V1.40 SF8

yincheng.zhong

2025-03-05 ece0fe2ba0ed5a2cfa719076ec2a56cba85ba413

 Src/radio/Lora.c

@@ -207,19 +207,19 @@
extern uint8_t lora_sendbuffer[200];
void LoraSendComMap(uint8_t cmd)
{
   uint8_t data_length = 0x28;
   uint16_t checksum = 0;
   lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_READPARARESP;
   lora_sendbuffer[MSG_LENGTH] = data_length+9;
        uint8_t data_length = 0x50;
        uint16_t checksum = 0;
        lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_READPARARESP;
        lora_sendbuffer[MSG_LENGTH] = data_length+11;
    memcpy(&lora_sendbuffer[SOURCE_ID_IDX],&g_com_map[DEV_ID],2);
    memcpy(&lora_sendbuffer[DEST_ID_IDX],&wg_report_id,2);
   lora_sendbuffer[RP_CMD_IDX] = cmd;
   lora_sendbuffer[RP_INDEX_IDX] = 2;
   lora_sendbuffer[RP_LEN_IDX] = data_length;
   memcpy(&lora_sendbuffer[7], &g_com_map[1], data_length);
   checksum = Checksum_u16(lora_sendbuffer,9+data_length);
   memcpy(&lora_sendbuffer[9+data_length],&checksum,2);
    Radio.Send(lora_sendbuffer,data_length+11);
        lora_sendbuffer[RP_CMD_IDX] = cmd;
        lora_sendbuffer[RP_INDEX_IDX] = 2;
        lora_sendbuffer[RP_LEN_IDX] = data_length;
        memcpy(&lora_sendbuffer[9], &g_com_map[1], data_length);
        checksum = Checksum_u16(lora_sendbuffer,11+data_length);
        memcpy(&lora_sendbuffer[11+data_length],&checksum,2);
    Radio.Send(lora_sendbuffer,data_length+13);
  //  Delay_Ms(100);
}
void LoraRspWriteCommap(uint8_t index)
@@ -239,14 +239,16 @@
    Radio.Send(lora_sendbuffer,data_length+11);
  //  Delay_Ms(100);
}
extern uint8_t imu_enable,motor_enable;
extern u8 lora_jianting_flag,report_ancnum;
static uint16_t delaytime = 771;
static uint16_t source_id;
uint8_t rec_index;
uint8_t rec_index,rec_secdelay;
uint16_t rec_value,rec_delaytime,rx_count,datalen_offset;
int32_t target_count;
extern uint16_t motor_keeptime;
uint8_t shengji_flag;

void OnRxDone( uint8_t *payload, uint16_t size, int16_t rssi, int8_t snr )
{   uint16_t checksum1;
        BufferSize = size;
@@ -258,9 +260,13 @@
    lora_up_rec_flag=1;
    if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_RANGEPOLL)
    {
        
       // HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET);
            UWB_Wkup();
            MbxTagUwbRec();           
            HAL_GPIO_WritePin(RADIO_NSS_GPIO_Port, RADIO_NSS_Pin, GPIO_PIN_RESET); //片选lora有效
      //  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_SET);
            MbxTagUwbRec();   
      //  HAL_GPIO_WritePin(RADIO_NSS_GPIO_Port, RADIO_NSS_Pin, GPIO_PIN_RESET); //片选lora有效        
          //  Radio.Rx(0);       
    }
    if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_WGRESPTAG)
    {
@@ -284,18 +290,23 @@
                        current_count = HAL_LPTIM_ReadCounter(&hlptim1);
                        wg_report_freq = RX_Buffer[POLL_FREQ_IDX]+400;
                        memcpy(&rec_delaytime,&RX_Buffer[NEXTPOLL_TIME_IDX],2);
                    if(report_ancnum<2)
                    {
                        datalen_offset = report_ancnum*85;
                    }else{
                        datalen_offset = (report_ancnum-1)*46+85;
                    }
                        
                        if(report_ancnum<2)
                        {
                            datalen_offset = report_ancnum*85;
                        }else{
                            datalen_offset = (report_ancnum-1)*46+85;
                        }
                        rec_secdelay = RX_Buffer[PWTAG_SECDELAY_IDX];
                        if(BufferSize!=13||rec_secdelay>20)
                        {
                            rec_secdelay = 0;
                        }
                    
                        target_count = current_count + rec_delaytime*3.2768 - delaytime-datalen_offset;
                        while(target_count>=32768)
                            target_count-=32768;
                        __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
                        rx_count = HAL_LPTIM_ReadCounter(&hlptim1);
                       // rx_count = HAL_LPTIM_ReadCounter(&hlptim1);
                     //   printf("tx %d,rx %d,delay %d",current_count>>5,rx_count>>5,rec_delaytime);
                        break;
                    case WGRSP_RWTAG_READ:
@@ -332,9 +343,10 @@
                        {}//文件过大，超出范围
                        else
                        {
                        memcpy(&wangguan_up_id,&RX_Buffer[SOURCE_ID_IDX],2);//网关ID 占用2个字节
                        shengji_flag=1;
                        LoraUp_flag=1;    
                            memcpy(&wangguan_up_id,&RX_Buffer[SOURCE_ID_IDX],2);//网关ID 占用2个字节
                            shengji_flag=1;
                            LoraUp_flag=1;   
                            imu_enable=0;                            
                        }
//                      LoraUp_Poll();
                            break;                        
@@ -343,36 +355,46 @@
                }
            }
        }
    }

}
    if(!no_rx_flag)
    {
        if(lora_jianting_flag&&LoraUp_flag==0)
        {
            SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],UWB_CHANNEL_SF,0);
            SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
            Radio.Rx(0);
        }
    }
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET);

}

void OnTxTimeout( void )
{
    Radio.Standby();
    if(lora_jianting_flag)
    SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],UWB_CHANNEL_SF,0);
    {
        SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
        Radio.Rx(0);
    }
}
    uint8_t tm;
uint16_t Lora_rece_error;
void OnRxTimeout( void )
{
    Radio.Standby();
    current_count = HAL_LPTIM_ReadCounter(&hlptim1);
    target_count-=current_count%3276;
    while(target_count<0)
        target_count+=32768;
    __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);

    {
//        current_count = HAL_LPTIM_ReadCounter(&hlptim1);
//        target_count-=current_count%3276;
        target_count-=66;//提前2ms发lora
        while(target_count<0)
            target_count+=32768;
        __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
    }
    if(lora_jianting_flag)
    {
        SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],UWB_CHANNEL_SF,0);
        SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
        Radio.Rx(0);
    }
}
@@ -382,7 +404,10 @@

    Radio.Standby();
    if(lora_jianting_flag)
    SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],UWB_CHANNEL_SF,0);
    {
        SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
        Radio.Rx(0);
    }
}

uint16_t freq_test;
@@ -421,7 +446,7 @@
    RadioEvents.RxError = OnRxError;

    Radio.Init( &RadioEvents );
    SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],5,0); //切换lora接收频点  
    SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0); //切换lora接收频点  
    if(active_flag)
    {
    Radio.Rx( 0 ); 
@@ -448,7 +473,7 @@
    if(shengji_flag)
    {
//    memcpy(&wangguan_up_id,&RX_Buffer[SOURCE_ID_IDX],2);//网关ID 占用2个字节
    send_lora_data[MSG_TYPE_IDX]=LORA_MSGTYPE_UPDATE_CONFIRM;
    send_lora_data[MSG_TYPE_IDX]=LORA_MSGTYPE_UPDATE_CONFIRM2;
    memcpy(&send_lora_data[SOURCE_ID_IDX],&dev_id,2);//网关ID 占用2个字节
    memcpy(&send_lora_data[DEST_ID_IDX],&wangguan_up_id,2);//标签或者基站的设备ID 2个字节
//    send_lora_data[MUQIAN_BAG]=0xFF;