Merge branch '免布线URT-LORA-L071' of http://47.108.70.204:60062/r/XRange_Tag ...

yincheng.zhong

2024-03-24 dbe010cbc556a3f07136b7eac67e62f115285db8

 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

@@ -126,7 +128,10 @@
   }
   return i;
}

extern uint8_t gps_state;
uint32_t temp231;
extern uint32_t uwbled,gpsled,loraled,powerled;
uint32_t uwbdezhuangtai;
void MbxTagUwbRec(void)
{
   
@@ -135,11 +140,11 @@
   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
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_RESET);
    
//    HAL_GPIO_WritePin(GPIOC, GPIO_PIN_5, GPIO_PIN_SET);
//    printf("成功接收LORA\r\n");
        temp231 =  dwt_read32bitreg(CHAN_CTRL_ID) ;
    start_time=HAL_LPTIM_ReadCounter(&hlptim1);
    timeout=100; //单位0.1ms
    end_time=start_time+(timeout<<2);
@@ -153,7 +158,8 @@
        if(current_time>=end_time&&current_time<end_time+15000)
            break;
    };
	
   uwbdezhuangtai=status_reg;
//    printf("UWB״̬:%x\r\n",uwbdezhuangtai);
   if (status_reg & SYS_STATUS_RXFCG && status_reg!=0xffffffff)//成功接收
      {
            uint16_t tag_recv_interval;
@@ -165,7 +171,8 @@
      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);           
      memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);   
//gps_state=tag_id_recv;            
      switch(rx_buffer[MESSAGE_TYPE_IDX])
      {uint8_t target_tagi;
            case MBX_REG:
@@ -188,7 +195,7 @@
                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;
@@ -210,7 +217,8 @@
            }
               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);	                        
               }
                }
            
@@ -225,7 +233,11 @@
    
        dwt_forcetrxoff();
        dwt_entersleep();

//printf("UWB״̬:%x\r\n",uwbdezhuangtai);
//printf("ID:%x\r\n",tag_id_recv);
//printf("测距:%x\r\n",rec_ancdistlist[0]);
//uwbdezhuangtai=0;      
//tag_id_recv=0;
}
wg_state_enum wg_state = WG_Lost;
uint8_t lora_sendbuffer[200];
@@ -233,51 +245,130 @@
extern u8 wg_lost_count;
uint16_t wg_report_freq,wg_report_id;
#define WG_LOST_SWITCH_THRES   3
#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)
    {
        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;
u8 gps_state,gps_chafenlingqi,gps_satel_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 = 590;
int16_t intheight;
#define HEATBEAT_UPDATE_TIME   600
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
//    printf("LORA发送\r\n");  
    if(sendcount++>0)
    TagListUpdate();
    
    LoraReportFreqPoll();
    
    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*report_ancnum+30;
    lora_sendbuffer[MSG_LENGTH] = 4*report_ancnum+ANCID_IDX;
#else
    lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGMSGTOWG;
    lora_sendbuffer[MSG_LENGTH] = 4*report_ancnum+ANCID_IDX;
#endif
//    2000f026   02020002  //000220200
    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_WEIDU_IDX],&gps_weidu,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;
#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],&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);
    bat_percent=Get_Battary();  
    
}
//delay_ms(100);
//    LED_TB_ON;
//    bat_percent=Get_Battary();  
//    #ifdef _USE_BAR_
// //if(taglist_total_num>0)
// {
    GetPressAndHeight();  
    intheight = Height*100;   
// }
//#endif  
}