From 5f59088ed121193c358b0c2b95961b66593b79e5 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 25 七月 2025 18:02:04 +0800
Subject: [PATCH] 修复偶尔mk测距不了的bug
---
keil/include/src/Radio/lora_1268.c | 269 +++++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 249 insertions(+), 20 deletions(-)
diff --git a/keil/include/src/Radio/lora_1268.c b/keil/include/src/Radio/lora_1268.c
index 24e793f..bd22c2e 100644
--- a/keil/include/src/Radio/lora_1268.c
+++ b/keil/include/src/Radio/lora_1268.c
@@ -15,6 +15,7 @@
#include "HIDO_TypeDef.h"
#include "PCA9555.h"
#include "mk_misc.h"
+#include "mk_flash.h"
/********************************************结构体**************************************************************/
typedef enum
{
@@ -158,6 +159,7 @@
lora_sendbuffer[HB_LORAPOWER_IDX] = g_com_map[LORA_POWER];//将距离校准改为了TX发射功率设置
checksum = Checksum_u16(lora_sendbuffer,14);
memcpy(&lora_sendbuffer[14],&checksum,2);
+ LOG_INFO(TRACE_MODULE_APP, "进入send3\r\n");
Radio.Send(lora_sendbuffer,16);
/*****************************心跳包上传内容*************************************/
@@ -180,11 +182,12 @@
extern uint16_t REV_RX_NUM;
extern uint16_t REV_POLL_NUM;
extern uint16_t REPLY_POLL_NUM;
-uint16_t num[3]={0,0,0};
+uint8_t num[3]={1,2,0};
extern uint8_t stationary_flag;
extern uint8_t SOS_KEY_STATE;
uint32_t LORA_POLL_COUNT=0;
uint8_t test1,test2;
+extern int poll_rx_num;
#define GET_USERKEY gpio_pin_get_val(SOS_PIN)
void LoraReportPoll(void)
{
@@ -203,7 +206,9 @@
// wg_report_freq = REPORT_MANGE_CHANNEL_FRQ;
//LOG_INFO(TRACE_MODULE_APP," 切换2\r\n");
//test1++;
+// LOG_INFO(TRACE_MODULE_APP," 切换9\r\n");
SwitchLoraSettings(wg_report_freq,REPORT_CHANNEL_SF,22);
+ //SwitchLoraSettings(478,7,22);
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;
@@ -256,9 +261,20 @@
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);
- // test2++;
+
+ // test2++; num
+// LOG_INFO(TRACE_MODULE_APP," 切换8\r\n");
+ //SwitchLoraSettings(wg_report_freq,REPORT_CHANNEL_SF,22);
Radio.Send(lora_sendbuffer,ANCID_IDX+report_ancnum*4+2);
-
+ LOG_INFO(TRACE_MODULE_APP," 数量%d\r\n",poll_rx_num);
+ if(poll_rx_num==0)
+ {
+ CloseUWB();
+ Uwb_init();//默认为我们测距配置
+ OpenUWB();
+ }
+ poll_rx_num=0;
+ //Radio.Send(num,3);
}
@@ -298,6 +314,7 @@
checksum = Checksum_u16(lora_sendbuffer,11+data_length);
memcpy(&lora_sendbuffer[11+data_length],&checksum,2);
// LORA_3029_SINGLE_SEND(lora_sendbuffer,data_length+13,0);
+ LOG_INFO(TRACE_MODULE_APP, "进入send2\r\n");
Radio.Send(lora_sendbuffer,data_length+13);
//++;
// Delay_Ms(100);
@@ -316,6 +333,7 @@
memcpy(&lora_sendbuffer[7], &g_com_map[index/2], data_length);
checksum = Checksum_u16(lora_sendbuffer,9+data_length);
memcpy(&lora_sendbuffer[9+data_length],&checksum,2);
+ LOG_INFO(TRACE_MODULE_APP, "进入send1\r\n");
Radio.Send(lora_sendbuffer,data_length+11);
LOG_INFO(TRACE_MODULE_APP, "进入回复\r\n");
//LORA_3029_SINGLE_SEND(lora_sendbuffer,data_length+11,0);
@@ -466,6 +484,216 @@
extern uint16_t set_mk_time;
extern mk_send_message_to_BLE(void);
uint8_t tt4=1;
+uint32_t Zhongjian_data[60];
+uint8_t send_lora_data[250];
+uint16_t rec_wenjian_daxiao;
+uint8_t huifushengjibaoerror_num;
+uint8_t muqiandeshengjibao;
+uint8_t final_bag_num;
+uint16_t wangguan_up_id;
+uint16_t testflag;
+uint16_t current_count1,target_count1,start_count1;
+int16_t end_count1;
+uint8_t start_wait_flag;
+/**
+ * @brief Update CRC16 for input byte
+ * @param CRC input value
+ * @param input byte
+ * @retval Updated CRC value
+ */
+uint16_t UpdateCRC16(uint16_t crcIn, uint8_t byte)
+{
+ uint32_t crc = crcIn;
+ uint32_t in = byte|0x100;
+
+ do
+ {
+ crc <<= 1;
+ in <<= 1;
+
+ if(in&0x100)
+ {
+ ++crc;
+ }
+
+ if(crc&0x10000)
+ {
+ crc ^= 0x1021;
+ }
+ } while(!(in&0x10000));
+
+ return (crc&0xffffu);
+}
+
+/**
+ * @brief Cal CRC16 for YModem Packet
+ * @param data
+ * @param length
+ * @retval CRC value
+ */
+uint16_t Cal_CRC16(const uint8_t* data, uint32_t size)
+{
+ uint32_t crc = 0;
+ const uint8_t* dataEnd = data+size;
+
+ while(data<dataEnd)
+ {
+ crc = UpdateCRC16(crc,*data++);
+ }
+ crc = UpdateCRC16(crc,0);
+ crc = UpdateCRC16(crc,0);
+
+ return (crc&0xffffu);
+}
+
+void LoraUp_Poll()
+{ uint16_t result ;
+ uint16_t crc16;
+ 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;
+ 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;
+ crc16=Checksum_u16(send_lora_data,6);
+ memcpy(&send_lora_data[6],&crc16,2);
+ huifushengjibao_flag=0;
+ LoraUp_flag=1;
+ Radio.Send(send_lora_data,8);//基站发送升级确认回复
+
+ delay_ms(1000);
+//LOG_INFO(TRACE_MODULE_APP," 切换7\r\n");
+ SwitchLoraSettings(LORA_UPCHANNEL_FRQ,LORA_UPCHANNEL_SF,22); //切换lora升级频点
+ delay_ms(200);
+ __disable_irq();
+// FLASH_Read(APP_1OR2_ADRESS,(uint8_t*)&app1_or_app2,2);
+ final_bag_num=(rec_wenjian_daxiao/220)+1;//计算一共要请求多少包
+ while(1)
+ {
+ //FLASH_Prepare(APP2_ADRESS, APP_SIZE); //删除上一次app为下次做准备
+ testflag=flash_erase(FLASH_ID0,APP2_ADRESS,APP_SIZE);//删除100kAPP2空间为下面做准备
+ delay_ms(500);
+ if(testflag==0)
+ {break;}
+ }
+// FLASH_Write(APP2_ADRESS, (const uint8_t*)&tmp111, 2);
+ __enable_irq();
+ while(1)
+ {
+ if(huifushengjibao_flag==1)
+ {lora_up_rec_flag=1;
+ while(1)
+ {
+ send_lora_data[MSG_TYPE_IDX]=LORA_MSGTYPE_UPDATEFILE_REQUEST;
+ 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]=muqiandeshengjibao;
+ crc16=Checksum_u16(send_lora_data,7);
+ memcpy(&send_lora_data[7],&crc16,2);
+ lora_up_rec_flag=0;
+ Radio.Send(send_lora_data,9);//基站发送请求第x包
+
+ /*重写超时逻辑
+ start_count1=HAL_LPTIM_ReadCounter(&hlptim1); //等待接收完成直到超时
+ end_count1=start_count1+32768/2;//500ms等待
+ if(end_count1>=32768)
+ {end_count1-=32768;}
+ current_count1=HAL_LPTIM_ReadCounter(&hlptim1);
+ while(!lora_up_rec_flag)
+ {
+ current_count1=HAL_LPTIM_ReadCounter(&hlptim1);
+ if(current_count1>=end_count1&¤t_count1<end_count1+15000)
+ {
+ break;
+ }
+ delay_ms(100);
+ if(lora_up_rec_flag)
+ {break;}
+ Radio.Send(send_lora_data,9);
+ }
+ 重写超时逻辑 */
+
+ start_wait_flag=1;
+ end_count1=2;
+ while(!lora_up_rec_flag)
+ {
+ if(start_wait_flag==0)
+ {
+ break;
+ }
+ delay_ms(100);
+ if(lora_up_rec_flag)
+ {break;}
+ Radio.Send(send_lora_data,9);
+ }
+// while(1);
+ if(lora_up_rec_flag)
+ { uint16_t result12;
+ //HAL_IWDG_Refresh(&hiwdg);//未修改喂狗
+ crc16=Cal_CRC16(RX_Buffer,DATA_IDX+ONE_BAG_DAXIAO);
+ __disable_irq();
+ if(muqiandeshengjibao==RX_Buffer[MUQIAN_BAG]&&!memcmp(&crc16,&RX_Buffer[DATA_IDX+ONE_BAG_DAXIAO],2)&&!memcmp(&dev_id,&RX_Buffer[DEST_ID_IDX],2)&& !memcmp(&wangguan_up_id,&RX_Buffer[SOURCE_ID_IDX],2))
+ {
+ memcpy(Zhongjian_data,&RX_Buffer[DATA_IDX],ONE_BAG_DAXIAO);
+ result12=flash_write_nbytes(FLASH_ID0,APP2_ADRESS+ONE_BAG_DAXIAO*RX_Buffer[MUQIAN_BAG],(uint8_t*)Zhongjian_data,ONE_BAG_DAXIAO);
+ // flash_write_nbytes(FLASH_ID0, FLASH_IAP_CTRL_MAP, (const uint8_t*)g_com_map, sizeof(g_com_map));
+ while(result12==0)
+ {
+ result12=flash_write_nbytes(FLASH_ID0,APP2_ADRESS+ONE_BAG_DAXIAO*RX_Buffer[MUQIAN_BAG],(uint8_t*)Zhongjian_data,ONE_BAG_DAXIAO);
+ delay_ms(10);
+ }
+ if(result12)
+ muqiandeshengjibao++;
+ }
+ __enable_irq();
+ }
+ else
+ {
+ //HAL_IWDG_Refresh(&hiwdg);//未修改喂狗
+ huifushengjibaoerror_num++;
+ if(huifushengjibaoerror_num>=20)
+ {
+ huifushengjibaoerror_num=0;
+ muqiandeshengjibao=0;
+ delay_ms(500);
+ //HAL_NVIC_SystemReset();//修改重启
+ sys_reset(0);
+ break;
+ }
+ }
+ if(muqiandeshengjibao==final_bag_num)
+ {
+ uint16_t tmp11 ,result11;
+ tmp11=0XCC;
+ result11=flash_erase(FLASH_ID0,APP_1OR2_ADRESS,FLASH_SECTOR_SIZE);//删除标志位所在区域
+ if(!result11)
+ result11 = flash_write_nbytes(FLASH_ID0,APP_1OR2_ADRESS, (const uint8_t*)&tmp11, 2);//更新标志位
+ __disable_irq();
+ delay_ms(1500);
+ //HAL_NVIC_SystemReset();//修改重启
+ sys_reset(0);
+ }
+ }
+ }
+ else
+ {
+ delay_ms(500);
+// huifushengjibao_flag=0;
+ Radio.Send(send_lora_data,8);//基站发送升级确认回复
+ huifushengjibaoerror_num++;
+ if(huifushengjibaoerror_num>=5)
+ {
+ huifushengjibaoerror_num=0;
+ delay_ms(500);
+ sys_reset(0);
+ break;
+ }
+ }
+ }
+ }
+}
+uint8_t imu_enable;
void OnRxDone( uint8_t *payload, uint16_t size, int16_t rssi, int8_t snr )
{
uint16_t checksum1;
@@ -570,22 +798,22 @@
break;
case WGRSP_RWTAG_UPDATE:
rec_index = RX_Buffer[PWTAG_WRITE_IDX_IDX];
-// switch(rec_index)
-// {
-// case 0xaa: //升级下发
-// memcpy(&rec_wenjian_daxiao,&RX_Buffer[WRITEPARA_VALUE_IDX],2);//文件大小
-// if(rec_wenjian_daxiao>0XAC00||rec_wenjian_daxiao==0)
-// {}//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;
+ switch(rec_index)
+ {
+ case 0xaa: //升级下发
+ memcpy(&rec_wenjian_daxiao,&RX_Buffer[WRITEPARA_VALUE_IDX],2);//文件大小
+ if(rec_wenjian_daxiao>0XAC00||rec_wenjian_daxiao==0)
+ {}//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;
// imu_enable=0;
-// }
-//// LoraUp_Poll();
-// break;
-// }
+ }
+// LoraUp_Poll();
+ break;
+ }
break;
}
}
@@ -596,7 +824,8 @@
if(!no_rx_flag)
{
if(lora_jianting_flag&&LoraUp_flag==0)
- { //LOG_INFO(TRACE_MODULE_APP," 切换2\r\n");
+ {
+ //LOG_INFO(TRACE_MODULE_APP," 切换2\r\n");
SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
Radio.Rx(0);
}
@@ -609,7 +838,7 @@
Radio.Standby();
if(lora_jianting_flag)
{
- //LOG_INFO(TRACE_MODULE_APP," 切换3\r\n");
+// LOG_INFO(TRACE_MODULE_APP," 切换3\r\n");
SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
Radio.Rx(0);
}
--
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