From 0401ba0353be795d83dad129a942d892c7f13eb5 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期六, 23 三月 2024 19:51:13 +0800
Subject: [PATCH] 修改同步时间，lora发送长度也会影响同步延迟的参数。 2.增加回复基站随机5个抢占位。
---
Src/radio/Lora.c | 92 +++++++++++++++++++++++++++++----------------
1 files changed, 59 insertions(+), 33 deletions(-)
diff --git a/Src/radio/Lora.c b/Src/radio/Lora.c
index 11a6036..b23bc0e 100644
--- a/Src/radio/Lora.c
+++ b/Src/radio/Lora.c
@@ -113,7 +113,8 @@
uint8_t Lora_rx_open_flag;
extern u32 Loratx_frequency;
-uint8_t flag_writepara_needreset = 0,wg_lost_count;
+uint8_t flag_writepara_needreset = 0;
+uint32_t wg_lost_count = 10;
uint32_t lora_zhuangtai;
uint16_t current_count;
extern wg_state_enum wg_state;
@@ -125,11 +126,8 @@
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
Radio.Standby();
- Radio.Rx( 10 );
- if(wg_lost_count++>3)
- {
- wg_state = WG_Lost;
- }
+ Radio.Rx( 50 );
+ LED_TB_OFF;
}
extern LPTIM_HandleTypeDef hlptim1;
uint16_t current_time,start_time,end_time;
@@ -182,12 +180,15 @@
Radio.Send(lora_sendbuffer,data_length+11);
// Delay_Ms(100);
}
-static uint16_t delaytime = 1125;
+extern u8 lora_jianting_flag,report_ancnum;
+static uint16_t delaytime = 771;
static uint16_t source_id;
uint8_t rec_index;
-uint16_t rec_value,rec_delaytime,target_count,rx_count;
+uint16_t rec_value,rec_delaytime,rx_count,datalen_offset;
+int32_t target_count;
+extern uint16_t motor_keeptime;
void OnRxDone( uint8_t *payload, uint16_t size, int16_t rssi, int8_t snr )
-{
+{ uint16_t checksum1;
BufferSize = size;
memcpy( RX_Buffer, payload, BufferSize );
RssiValue = rssi;
@@ -202,6 +203,9 @@
}
if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_WGRESPTAG)
{
+ checksum1=Checksum_u16(RX_Buffer,BufferSize-2);
+
+ if(!memcmp(&checksum1,&RX_Buffer[BufferSize-2],2))
if(!memcmp(&dev_id,&RX_Buffer[DEST_ID_IDX],2))
{
memcpy(&source_id,&RX_Buffer[SOURCE_ID_IDX],2);
@@ -218,9 +222,16 @@
case WGRSP_RWTAG_NONE:
current_count = HAL_LPTIM_ReadCounter(&hlptim1);
wg_report_freq = RX_Buffer[POLL_FREQ_IDX]+400;
- memcpy(&rec_delaytime,&RX_Buffer[NEXTPOLL_TIME_IDX],2);
- target_count = current_count + rec_delaytime*32.8 - delaytime;
- if(target_count>=32768)
+ 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;
+ }
+
+ 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);
@@ -232,27 +243,23 @@
break;
case WGRSP_RWTAG_WRITE:
rec_index = RX_Buffer[PWTAG_WRITE_IDX_IDX];
- if(rec_index==0xDD)
- {
-// if(usart5_state==1)
-// {
-// Usart5Init();
-// usart5_state=0;
-// }
-// HAL_GPIO_WritePin(GPIOC, GPIO_PIN_7, GPIO_PIN_SET);
-// HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_SET);
-// memcpy(&xiafayuyin_data,&RX_Buffer[9],RX_Buffer[8]);
-// yuyin_sendflag=1;
-// yuyinzidongguan_time=0;
-// yuyin_no_sleep_flag=1;
- }else{
+ switch(rec_index)
+ {
+ case 0xdd: //语音下发
+ break;
+ case 0x20: //蜂鸣
+ memcpy(&rec_value,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],2);
+ motor_keeptime = rec_value;
+ break;
+ default :
memcpy(&rec_value,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],2);
g_com_map[rec_index/2] = rec_value;
save_com_map_to_flash();
LoraRspWriteCommap(SUBMSG_WRITE_ANCPARA);
flag_writepara_needreset = 1;
- no_rx_flag = 1;
- }
+ no_rx_flag = 1;
+ }
+
break;
}
}
@@ -260,14 +267,18 @@
}
if(!no_rx_flag)
{
- SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],UWB_CHANNEL_SF,0);
- Radio.Rx(0);
+ if(lora_jianting_flag)
+ {
+ SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],UWB_CHANNEL_SF,0);
+ Radio.Rx(0);
+ }
}
}
void OnTxTimeout( void )
{
Radio.Standby();
+ if(lora_jianting_flag)
SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],UWB_CHANNEL_SF,0);
}
uint8_t tm;
@@ -275,13 +286,23 @@
void OnRxTimeout( void )
{
Radio.Standby();
- SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],UWB_CHANNEL_SF,0);
+ 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);
+ if(lora_jianting_flag)
+ {
+ SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],UWB_CHANNEL_SF,0);
+ Radio.Rx(0);
+ }
}
void OnRxError( void )
{
Radio.Standby();
+ if(lora_jianting_flag)
SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],UWB_CHANNEL_SF,0);
}
@@ -311,7 +332,7 @@
}
-
+extern u8 active_flag;
void LoraInit(void)
{
RadioEvents.TxDone = OnTxDone;
@@ -322,7 +343,12 @@
Radio.Init( &RadioEvents );
SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],5,0); //切换lora接收频点
- Radio.Rx( 0 );
+ if(active_flag)
+ {
+ Radio.Rx( 0 );
+ }else{
+ Radio.Sleep();
+ }
// Radio.SetRxDutyCycle(RxDutyCycle_RX_time,RxDutyCycle_SLEEP_time);
}
--
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