调通数据上报，测距，同步

yincheng.zhong

2024-02-25 d7f957eb56272e006de3dd404454cdf56de86655

 Src/radio/Lora.c

@@ -113,7 +113,8 @@
uint8_t Lora_rx_open_flag;
extern u32 Loratx_frequency;

uint8_t flag_writepara_needreset = 0,wg_lost_count;
uint8_t flag_writepara_needreset = 0;
uint32_t wg_lost_count;
uint32_t lora_zhuangtai;
uint16_t current_count;
extern wg_state_enum wg_state;
@@ -125,11 +126,8 @@
        SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
    }
    Radio.Standby();
    Radio.Rx( 10 );
    if(wg_lost_count++>3)
    {
        wg_state = WG_Lost;
    }
    Radio.Rx( 50 );
    LED_TB_OFF;   
}
extern LPTIM_HandleTypeDef hlptim1;
uint16_t current_time,start_time,end_time;
@@ -182,10 +180,11 @@
    Radio.Send(lora_sendbuffer,data_length+11);
  //  Delay_Ms(100);
}
static uint16_t delaytime = 1125;
static uint16_t delaytime = 1050;
static uint16_t source_id;
uint8_t rec_index;
uint16_t rec_value,rec_delaytime,target_count,rx_count;
uint16_t rec_value,rec_delaytime,rx_count;
int16_t target_count;
void OnRxDone( uint8_t *payload, uint16_t size, int16_t rssi, int8_t snr )
{   
        BufferSize = size;
@@ -219,7 +218,7 @@
                        current_count = HAL_LPTIM_ReadCounter(&hlptim1);
                        wg_report_freq = RX_Buffer[POLL_FREQ_IDX]+400;
                        memcpy(&rec_delaytime,&RX_Buffer[NEXTPOLL_TIME_IDX],2);                  
                        target_count = current_count + rec_delaytime*32.8 - delaytime;
                        target_count = current_count + rec_delaytime*3.2768 - delaytime;
                        if(target_count>=32768)
                            target_count-=32768;
                        __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
@@ -275,7 +274,13 @@
void OnRxTimeout( void )
{
    Radio.Standby();
    current_count = HAL_LPTIM_ReadCounter(&hlptim1);
    target_count-=current_count%3276;
    if(target_count<0)
        target_count+=32768;
    __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
    SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],UWB_CHANNEL_SF,0);
    Radio.Rx(0);
}

void OnRxError( void )