调通数据上报，测距，同步

yincheng.zhong

2024-02-25 d7f957eb56272e006de3dd404454cdf56de86655

 Src/application/dw_mbx_tag.c

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

#define DELAY_BETWEEN_TWO_FRAME_UUS 300
#define DELAY_BETWEEN_TWO_FRAME_UUS 400
#define POLL_RX_TO_RESP_TX_DLY_UUS 470
#define UUS_TO_DWT_TIME 65536

@@ -38,6 +38,7 @@
#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 +96,25 @@
//            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)
@@ -201,7 +210,8 @@
            }
               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);	                        
               }
                }
            
@@ -224,24 +234,33 @@
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;
u8 gps_state,gps_chafenlingqi,gps_satel_num,gps_signalpower;
double gps_jingdu,gps_weidu;
extern u8 bat_percent,stationary_flag;
int16_t sendcount = 0,tp1;
u8 flag_getwgresp;
void LoraReportPoll(void)
{

@@ -249,10 +268,10 @@
    TagListUpdate();
    
    LoraReportFreqPoll();
    
    flag_getwgresp = 0;
    SwitchLoraSettings(wg_report_freq,REPORT_CHANNEL_SF,g_com_map[LORA_POWER]);
    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;
    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++;
@@ -262,13 +281,15 @@
    memcpy(&lora_sendbuffer[GPS_WEIDU_IDX],&gps_jingdu,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);
    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();  
    
}