interval_count = 100,flag_sync_success,sync_lost_count;
void SetFlagSyncSuccess(uint8_t value)
{
    flag_sync_success = value;
@@ -58,6 +54,9 @@
static uint16_t synclock_zero_count,wg_sync_polltime_100us,uwbpoll_time_count;
uint16_t GetUwbPollCount(void)
{
    uwbpoll_time_count = synclock_zero_count+g_com_map[UWBPOLLTIME_MS_IDX]*33;
    if(uwbpoll_time_count>=32768)
        uwbpoll_time_count-=32768;
    return uwbpoll_time_count;
}
uint16_t GetWGRecSyncCount(void)
@@ -66,35 +65,52 @@
}
void SyncClockProcess(void) //同步时钟函数获取下次UWBpoll的定时器count。
{
    memcpy(&wg_sync_polltime_100us,&lora_recbuffer[SYSTIME_IDX],2); //WG下发的同步时间，单位0.1ms。
    synclock_zero_count = rec_sync_count-(uint32_t)wg_sync_polltime_100us*100/LPTIMER_LSB;
    if(synclock_zero_count<0)
        synclock_zero_count+=32768;
    uwbpoll_time_count = synclock_zero_count + (uint32_t)g_com_map[UWBPOLLTIME_MS_IDX]*1000/LPTIMER_LSB; //设定好的UWB发送时间
    if(uwbpoll_time_count>32768)
        uwbpoll_time_count-=32768;

}
static uint16_t current_count,target_count;
#define HEATBEAT_UPDATE_TIME_S 3600  //心跳包一个小时上传一次
static uint16_t current_count,target_count,heartbeat_count;
static uint8_t heatbeat_buffer[100];
void HeartbeatPoll(void)
    {//心跳包上传 ID 版本号 小组 UWB功率 LORA功率 UWB发送时间 
    heartbeat_count+=sync_interval_s;
    if(heartbeat_count>HEATBEAT_UPDATE_TIME_S)
    {
        heartbeat_count = 0;
        heatbeat_buffer[MSG_TYPE_IDX] = LORA_MSGTYPE_ANCHEARTBEAT_POLL;
        memcpy(&heatbeat_buffer[ANC_ID_IDX],&g_com_map[DEV_ID],2);
        heatbeat_buffer[ANC_VERSION_IDX] = g_com_map[VERSION];
        heatbeat_buffer[ANC_GROUPID_IDX] = g_com_map[GROUP_ID];
        heatbeat_buffer[ANC_UWBPOWER_IDX] = g_com_map[POWER];
        heatbeat_buffer[ANC_LORAPOWER_IDX] = g_com_map[LORA_POWER];
        heatbeat_buffer[ANC_UWBPOLLTIME_IDX] = g_com_map[UWBPOLLTIME_MS_IDX];
        Radio.Send(heatbeat_buffer, 14);
        delay_us(1700);
    }
}
void LoraSyncRecPoll(void) 
{ 
    if(sync_interval_count++>=sync_interval_s)
    if(++sync_interval_count>=sync_interval_s)
    {
        current_count=HAL_LPTIM_ReadCounter(&hlptim1); //如果需要触发同步就会等待触发时间，提前2ms打开接收
        target_count = GetWGRecSyncCount()-2000/LPTIMER_LSB; //提前2ms进入接收状态
        if(target_count<0)
          target_count+=32768;
        while(current_count<target_count||current_count>target_count+16384)
        {
            current_count=HAL_LPTIM_ReadCounter(&hlptim1);
            if(current_count<target_count-300)
            {
                break;
            }
        }
//        if(sync_state!=Sync_Lost)
//        {
//            current_count=HAL_LPTIM_ReadCounter(&hlptim1); //如果需要触发同步就会等待触发时间，提前2ms打开接收
//            target_count = GetWGRecSyncCount()-RX_BEFORE_SYNCTIME_US/LPTIMER_LSB; //提前2ms进入接收状态
//            if(target_count<0)
//              target_count+=32768;
//            while(current_count<target_count||current_count>target_count+16384)
//            {
//                current_count=HAL_LPTIM_ReadCounter(&hlptim1);
//                if(current_count<target_count-300)
//                {
//                    break;
//                }
//            }
//        }
        sync_interval_count = 0;
        flag_sync_success = 0;
        SwitchLoraSettings(SYNC_CHANNEL_FRQ,7); //切换lora接收频点//因为是从lorasleep唤醒的，可能这里会用的时间多，需要考虑
        
        SwitchLoraSettings(SYNC_CHANNEL_FRQ,7,22); //切换lora接收频点//因为是从lorasleep唤醒的，可能这里会用的时间多，需要考虑
       
        start_count=HAL_LPTIM_ReadCounter(&hlptim1);     //等待接收完成直到超时
        poll_timeout=sync_listen_ms*10; //单位0.1ms
        end_count=start_count+(poll_timeout<<2);
@@ -102,22 +118,33 @@
        {end_count-=32768;}
        current_count=HAL_LPTIM_ReadCounter(&hlptim1);
        SetFlagLoraWaitSync(1);
        Radio.Rx(100);
       
        Radio.Rx(sync_listen_ms);
        HAL_GPIO_WritePin(GPIOB, GPIO_PIN_12, GPIO_PIN_SET);
       while(GetFlagLoraWaitSync())
       {
         current_count=HAL_LPTIM_ReadCounter(&hlptim1);
         if(current_count>=end_count&&current_count<end_count+15000)
         {
                break;
         }
//         current_count=HAL_LPTIM_ReadCounter(&hlptim1);
//         if(current_count>=end_count&&current_count<end_count+15000)
//         {
//                break;
//         }
       }
       HAL_GPIO_WritePin(GPIOB, GPIO_PIN_12, GPIO_PIN_RESET);
       if(flag_sync_success)  //同步成功
       {
           HeartbeatPoll();
           LED_LG_ON;
           sync_lost_count = 0;
           lora_recbuffer_len = GetLoraBufferAndLen(lora_recbuffer,&rec_sync_count);//获取LORA收到的数据和长度
           if(lora_recbuffer[MSG_TYPE_IDX]==LORA_MSGTYPE_SYNC)
           {
                memcpy(&g_com_map[SYNCWG_ID_IDX],&lora_recbuffer[WG_ID_IDX],2);
           { uint16_t wg_sendtime_100us;
               memcpy(&g_com_map[SYNCWG_ID_IDX],&lora_recbuffer[WG_ID_IDX],2);
               memcpy(&g_com_map2[SYNCWG_ID_IDX],&lora_recbuffer[WG_ID_IDX],2);
               memcpy(&wg_sendtime_100us,&lora_recbuffer[SYSTIME_IDX],2);
               synclock_zero_count = rec_sync_count-(wg_sendtime_100us+158)*3.27;//减去17ms 因为lora发送会延迟17ms收到
               if(synclock_zero_count<0)
                   synclock_zero_count+=32768;
               sync_lost_count = 0;
                if(lora_recbuffer[RANGE_STATE_IDX])
                {
                    sync_state = Sync_Range;
@@ -140,12 +167,16 @@
                }
           }
       }else{
         //  LED_LR_ON;
            if(sync_lost_count++>SYNCLOST_THRES)
            {
                sync_state = Sync_Lost;
                SyncStateSwitch();
            }           
       }
       Radio.Sleep();
     //  LED_LR_OFF;
       LED_LG_OFF;
   }
  //  Radio.Sleep( ); //如果超时就sleep
}
@@ -321,6 +352,8 @@
        tag_num_tosend = 25;
    }
    count1++;
    dwt_setrxaftertxdelay(400);//设置发送完成后开启接收延迟时间
    dwt_setrxtimeout(0);//接收超时时间
    memcpy(&uwb_sendbuffer[TAG_ID_IDX],&dev_id,2);   
    uwb_sendbuffer[GROUP_ID_IDX] = group_id;
   uwb_sendbuffer[BATTARY_IDX] = bat_percent;
@@ -333,10 +366,10 @@
   dwt_writetxfctrl(13+4*tag_num_tosend, 0);//设置超宽带发送数据长度
    
   dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置   
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_12, GPIO_PIN_RESET);
    //HAL_GPIO_WritePin(GPIOB, GPIO_PIN_12, GPIO_PIN_RESET);
    
    start_count=HAL_LPTIM_ReadCounter(&hlptim1);
    poll_timeout=tag_num_tosend*SLOT_SCALE+30; //单位0.1ms
    poll_timeout=tag_num_tosend*SLOT_SCALE+10; //单位0.1ms
   end_count=start_count+(poll_timeout<<2);
   if(end_count>=32768)
   {end_count-=32768;}