From 4170266b0f0e779d0c1dcbe519e3307e9f2cde7a Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期一, 22 一月 2024 15:33:15 +0800
Subject: [PATCH] 增加同步部分代码，未测试
---
Src/application/dw_mbx_anc.c | 156 ++++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 139 insertions(+), 17 deletions(-)
diff --git a/Src/application/dw_mbx_anc.c b/Src/application/dw_mbx_anc.c
index a9ca1e9..ad2bd16 100644
--- a/Src/application/dw_mbx_anc.c
+++ b/Src/application/dw_mbx_anc.c
@@ -1,11 +1,141 @@
+#include "dw_mbx_anc.h"
+///////////////////////////////////免布线时间同步代码
-//免布线基站端代码
-#include "dw_app.h"
-#include "deca_device_api.h"
-#include "deca_regs.h"
-#include "dw_driver.h"
-#include "Spi.h"
-#include "global_param.h"
+
+
+typedef enum{ Sync_Lost, //同步丢失 同步时间 100秒同步一次，每次同步开启2秒，发起测距请求
+ Sync_Range,//同步状态 测距 同步时间 10秒同步一次，开启10ms，发起测距请求
+ Sync_Config,//同步状态 配置 同步时间 1秒同步一次，不发起测距请求
+ Sync_Sleep, //同步状态 休眠 同步时间 100秒同步一次，不发起测距请求
+}sync_state_enum;
+sync_state_enum sync_state = Sync_Lost;
+
+static uint8_t sync_interval_s,range_state = 0;
+static uint16_t sync_listen_ms;
+
+void SyncStateSwitch(void) //同步切换逻辑，开机LOST状态，收到信号后进入同步状态，在同步状态中，根据收到的网关信息判断测距还是休眠 测距 配置状态
+{
+ switch(sync_state)
+ {
+ case Sync_Lost:
+ sync_interval_s = 100;
+ sync_listen_ms =2000;
+ range_state = 1;
+ break;
+ case Sync_Range:
+ sync_interval_s = 10;
+ sync_listen_ms =5;
+ range_state = 1;
+ break;
+ case Sync_Config:
+ sync_interval_s = 1;
+ sync_listen_ms =5;
+ range_state = 0;
+ break;
+ case Sync_Sleep:
+ sync_interval_s = 100;
+ sync_listen_ms =5;
+ range_state = 0;
+ break;
+ }
+}
+uint8_t GetRangeState(void)
+{
+ return range_state;
+}
+#define SYNCLOST_THRES 10
+
+
+
+static uint16_t current_count,poll_startcount,start_count,end_count,poll_timeout;
+static uint8_t sync_interval_count = 0,flag_sync_success,sync_lost_count;
+void SetFlagSyncSuccess(uint8_t value)
+{
+ flag_sync_success = value;
+}
+
+static uint16_t sync_wg_id,rec_sync_count;
+uint8_t lora_recbuffer[255],lora_recbuffer_len;
+static uint16_t synclock_zero_count,wg_sync_polltime_100us,uwbpoll_time_count;
+uint16_t GetUwbPollCount(void)
+{
+ return uwbpoll_time_count;
+}
+uint16_t GetWGRecSyncCount(void)
+{
+ return rec_sync_count;
+}
+void SyncClockProcess(void) //同步时钟函数获取下次UWBpoll的定时器count。
+{
+ memcpy(&wg_sync_polltime_100us,&lora_recbuffer[SYSTIME_IDX],2); //WG下发的同步时间，单位0.1ms。
+ synclock_zero_count = rec_sync_count-(uint32_t)wg_sync_polltime_100us*100/LPTIMER_LSB;
+ if(synclock_zero_count<0)
+ synclock_zero_count+=32768;
+ uwbpoll_time_count = synclock_zero_count + (uint32_t)g_com_map[UWBPOLLTIME_MS_IDX]*1000/LPTIMER_LSB;
+ if(uwbpoll_time_count>32768)
+ uwbpoll_time_count-=32768;
+}
+void LoraSyncRecPoll(void)
+{
+ if(sync_interval_count++>=sync_interval_s)
+ {
+ sync_interval_count = 0;
+ flag_sync_success = 0;
+ SwitchLoraToSyncRec(); //切换lora接收频点
+
+ start_count=HAL_LPTIM_ReadCounter(&hlptim1); //等待接收完成直到超时
+ poll_timeout=sync_listen_ms*10; //单位0.1ms
+ end_count=start_count+(poll_timeout<<2);
+ if(end_count>=32768)
+ {end_count-=32768;}
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ while(GetFlagLoraWaitSync())
+ {
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ if(current_count>=end_count&¤t_count<end_count+15000)
+ {
+ break;
+ }
+ }
+ if(flag_sync_success) //同步成功
+ {
+ sync_lost_count = 0;
+ lora_recbuffer_len = GetLoraBufferAndLen(lora_recbuffer,&rec_sync_count);//获取LORA收到的数据和长度
+ if(lora_recbuffer[MSG_TYPE_IDX]==LORA_MSGTYPE_SYNC)
+ {
+ memcpy(&g_com_map[SYNCWG_ID_IDX],&lora_recbuffer[WG_ID_IDX],2);
+ if(lora_recbuffer[RANGE_STATE_IDX])
+ {
+ sync_state = Sync_Range;
+ }else{
+ sync_state = Sync_Sleep;
+ }
+ switch(lora_recbuffer[SUBMSGTYPE_IDX])
+ {
+ case SUBMSG_READ_ANCPARA:
+
+ break;
+ case SUBMSG_WRITE_ANCPARA:
+
+ break;
+ case SUBMSG_UPDATE_ANC:
+
+ break;
+ }
+ }
+ }else{
+ if(sync_lost_count++>SYNCLOST_THRES)
+ {
+ sync_state = Sync_Lost;
+ SyncStateSwitch();
+ }
+ }
+ }
+ // Radio.Sleep( ); //如果超时就sleep
+}
+////////////////////////////免布线测距相关代码
+
+
#define TAG_KEEPTIMES 30 //标签存活时间
#define MAX_TAG_LIST_NUM 200 //同时通讯标签最大数量
@@ -18,7 +148,7 @@
static u8 frame_seq_nb,frame_len;
-static uint16_t current_count,poll_startcount,start_count,end_count,poll_timeout;
+
static uint32_t status_reg = 0;
extern int32_t dwt_readcarrierintegrator(void);
static int32_t test2;
@@ -185,15 +315,7 @@
uwb_sendbuffer[MESSAGE_TYPE_IDX] = MBX_POLL;
dwt_writetxdata(13+4*tag_num_tosend, uwb_sendbuffer, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
dwt_writetxfctrl(13+4*tag_num_tosend, 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(GPIOB, GPIO_PIN_12, GPIO_PIN_RESET);
--
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