XRange_Tag.git - Gitblit

			@@ -30,7 +30,8 @@
			#include "beep.h"
			#include "modbus.h"
			#include "CRC.h"

			#include "dw_mbx_anc.h"
			#include "ADC.h"
			//#define USART_INTEGRATE_OUTPUT
			/------------------------------------ Marcos ------------------------------------------/
			/* Inter-ranging delay period, in milliseconds. */
			@@ -73,7 +74,7 @@

			//#define _UWB_4G

			static dwt_config_t config = {
			dwt_config_t config = {
			#ifdef _UWB_4G
			2, /* Channel number. */
			#else
			@@ -182,16 +183,6 @@
			/* Apply default antenna delay value. See NOTE 1 below. */
			dwt_setrxantennadelay(RX_ANT_DLY); //设置接收天线延迟
			dwt_settxantennadelay(TX_ANT_DLY); //设置发射天线延迟
			// dwt_configcontinuousframemode(12480);
			// dwt_writetxdata(13, usart_send, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
			// dwt_writetxfctrl(13, 0);//设置超宽带发送数据长度
			// dwt_starttx(DWT_START_TX_IMMEDIATE);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置

			//while(1)
			//{}
			/* Set expected response's delay and timeout. See NOTE 4 and 5 below.
			* As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
			//设置接收超时时间
			}
			void Dw1000_App_Init(void)
			{
			@@ -228,353 +219,9 @@
			dwt_configuresleep(0x940, 0x7);
			dwt_entersleep();
			}
			//extern uint8_t g_start_send_flag;

			//uint16_t g_Resttimer;
			//uint8_t result;
			//u8 tag_succ_times=0;
			//int32_t hex_dist;
			//u16 checksum;
			//int8_t tag_delaytime;
			//extern uint16_t sync_timer;
			//u16 tmp_time;
			//int32_t temp_dist;
			//u16 tagslotpos;

			//u16 anclist_num=0,anclist_pos; //list 总数量和当前位置
			//u16 ancid_list[TAG_NUM_IN_SYS];
			//u8 nearbase_num;
			//u16 mainbase_id;
			//int32_t mainbase_dist;
			//uint8_t trygetnearmsg_times;
			//u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
			//u8 FindNearBasePos(u16 baseid)
			//{
			// u8 i;
			// for(i=0;i<nearbase_num;i++)
			// {
			// if(baseid==nearbaseid_list[i])
			// return i;
			// }
			//}
			//u8 recbase_num=0;
			//#define CHANGE_BASE_THRESHOLD 5
			//uint8_t GetRandomValue(void)
			//{
			// uint8_t random_value=0,temp_adc,i;
			// for(i=0;i<8;i++)
			// {
			// temp_adc=Get_ADC_Value();
			// random_value=random_value\|((temp_adc&0x01)<<i);
			// }
			// return random_value;
			//}
			//u8 GetRandomSlotPos(uint32_t emptyslot)
			//{
			// u8 i,temp_value;
			// temp_value = HAL_LPTIM_ReadCounter(&hlptim1);//GetRandomValue();
			// for(i=temp_value%32;i<max_slotpos;i++)
			// {
			// if(((emptyslot>>i)&0x1)==0)
			// {
			// return i;
			// }
			// }
			//
			// for(i=1;i<max_slotpos;i++)
			// {
			// if(((emptyslot>>i)&0x1)==0)
			// {
			// return i;
			// }
			// }
			//return max_slotpos-1;
			//}

			//int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
			//u8 anclost_times=0 , mainbase_lost_count=0;
			//u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
			//u8 flag_finalsend,flag_getresponse,flag_rxon;
			//uint16_t current_count,start_count,end_count,lastsync_timer;

			//u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
			//u32 rec_tagpos_binary;
			//int16_t offset=2700;
			//u8 current_freq,rec_freq;
			//u8 motor_state,rec_remotepara_state,rec_remotepara[80];
			//extern u16 last_lpcount;
			float freqlost_count = 0;
			//void TagFreqProcess(u8 freq)
			//{
			// if(freq>MAX_ANCFREQ\|\|freq==0)
			// {
			// return;
			// }
			// if(freq==tag_frequency\|\|freq>tag_frequency)
			// {
			// tag_frequency = freq;
			// freqlost_count = 0;
			// }
			//}
			//#define FREQ_OFFSET_MULTIPLIER (998.4e6/2.0/1024.0/131072.0)
			//#define FREQ_OFFSET_MULTIPLIER_110KB (998.4e6/2.0/8192.0/131072.0)

			//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_1 (-1.0e6/3494.4e6)
			//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_2 (-1.0e6/3993.6e6)
			//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_3 (-1.0e6/4492.8e6)
			//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_5 (-1.0e6/6489.6e6)
			//u16 rec_maxrangelen;//rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
			//float clockOffsetRatio;
			//double rtd_init, rtd_resp;
			//double tof,distance;
			//extern int32_t dwt_readcarrierintegrator(void) ;
			//uint32_t testtimer2,anc_pollrx[MAX_NEARBASE_NUM],anc_resptx[MAX_NEARBASE_NUM],tag_resprx[MAX_NEARBASE_NUM];
			//int32_t anc_clockoffset[MAX_NEARBASE_NUM];
			//int16_t anc_distoffset[MAX_NEARBASE_NUM];
			//int32_t test2;
			//uint16_t u16_nearbase_distlist[MAX_NEARBASE_NUM];
			//uint8_t get_newdist,notenoughdist_count;
			//void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset) //写入时间戳信息
			//{
			// memcpy(&anc_pollrx[i],pollrx,4);
			// memcpy(&anc_resptx[i],resptx,4);
			// memcpy(&tag_resprx[i],&resprx,4);
			// memcpy(&anc_distoffset[i],distoffset,2);
			// anc_clockoffset[i] = test2;
			//}
			//void CalculateDists(void) //计算距离
			//{
			// for(int i=0;i<MAX_NEARBASE_NUM;i++)
			// {
			// //rec_anc_signalpower[i] = exsistbase_list[i];
			// if(exsistbase_list[i]==KEEP_TIMES)
			// {

			// // exsistbase_list[i]--;
			//#ifdef _UWB_4G
			// clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
			//#else
			// clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
			//#endif
			// rtd_init = tag_resprx[i] - poll_tx_ts&0xffffffff;
			// rtd_resp = anc_resptx[i] - anc_pollrx[i];
			// tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
			// distance = tof * SPEED_OF_LIGHT;
			// if(distance>-10&&distance<1000)
			// nearbase_distlist[i] = distance*100+anc_distoffset[i];
			// range_lost_time=0;
			// }else{
			// // nearbase_distlist[i] = 0x1ffff;
			// }
			//
			// }
			//}
			//extern uint8_t module_power,imu_enable,motor_enable;
			//void Registor_Poll(void)
			//{
			// static u8 regpoll_count=0;
			// u8 timeout;
			//
			// tx_near_msg[MESSAGE_TYPE_IDX] = MBX_REG;
			// tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2\|imu_enable<<1\|motor_enable;
			// tx_near_msg[REGP_FREQUENCY_INDEX] = bat_percent;
			// tx_near_msg[REGP_POWER_INDEX] = module_power;
			// memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);
			// memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[GROUP_ID],2);
			// memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[DIST_OFFSET],2);
			// memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[MAX_REPORT_ANC_NUM],2);
			// dwt_writetxdata(23, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
			// dwt_writetxfctrl(23, 0);//设置超宽带发送数据长度
			// dwt_starttx(DWT_START_TX_IMMEDIATE);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
			// start_count=HAL_LPTIM_ReadCounter(&hlptim1);
			// timeout=50;
			// end_count=start_count+(timeout<<2);
			// while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS)))//不断查询芯片状态直到成功接收或者发生错误
			// {
			// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			// if(current_count>=end_count&&current_count<end_count+15000)
			// break;
			//
			// };
			//
			//}
			//u16 numceshi;
			//u16 rec_nearbaseid,rec_nearbasepos;
			//extern u16 poll_startcount;
			//void NearPoll(uint8_t ancid_tosend_index)
			//{
			//
			// uint32_t temp1,temp2,dw_systime;
			// uint32_t frame_len;
			// uint32_t final_tx_time;
			// u32 start_poll,timeout;
			// u8 i,j,getsync_flag=0,flag_ancreadpara=0;
			// dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间
			// dwt_setrxtimeout(0);
			// tag_succ_times = 0;
			// //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
			// if(nearbase_num>=MAX_NEARBASE_NUM)
			// {
			// nearbase_num = MAX_NEARBASE_NUM-1;
			// }
			// recbase_num=0;
			// for(uint8_t i=0;i<nearbase_num;i++) //标签距离32位转成16位
			// {
			// u16_nearbase_distlist[i] = nearbase_distlist[i];
			// }
			// tx_near_msg[GROUP_ID_IDX] = group_id;
			// tx_near_msg[BATTARY_IDX] = bat_percent;
			// tx_near_msg[BUTTON_IDX] = !GET_USERKEY\|stationary_flag<<1;
			// tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
			// tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
			// memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
			// memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num2],&u16_nearbase_distlist,nearbase_num2);
			// tx_near_msg[MESSAGE_TYPE_IDX] = MBX_POLL;
			// memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
			// dwt_writetxdata(13+4*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
			// dwt_writetxfctrl(13+4*nearbase_num, 0);//设置超宽带发送数据长度
			// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			// while(current_count<poll_startcount\|\|current_count>poll_startcount+16384)
			// {
			// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			// if(current_count<poll_startcount-300)
			// {
			// break;
			// }
			// }
			//
			// dwt_starttx(DWT_START_TX_IMMEDIATE \| DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
			// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_RESET);
			// numceshi++;
			// tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
			// get_newbase = 0;
			// flag_finalsend=0;
			// flag_rxon=1;
			// flag_getresponse=0;
			// start_count=HAL_LPTIM_ReadCounter(&hlptim1);
			// recbase_num=0;
			// timeout=nearbase_num*SLOT_SCALE+100; //单位0.1ms
			// end_count=start_count+(timeout<<2);
			// if(end_count>=32768)
			// {end_count-=32768;}
			// mainbase_dist=100000;
			// mainbase_lost_count++;
			// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			// while(current_count<end_count\|\|current_count>end_count+15000)
			// // while(1)
			// {
			// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			// while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG \| SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
			// {

			// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			// if(current_count>=end_count&&current_count<end_count+15000)
			// break;
			// };
			// if(status_reg==0xffffffff)
			// {
			// NVIC_SystemReset();
			// }
			// if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
			// {
			// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG \| SYS_STATUS_TXFRS);//清楚寄存器标志位
			// frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
			// dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
			// test2 = dwt_readcarrierintegrator();
			// poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
			// resp_rx_ts = get_rx_timestamp_u64();
			// dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
			// dwt_rxenable(0);//打开接收
			// if (rx_buffer[MESSAGE_TYPE_IDX] == MBX_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX]==group_id) //判断接收到的数据是否是response数据
			// {
			//
			// recbase_num++;
			// memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
			// rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;

			// if(rec_remotepara_state != 0)
			// {
			// para_update = rec_remotepara_state;
			// memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],7);
			// if(para_update==2)
			// {
			// flag_ancreadpara = 1;
			// }
			// }
			// if(last_nearbase_num==0)
			// {
			// get_newbase=1;
			// nearbaseid_list[0]=rec_nearbaseid;
			// nearbase_num=1;
			// memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
			// }
			// if(rec_nearbaseid==nearbaseid_list[0])
			// {
			// exsistbase_list[0]=KEEP_TIMES;
			// SetANCTimestap(0,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);

			// //////////////////////////////////时间同步
			// memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
			// memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
			// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			//// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
			// tmp_time=tmp_time+450;
			// if(tmp_time>999)
			// {
			// tmp_time-=999;
			// sync_timer++;
			// if(sync_timer>=1010)
			// {sync_timer=0;}
			// }
			// rec_nearbasepos=0;
			// exsistbase_list[rec_nearbasepos]=KEEP_TIMES;

			// if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
			// motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
			//
			//
			// mainbase_lost_count=0;
			// flag_finalsend=1;
			// }else{
			// rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
			// SetANCTimestap(rec_nearbasepos,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);

			// if(rec_nearbasepos>=last_nearbase_num) //发现新的基站
			// {
			// get_newbase=1;
			// nearbase_num++;
			// nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
			// memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
			// }
			//
			// exsistbase_list[rec_nearbasepos]=KEEP_TIMES;

			//
			// if(motor_state<(rx_buffer[MOTORSTATE_INDEX]&0xf)&&(rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
			// {
			// motor_state=rx_buffer[MOTORSTATE_INDEX];
			// }
			// final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
			//
			// dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
			// dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
			// }
			// }
			// }else{
			// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG\| SYS_STATUS_ALL_RX_ERR);
			// if(flag_rxon)
			// {dwt_rxenable(0);
			// }
			// }
			// // dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG\| SYS_STATUS_ALL_RX_ERR);
			// }
			// dwt_forcetrxoff();
			// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG\| SYS_STATUS_ALL_RX_ERR);
			// CalculateDists();
			// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR\| SYS_STATUS_TXFRS \|SYS_STATUS_RXFCG);
			////HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
			//
			//}
			u8 regpoll_count;
			u32 id;
			void UWB_Wkup(void)
			@@ -590,14 +237,154 @@
			id = dwt_readdevid() ;
			if(iderror_count++>100)
			{
			printf("UWB芯片ID错误");
			printf("UWB芯片ID错误");
			break;
			}
			}
			}
			#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)
			{
			{
			// 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);
			// 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();
			delay_us(700);
			MBXANCPoll();
			dwt_entersleep();
			bat_percent=Get_VDDVlotage();
			// next_poll_state = Next_Poll_LORASYNC;
			}else{
			poll_state=UWB;
			Lora_Poll();
			if(intheight!=0)
			{
			// 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;
			// }
			}
			// 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(); //测距提前2ms唤醒
			// __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
			// }

			}