v1.9 增加蜂鸣，测试1标签对10基站稳定

yincheng.zhong

2024-03-08 d67d922c6345042cb3dfaedd621a2120fe808b70

 Src/application/dw_mbx_tag.c

@@ -48,50 +48,52 @@
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos) //0 mainbase  1 first near_base
{
    uint8_t motorstate;
            memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);
			
    memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);

//         memcpy(&send_buffer[ANCTIMEUS],&tmp_time,2);
         send_buffer[TAGFREQ_IDX] = tag_frequency;
         memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);
         poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
           resp_tx_time = (poll_rx_ts + ((rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
    
            dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
         //dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
         //dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
            resp_tx_ts = (((uint64_t)(resp_tx_time & 0xFFFFFFFEUL)) << 8) ;
    send_buffer[TAGFREQ_IDX] = tag_frequency;
    memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);
    poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
    resp_tx_time = (poll_rx_ts + ((rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。

            /* Write all timestamps in the final message. See NOTE 8 below. */
            resp_msg_set_ts(&send_buffer[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts);
            resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts);
            memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&g_com_map[DIST_OFFSET],2);
    dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
    //dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
    //dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
    resp_tx_ts = (((uint64_t)(resp_tx_time & 0xFFFFFFFEUL)) << 8) ;

    /* Write all timestamps in the final message. See NOTE 8 below. */
    resp_msg_set_ts(&send_buffer[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts);
    resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts);
    memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&g_com_map[DIST_OFFSET],2);


            send_buffer[GROUP_ID_IDX] = group_id;
    send_buffer[GROUP_ID_IDX] = group_id;
//         send_buffer[MAINBASE_INDEX]=flag_syncbase;
         send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
         send_buffer[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
         send_buffer[MOTORSTATE_INDEX]&=0x0f;
            
          
            
            dwt_writetxdata(38, send_buffer, 0);//写入发送数据
            dwt_writetxfctrl(38, 0);//设定发送长度
            result = dwt_starttx(DWT_START_TX_DELAYED);
    send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
    send_buffer[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
    send_buffer[MOTORSTATE_INDEX]&=0x0f;

            start_time=HAL_LPTIM_ReadCounter(&hlptim1);
            timeout=100; //单位0.1ms
            end_time=start_time+(timeout<<2);
            if(end_time>=32768)
            {end_time-=32768;}
            current_time=HAL_LPTIM_ReadCounter(&hlptim1);
               while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & SYS_STATUS_TXFRS ))///不断查询芯片状态直到接收成功或者出现错误
         {
                current_time=HAL_LPTIM_ReadCounter(&hlptim1);
                if(current_time>=end_time&&current_time<end_time+15000)
                    break;
            };
            tagofflinetime[taglist_pos] = 0; 


    dwt_writetxdata(38, send_buffer, 0);//写入发送数据
    dwt_writetxfctrl(38, 0);//设定发送长度
    result = dwt_starttx(DWT_START_TX_DELAYED);

    start_time=HAL_LPTIM_ReadCounter(&hlptim1);
    timeout=100; //单位0.1ms
    end_time=start_time+(timeout<<2);
    if(end_time>=32768)
    {
        end_time-=32768;
    }
    current_time=HAL_LPTIM_ReadCounter(&hlptim1);
    while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & SYS_STATUS_TXFRS ))///不断查询芯片状态直到接收成功或者出现错误
    {
        current_time=HAL_LPTIM_ReadCounter(&hlptim1);
        if(current_time>=end_time&&current_time<end_time+15000)
            break;
    };
    tagofflinetime[taglist_pos] = 0;
//            printf("测距成功，序号%d，距离%d\r\n",frame_seq_nb2,tagdist_list[taglist_pos]);
//            delay_ms(10);
}
@@ -99,80 +101,82 @@
uint16_t report_ancdist[ANC_MAX_NUM],report_ancid[ANC_MAX_NUM];
void TagListUpdate(void)
{
   uint16_t i,j=0,k=0,temp[TAG_NUM_IN_SYS];
   for(i=0;i<taglist_num;i++)
   {
    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];
        {
            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];
      }
   }
            tagofflinetime[j++]=tagofflinetime[i];
        }
    }
    report_ancnum = k;
   taglist_num=j;
    taglist_num=j;
}
uint16_t CmpTagInList(uint16_t tagid)
{uint16_t i;
   for(i=0;i<taglist_num;i++)
   {
      if(memcmp(&tagid,&tagid_list[i],2)==0)
         break;
   }
   return i;
{   uint16_t i;
    for(i=0; i<taglist_num; i++)
    {
        if(memcmp(&tagid,&tagid_list[i],2)==0)
            break;
    }
    return i;
}
uint32_t temp231;
void MbxTagUwbRec(void)
{
	
   u8 send_len,i;
   u16 tempid;
   uint32_t rec_syncid,status_reg;
   uint16_t checksum;

    u8 send_len,i;
    u16 tempid;
    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
    dwt_rxenable(0);//打开接收
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_RESET);
        temp231 =  dwt_read32bitreg(CHAN_CTRL_ID) ;
    temp231 =  dwt_read32bitreg(CHAN_CTRL_ID) ;
    start_time=HAL_LPTIM_ReadCounter(&hlptim1);
    timeout=100; //单位0.1ms
    end_time=start_time+(timeout<<2);
    if(end_time>=32768)
    {end_time-=32768;}
    {
        end_time-=32768;
    }
    current_time=HAL_LPTIM_ReadCounter(&hlptim1);
        

    while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到接收成功或者出现错误
    { 
    {
        current_time=HAL_LPTIM_ReadCounter(&hlptim1);
        if(current_time>=end_time&&current_time<end_time+15000)
            break;
    };
	
   if (status_reg & SYS_STATUS_RXFCG && status_reg!=0xffffffff)//成功接收
      {
            uint16_t tag_recv_interval;
            float temp_tagpos;
             
        dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);                        
      frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
 
      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);           
      switch(rx_buffer[MESSAGE_TYPE_IDX])
      {uint8_t target_tagi;
            case MBX_REG:
                break;
         case MBX_POLL:
              if(group_id==rx_buffer[GROUP_ID_IDX])
              {              

    if (status_reg & SYS_STATUS_RXFCG && status_reg!=0xffffffff)//成功接收
    {
        uint16_t tag_recv_interval;
        float temp_tagpos;

        dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);
        frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度

        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);
        switch(rx_buffer[MESSAGE_TYPE_IDX])
        {   uint8_t target_tagi;
        case MBX_REG:
            break;
        case MBX_POLL:
            if(group_id==rx_buffer[GROUP_ID_IDX])
            {
//                dwt_readdiagnostics(&d1);
//                LOS(&d1);
//                if(firstpath_power<-100)
@@ -182,50 +186,50 @@
                frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
                battary = rx_buffer[BATTARY_IDX];
                button = rx_buffer[BUTTON_IDX];
                rec_nearbase_num=rx_buffer[FZ_NEARBASENUM_INDEX];                
            memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
                rec_nearbase_num=rx_buffer[FZ_NEARBASENUM_INDEX];
                memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
                memcpy(&rec_ancidlist,&rx_buffer[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
                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);
                // memcpy(&rec_antdelay,&rx_buffer[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
                uwb_losttimer = 0;
                  

                taglist_pos=CmpTagInList(tag_id_recv);
                if(taglist_num>=ANC_MAX_NUM)
                    break;
								
            for(i=0;i<rec_nearbase_num;i++)
            {
                memcpy(&tempid,&rx_buffer[FZ_NEARBASEID_INDEX+i*2],2);
               if(tempid==dev_id)      
               {
                  Anchor_RecNearPoll(i);

                for(i=0; i<rec_nearbase_num; i++)
                {
                    memcpy(&tempid,&rx_buffer[FZ_NEARBASEID_INDEX+i*2],2);
                    if(tempid==dev_id)
                    {
                        Anchor_RecNearPoll(i);
                        tagdist_list[taglist_pos]=rec_ancdistlist[i];
                        if(taglist_pos==taglist_num)// taglist_pos==taglist_num 说明这个基站不在当前列表中
                        {                           //tempid==dev_id 说明基站下发测距报文有这个标签的信息
                        {   //tempid==dev_id 说明基站下发测距报文有这个标签的信息
                            taglist_num++;          //满足上述两种情况才会添加基站ID进入列表中，否则会出现标签不在基站列表中，标签也不响应的情况
                            tagid_list[taglist_pos] = tag_id_recv;
                        }
                  break;
               }						
            }
               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%2);
                        Anchor_RecNearPoll(rec_nearbase_num);	                        
               }
                        break;
                    }
                }
				
            break;		
      }	
    
   }else{
//        printf("debug4 timec:%d timee:%d\r\n",current_time,end_time);
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
      //  dwt_rxenable(0);
                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%2);
                    Anchor_RecNearPoll(rec_nearbase_num);
                }
            }

            break;
        }
    
        dwt_forcetrxoff();
        dwt_entersleep();

    } else {
//        printf("debug4 timec:%d timee:%d\r\n",current_time,end_time);
        dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
        //  dwt_rxenable(0);
    }

    dwt_forcetrxoff();
    dwt_entersleep();

}
wg_state_enum wg_state = WG_Lost;
@@ -234,25 +238,26 @@
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;
@@ -281,23 +286,22 @@
extern float Height;
void LoraReportPoll(void)
{
   // delay_ms(100);
    // delay_ms(100);
#ifdef _USE_BAR
    GetPressAndHeight();  
    GetPressAndHeight();
    intheight = Height*100;
#endif    
    #ifdef _SMT_TEST
    printf("气压值：%d",intheight);   
    #endif
    
    if(sendcount++>0)
#endif
#ifdef _SMT_TEST
    printf("气压值：%d",intheight);
#endif

    TagListUpdate();
    

    LoraReportFreqPoll();
    flag_getwgresp = 0;
  //  wg_report_freq = REPORT_MANGE_CHANNEL_FRQ;
    //  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
    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();
@@ -310,7 +314,6 @@
    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++;
@@ -325,6 +328,23 @@
    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],&bar_height,2);
    lora_sendbuffer[ANCNUM_IDX] = report_ancnum;
    memcpy(&lora_sendbuffer[ANCID_IDX],report_ancid,report_ancnum*2);
@@ -332,8 +352,54 @@
    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();  
    
    bat_percent=Get_Battary();

}
uint8_t Lora_send_flag;
void LedTask(void)
{
    if(report_ancnum>0)
    {
        LED2_TB_ON;
#ifdef _SMT_TEST
//        tflag1 = 1;
        printf("测距值%d\r\n",tagdist_list[0]);
#endif
    }
    if(wg_lost_count<=1)
    {
#ifdef _SMT_TEST
        //      tflag2 = 1;
        printf("网关通讯正常\r\n");
#endif
        LED_TB_ON;
    }
    if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
    {
        if(bat_percent<15)
        {
            LED_TR_ON;
        } else {
            LED2_TB_ON;
        }
    }

}
u16 lora_send_count;
void Lora_Send_Poll(void)
{
    if(Lora_send_flag)
    {
        if(lora_send_count++%10==0||lora_jianting_flag)
        {
            Lora_send_flag=0;
            LedTask();
            LoraReportPoll();
            LED_TB_OFF;
            LED_TR_OFF;
            LED2_TB_OFF;
            LED2_TR_OFF;
        }
    }
}