V1.16 3秒触发一次

yincheng.zhong

2024-11-19 e5d499776ae8dbebdc2d11b4aab44a3f9314b4bc

 Src/application/dw_app.c

@@ -243,51 +243,66 @@
    }  
}
#include "radio.h"
#include "dw_mbx_anc.h"
u8 lora_start_poll_buff[4] = {LORA_MSGTYPE_RANGEPOLL,'I','N','G'};

uint16_t current_count,target_count;
nextpoll_enum next_poll_state;
typedef enum{   Next_Poll_RANGE,
                Next_Poll_LORASYNC,
}nextpoll_enum;
nextpoll_enum next_poll_state = Next_Poll_RANGE;
extern uint8_t sync_lost_count;
uint8_t send_count;
#define FASONG_TIME 3
void Tag_App(void)//发送模式(TAG标签)
{     
  if(next_poll_state==Next_Poll_RANGE)  
    SyncStateSwitch();
  if(next_poll_state==Next_Poll_RANGE)  //读取本次的工作状态 测距还是同步
  {
    current_count=HAL_LPTIM_ReadCounter(&hlptim1);
    target_count = GetUwbPollCount();
    while(current_count<target_count||current_count>target_count+16384)
    {
        current_count=HAL_LPTIM_ReadCounter(&hlptim1);
        if(current_count<target_count-300)
        {
            break;
        }
    }
    
    memcpy(&lora_start_poll_buff[ANC_ID_IDX],&g_com_map[DEV_ID],2);
    Radio.Send(lora_start_poll_buff, 4);
    UWB_Wkup();
    delay_us(700);
    MBXANCPoll();
   dwt_entersleep();
    bat_percent=Get_VDDVlotage();
    next_poll_state = Next_Poll_LORASYNC;
  }else{
    current_count=HAL_LPTIM_ReadCounter(&hlptim1);
    target_count = GetWGRecSyncCount()-2000/LPTIMER_LSB; //提前2ms进入接收状态
    while(current_count<target_count||current_count>target_count+16384)
    {
        current_count=HAL_LPTIM_ReadCounter(&hlptim1);
        if(current_count<target_count-300)
        {
            break;
        }
    if(send_count++%FASONG_TIME==0)
    {    
    SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],5,g_com_map[LORA_POWER]); //切换lora接收频点  

    memcpy(&lora_start_poll_buff[ANC_ID_IDX],&g_com_map[DEV_ID],2);
      LED_TB_ON;
//      HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_SET);
    Radio.Send(lora_start_poll_buff, 4);
    UWB_Wkup();   
    delay_us(1000);
    MBXANCPoll();
//      HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_RESET);
   dwt_entersleep();    
    }
      LoraSyncRecPoll();
      if(GetRangeState())
    next_poll_state = Next_Poll_LORASYNC;

  }else{
     LoraSyncRecPoll();
      if(GetRangeState())  //获取当前测距状态，是否开启。如果开启下次为测距，否为同步
      {
        next_poll_state = Next_Poll_RANGE;
      }else{
        next_poll_state = Next_Poll_LORASYNC;
      }
      
      }      
  }
  Radio.Sleep();
  if(next_poll_state == Next_Poll_LORASYNC)  //设定下一次的唤醒时间
  {
//      if(sync_state==Sync_Lost)
//      {
//          target_count = GetLoraSyncCount()-(18000)/LPTIMER_LSB+sync_lost_count*1000;
//      }else
      {
        target_count = GetLoraSyncCount()-(23000)/LPTIMER_LSB;  //比上次收到的lora提前17ms唤醒（lora接收大概17ms），如果在同步间隔内，则会快速进入休眠。
      }
      if(target_count<0)
      target_count+=32768;
    __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
  }else{

    target_count = GetUwbPollCount(); //测距提前2ms唤醒
    __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
  }
  
}