From 3be9d3dc5f5e88d2eb50dfc5e73abf5c07eda9b2 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期二, 12 十一月 2024 18:04:29 +0800
Subject: [PATCH] 可以跟标签uwb测距。
---
Src/application/dw_app.c | 68 +++++++++++++++++++--------------
1 files changed, 39 insertions(+), 29 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index bea83cb..14094f6 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -243,51 +243,61 @@
}
}
#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;
-nextpoll_enum next_poll_state;
+typedef enum{ Next_Poll_RANGE,
+ Next_Poll_LORASYNC,
+}nextpoll_enum;
+nextpoll_enum next_poll_state = Next_Poll_RANGE;
+extern uint8_t sync_lost_count;
void Tag_App(void)//发送模式(TAG标签)
{
- if(next_poll_state==Next_Poll_RANGE)
+ SyncStateSwitch();
+ if(next_poll_state==Next_Poll_RANGE) //读取本次的工作状态 测距还是同步
{
current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- target_count = GetUwbPollCount();
- while(current_count<target_count||current_count>target_count+16384)
- {
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- if(current_count<target_count-300)
- {
- break;
- }
- }
-
+
+ SwitchLoraSettings_FSK(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);
+ LED_TB_ON;
+ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_SET);
Radio.Send(lora_start_poll_buff, 4);
- UWB_Wkup();
- delay_us(700);
+ UWB_Wkup();
+ delay_us(450);
MBXANCPoll();
+ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_RESET);
dwt_entersleep();
- bat_percent=Get_VDDVlotage();
+ SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],5,g_com_map[LORA_POWER]);
next_poll_state = Next_Poll_LORASYNC;
}else{
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- target_count = GetWGRecSyncCount()-2000/LPTIMER_LSB; //提前2ms进入接收状态
- while(current_count<target_count||current_count>target_count+16384)
- {
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- if(current_count<target_count-300)
- {
- break;
- }
- }
- LoraSyncRecPoll();
- if(GetRangeState())
+ 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()-(23000)/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);
+ }
+
}
--
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