XRange_Tag.git - Gitblit

			@@ -74,7 +74,7 @@

			//#define _UWB_4G

			static dwt_config_t config = {
			dwt_config_t config = {
			#ifdef _UWB_4G
			2, /* Channel number. */
			#else
			@@ -243,54 +243,148 @@
			}
			}
			#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;
			typedef enum{ Next_Poll_RANGE,
			Next_Poll_LORASYNC,
			}nextpoll_enum;
			#define UWB 0
			#define LORA 1
			static uint8_t lora_sendbuffer[40];
			static uint16_t wg_report_id=0xffff;
			uint8_t seq_num;
			static u16 checksum;
			#define SEQNUM_IDX 6 //标签报文序号
			#define BAT_IDX 7 //标签电量
			#define STATE_IDX 8
			#define ANCID_IDX 30 //校验在4*ancnum+ANCID_IDX 位置
			#define LORA5_CHANNEL_FRQ 478
			#define LORA5_CHANNEL_SF 7
			uint8_t poll_state;
			void Lora_Poll(void)
			{

			SwitchLoraSettings(LORA5_CHANNEL_FRQ,LORA5_CHANNEL_SF,22);
			lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGMSGTOWG_GPS;
			lora_sendbuffer[MSG_LENGTH] = 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++;
			lora_sendbuffer[BAT_IDX] = bat_percent;
			lora_sendbuffer[STATE_IDX] = 0;
			// memcpy(&lora_sendbuffer[GPS_JINGDU_IDX],&gps_jingdu,8);
			// 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] = report_ancnum;
			// memcpy(&lora_sendbuffer[ANCID_IDX],report_ancid,report_ancnum*2);
			// memcpy(&lora_sendbuffer[ANCID_IDX+report_ancnum2],report_ancdist,report_ancnum2);
			checksum = Checksum_u16(lora_sendbuffer,4*0+ANCID_IDX);
			memcpy(&lora_sendbuffer[ANCID_IDX+0*4],&checksum,2);
			Radio.Send(lora_sendbuffer,ANCID_IDX+0*4+2);
			}
			nextpoll_enum next_poll_state;
			extern uint8_t sync_lost_count;
			extern uint8_t Lorahuifu_flag;
			extern int16_t intheight;
			extern u16 uwbdistance;
			extern float bat_volt;
			extern uint8_t shuzu[3];
			extern uint8_t datashuju[50];
			extern uint8_t datachangdu;
			void Tag_App(void)//发送模式(TAG标签)
			{
			if(next_poll_state==Next_Poll_RANGE)
			// SyncStateSwitch();
			if(poll_state==UWB) //读取本次的工作状态测距还是同步
			{
			poll_state=LORA;
			current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			target_count = GetUwbPollCount();
			SwitchLoraSettings(UWB_CHANNEL_FRQ,5); //切换lora接收频点
			while(current_count<target_count\|\|current_count>target_count+16384)
			{
			current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			if(current_count<target_count-300)
			{
			break;
			}
			}
			// g_com_map[LORA_POWER]=22;
			// g_com_map2[LORA_POWER]=22;
			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);
			Radio.Send(lora_start_poll_buff, 4);
			UWB_Wkup();
			UWB_Wkup();
			delay_us(700);
			MBXANCPoll();
			dwt_entersleep();
			bat_percent=Get_VDDVlotage();
			next_poll_state = Next_Poll_LORASYNC;
			// 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
			poll_state=UWB;
			Lora_Poll();
			if(intheight!=0)
			{
			next_poll_state = Next_Poll_RANGE;
			}else{
			next_poll_state = Next_Poll_LORASYNC;
			}
			// printf("高度值:%d\r\n",intheight);
			uartsend(6,intheight);
			memset(datashuju,0,sizeof(datashuju));
			USART_puts(shuzu, 3);//开始结束都要发
			datachangdu=sprintf(datashuju,"t2.bco=2024");
			USART_puts(datashuju, datachangdu);
			USART_puts(shuzu, 3);
			}
			if(uwbdistance!=0)
			{
			// printf("UWB测距值:%d\r\n",uwbdistance);
			uartsend(4,uwbdistance);
			memset(datashuju,0,sizeof(datashuju));
			USART_puts(shuzu, 3);//开始结束都要发
			datachangdu=sprintf(datashuju,"t0.bco=2024");
			USART_puts(datashuju, datachangdu);
			USART_puts(shuzu, 3);
			}
			if(Lorahuifu_flag)
			{
			Lorahuifu_flag=0;
			uartsend(5,0);
			memset(datashuju,0,sizeof(datashuju));
			USART_puts(shuzu, 3);//开始结束都要发
			datachangdu=sprintf(datashuju,"t1.bco=2024");
			USART_puts(datashuju, datachangdu);
			USART_puts(shuzu, 3);
			}
			memset(datashuju,0,sizeof(datashuju));
			USART_puts(shuzu, 3);//开始结束都要发
			datachangdu=sprintf(datashuju,"t7.txt=\"%.2f\"",bat_volt);
			USART_puts(datashuju, datachangdu);
			USART_puts(shuzu, 3);
			if(bat_volt>0)
			{
			memset(datashuju,0,sizeof(datashuju));
			USART_puts(shuzu, 3);//开始结束都要发
			datachangdu=sprintf(datashuju,"t3.bco=2024");
			USART_puts(datashuju, datachangdu);
			USART_puts(shuzu, 3);
			}
			// 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;
			// }
			}
			if(next_poll_state == Next_Poll_LORASYNC)
			{
			target_count = GetUwbPollCount()-4000/LPTIMER_LSB; //同步则提前4ms唤醒，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{
			// 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()-(18000)/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()-2000/LPTIMER_LSB; //测距提前4ms唤醒

			if(target_count<0)
			target_count+=32768;
			__HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
			}
			// target_count = GetUwbPollCount(); //测距提前2ms唤醒
			// __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
			// }

			}