初步修改完成，跟工卡相似，gps采用外包代码

WXK

2024-03-05 c2802ee207528de2d06403061405f0faadffb922

 Src/application/dw_mbx_tag.c

@@ -1,6 +1,8 @@
#include "dw_mbx_tag.h"

#define DELAY_BETWEEN_TWO_FRAME_UUS 300
//#include "dps310.h"
#include "WS2812.h"
#include "syn6288.h"
#define DELAY_BETWEEN_TWO_FRAME_UUS 400
#define POLL_RX_TO_RESP_TX_DLY_UUS 470
#define UUS_TO_DWT_TIME 65536

@@ -38,6 +40,7 @@
#define TAG_NUM_IN_SYS            25

#define TAG_KEEPTIMES           30
#define REPORT_TAG_KEEPTIMES     3
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 u8 frame_seq_nb2,battary,button,uwb_losttimer,taglist_pos;

@@ -95,17 +98,25 @@
//            delay_ms(10);
}
uint8_t report_ancnum;
uint16_t report_ancdist[ANC_MAX_NUM],report_ancid[ANC_MAX_NUM];
void TagListUpdate(void)
{
   uint16_t i,j=0,temp[TAG_NUM_IN_SYS];
   uint16_t i,j=0,k=0,temp[TAG_NUM_IN_SYS];
   for(i=0;i<taglist_num;i++)
   {
        if(tagofflinetime[i]++<REPORT_TAG_KEEPTIMES)
      {
         report_ancid[k]=tagid_list[i];
         report_ancdist[k++]=tagdist_list[i];
      }
      if(tagofflinetime[i]++<TAG_KEEPTIMES)
      {
         tagid_list[j]=tagid_list[i];
            tagdist_list[j] = tagdist_list[i];
         tagofflinetime[j++]=tagofflinetime[i];
      }
   }
    report_ancnum = k;
   taglist_num=j;
}
uint16_t CmpTagInList(uint16_t tagid)
@@ -117,7 +128,8 @@
   }
   return i;
}

uint32_t temp231;
extern uint32_t uwbled,gpsled,loraled,powerled;
void MbxTagUwbRec(void)
{
   
@@ -130,7 +142,7 @@
    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);
    
        temp231 =  dwt_read32bitreg(CHAN_CTRL_ID) ;
    start_time=HAL_LPTIM_ReadCounter(&hlptim1);
    timeout=100; //单位0.1ms
    end_time=start_time+(timeout<<2);
@@ -179,7 +191,7 @@
                memcpy(&rec_ancdistlist,&rx_buffer[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
               // memcpy(&rec_antdelay,&rx_buffer[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
                uwb_losttimer = 0;
                  
                  uwbled=GREEN;
                taglist_pos=CmpTagInList(tag_id_recv);
                if(taglist_num>=ANC_MAX_NUM)
                    break;
@@ -201,7 +213,8 @@
            }
               if(i==rec_nearbase_num&&taglist_pos==taglist_num)//当基站不在标签列表中，标签也不在基站列表中时，随机找个时间片回复基站。
               {
                  Anchor_RecNearPoll(rec_nearbase_num+start_time%5);	
                  //Anchor_RecNearPoll(rec_nearbase_num+start_time%2);
                        Anchor_RecNearPoll(rec_nearbase_num);	                        
               }
                }
            
@@ -224,51 +237,112 @@
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;
void LoraReportFreqPoll(void)
{
    if(wg_lost_count++>WG_LOST_NOUWB_COUNT)
    {
        closeuwb_flag = 1;
    }else{
        closeuwb_flag = 0;
    }
    if(wg_state==WG_Lost)
    {
        wg_report_id = 0xffff;
        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)
      if(wg_lost_count>WG_LOST_SWITCH_THRES)
      {
        wg_state = WG_Lost;
       wg_state = WG_Lost;
      }          
    }
}
static u16 checksum;
u8 gps_state,gps_chafenlingqi,gps_satel_num,test_num;
u8 gps_state,gps_chafenlingqi,gps_satel_num,gps_signalpower;
double gps_jingdu,gps_weidu;
float gps_height;
extern u8 bat_percent,stationary_flag;
int16_t sendcount = 0,tp1;
int16_t sendcount = 0,tp1,bar_height;
u8 flag_getwgresp;
void LoraHeartBeartPoll(void)
{
    lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGHEARTBEAT;
    lora_sendbuffer[MSG_LENGTH] = 14;
    memcpy(&lora_sendbuffer[SOURCE_ID_IDX],&g_com_map[DEV_ID],2);
    memcpy(&lora_sendbuffer[DEST_ID_IDX],&wg_report_id,2);
    memcpy(&lora_sendbuffer[HB_VERSION_IDX],&g_com_map[VERSION],2);
    lora_sendbuffer[HB_UWBPOWER_IDX] = g_com_map[POWER];
    lora_sendbuffer[HB_LORAPOWER_IDX] = g_com_map[LORA_POWER];
    checksum = Checksum_u16(lora_sendbuffer,14);
    memcpy(&lora_sendbuffer[14],&checksum,2);
    Radio.Send(lora_sendbuffer,16);
}
uint16_t heatbeat_count = 3600;
int16_t intheight;
#define HEATBEAT_UPDATE_TIME   3600
extern float Height;
void LoraReportPoll(void)
{

   // delay_ms(100);
#ifdef _USE_BAR
    GetPressAndHeight();  
    intheight = Height*100;
#endif    
    #ifdef _SMT_TEST
    printf("气压值：%d",intheight);   
    #endif
    
    if(sendcount++>0)
    TagListUpdate();
    
    LoraReportFreqPoll();
    taglist_num = test_num;
    flag_getwgresp = 0;
  //  wg_report_freq = REPORT_MANGE_CHANNEL_FRQ;
    SwitchLoraSettings(wg_report_freq,REPORT_CHANNEL_SF,g_com_map[LORA_POWER]);
   if(heatbeat_count++>HEATBEAT_UPDATE_TIME && WG_Connected == wg_state) //如果心跳包到达上传时间，并且网关处于链接状态，就上传心跳包
    {
        heatbeat_count = 0;
        LoraHeartBeartPoll();
        return;
    }
#ifdef USE_GPS
    lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGMSGTOWG_GPS;
    lora_sendbuffer[MSG_LENGTH] = 4*taglist_num+30;
    lora_sendbuffer[MSG_LENGTH] = 4*report_ancnum+30;
#else
    lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGMSGTOWG;
    lora_sendbuffer[MSG_LENGTH] = 4*report_ancnum+ANCID_IDX;
#endif
    
    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++;
    lora_sendbuffer[BAT_IDX] = bat_percent;
    lora_sendbuffer[STATE_IDX] = !GET_USERKEY|stationary_flag<<1;;
    lora_sendbuffer[STATE_IDX] = !GET_USERKEY|stationary_flag<<1;
#ifdef USE_GPS
    memcpy(&lora_sendbuffer[GPS_JINGDU_IDX],&gps_jingdu,8);
    memcpy(&lora_sendbuffer[GPS_WEIDU_IDX],&gps_jingdu,8);
    memcpy(&lora_sendbuffer[GPS_HEIGHT_IDX],&gps_height,8);
    lora_sendbuffer[GPS_STATE_IDX] = gps_state;
    lora_sendbuffer[GPS_SATEL_NUM_IDX] = gps_satel_num;
    lora_sendbuffer[GPS_SPOWER_IDX] = gps_signalpower;
    lora_sendbuffer[GPS_CHAFENLINGQI] = gps_chafenlingqi;
    lora_sendbuffer[ANCNUM_IDX] = taglist_num;
    memcpy(&lora_sendbuffer[ANCID_IDX],tagid_list,taglist_num*2);
    memcpy(&lora_sendbuffer[ANCID_IDX+taglist_num*2],tagdist_list,taglist_num*2);
    checksum = Checksum_u16(lora_sendbuffer,4*taglist_num+ANCID_IDX);
    memcpy(&lora_sendbuffer[ANCID_IDX+taglist_num*4],&checksum,2);
    Radio.Send(lora_sendbuffer,ANCID_IDX+taglist_num*4+2);
#endif
    memcpy(&lora_sendbuffer[BAR_HEIGHT_IDX],&intheight,2);
    lora_sendbuffer[ANCNUM_IDX] = report_ancnum;
    memcpy(&lora_sendbuffer[ANCID_IDX],report_ancid,report_ancnum*2);
    memcpy(&lora_sendbuffer[ANCID_IDX+report_ancnum*2],report_ancdist,report_ancnum*2);
    checksum = Checksum_u16(lora_sendbuffer,4*report_ancnum+ANCID_IDX);
    memcpy(&lora_sendbuffer[ANCID_IDX+report_ancnum*4],&checksum,2);
    Radio.Send(lora_sendbuffer,ANCID_IDX+report_ancnum*4+2);

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