From 74bd25da02aa4aa8f77c49be13ae2a502fcfb2e0 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期二, 12 十一月 2024 18:05:17 +0800
Subject: [PATCH] 可以跟基站测距 FSK模式
---
Src/radio/Lora.c | 165 +++++++++++++++++++++++++++++++++++++++---------------
1 files changed, 119 insertions(+), 46 deletions(-)
diff --git a/Src/radio/Lora.c b/Src/radio/Lora.c
index daf7937..88b08e8 100644
--- a/Src/radio/Lora.c
+++ b/Src/radio/Lora.c
@@ -21,6 +21,7 @@
void Lora47xrx_Init(void);
void Lora433_change(void);
void Lora433rx_Init(void);
+void SwitchLoraSettings_FSK(uint32_t freq,uint8_t sf,uint8_t power);
void SwitchLoraSettings(uint32_t freq,uint8_t sf,uint8_t power);
uint32_t RxDutyCycle_RX_time =128;
uint32_t RxDutyCycle_SLEEP_time=256;
@@ -39,7 +40,8 @@
#define RF_FREQUENCY_R 500000000 // Hz
#define RF_FREQUENCY_T 470200000 // Hz
#define TX_OUTPUT_POWER 22 // 22 dBm
-
+uint16_t rec_wenjian_daxiao;
+uint16_t wangguan_up_id;
extern bool IrqFired;
extern uint8_t lora_yingda_flag;
uint16_t lora_yingda_num;
@@ -206,19 +208,19 @@
extern uint8_t lora_sendbuffer[200];
void LoraSendComMap(uint8_t cmd)
{
- uint8_t data_length = 0x28;
- uint16_t checksum = 0;
- lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_READPARARESP;
- lora_sendbuffer[MSG_LENGTH] = data_length+9;
+ uint8_t data_length = 0x50;
+ uint16_t checksum = 0;
+ lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_READPARARESP;
+ lora_sendbuffer[MSG_LENGTH] = data_length+11;
memcpy(&lora_sendbuffer[SOURCE_ID_IDX],&g_com_map[DEV_ID],2);
memcpy(&lora_sendbuffer[DEST_ID_IDX],&wg_report_id,2);
- lora_sendbuffer[RP_CMD_IDX] = cmd;
- lora_sendbuffer[RP_INDEX_IDX] = 2;
- lora_sendbuffer[RP_LEN_IDX] = data_length;
- memcpy(&lora_sendbuffer[7], &g_com_map[1], data_length);
- checksum = Checksum_u16(lora_sendbuffer,9+data_length);
- memcpy(&lora_sendbuffer[9+data_length],&checksum,2);
- Radio.Send(lora_sendbuffer,data_length+11);
+ lora_sendbuffer[RP_CMD_IDX] = cmd;
+ lora_sendbuffer[RP_INDEX_IDX] = 2;
+ lora_sendbuffer[RP_LEN_IDX] = data_length;
+ memcpy(&lora_sendbuffer[9], &g_com_map[1], data_length);
+ checksum = Checksum_u16(lora_sendbuffer,11+data_length);
+ memcpy(&lora_sendbuffer[11+data_length],&checksum,2);
+ Radio.Send(lora_sendbuffer,data_length+13);
// Delay_Ms(100);
}
void LoraRspWriteCommap(uint8_t index)
@@ -238,15 +240,17 @@
Radio.Send(lora_sendbuffer,data_length+11);
// Delay_Ms(100);
}
-extern u8 lora_jianting_flag;
-static uint16_t delaytime = 1050;
+extern uint8_t imu_enable,motor_enable;
+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,rx_count;
+uint8_t rec_index,rec_secdelay;
+uint16_t rec_value,rec_delaytime,rx_count,datalen_offset;
int32_t target_count;
extern uint16_t motor_keeptime;
+uint8_t shengji_flag;
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;
@@ -256,12 +260,19 @@
lora_up_rec_flag=1;
if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_RANGEPOLL)
{
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET);
UWB_Wkup();
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_SET);
MbxTagUwbRec();
+// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET);
HAL_GPIO_WritePin(RADIO_NSS_GPIO_Port, RADIO_NSS_Pin, GPIO_PIN_RESET); //片选lora有效
+ Radio.Rx(0);
}
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);
@@ -278,8 +289,20 @@
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*3.2768 - delaytime;
+ 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;
+ }
+ rec_secdelay = RX_Buffer[PWTAG_SECDELAY_IDX];
+ if(BufferSize!=13||rec_secdelay>20)
+ {
+ rec_secdelay = 0;
+ }
+
+ 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);
@@ -294,9 +317,6 @@
rec_index = RX_Buffer[PWTAG_WRITE_IDX_IDX];
switch(rec_index)
{
- case 0xaa: //升级下发
- LoraUp_Poll();
- break;
case 0xdd: //语音下发
break;
case 0x20: //蜂鸣
@@ -312,40 +332,64 @@
no_rx_flag = 1;
}
- break;
+ 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;
+ imu_enable=0;
+ }
+// LoraUp_Poll();
+ break;
+ }
+ break;
}
}
}
- }
if(!no_rx_flag)
{
if(lora_jianting_flag&&LoraUp_flag==0)
{
- SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],UWB_CHANNEL_SF,0);
+ SwitchLoraSettings_FSK(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],UWB_CHANNEL_SF,0);
Radio.Rx(0);
}
}
+ }
+
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET);
}
void OnTxTimeout( void )
{
Radio.Standby();
if(lora_jianting_flag)
- SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],UWB_CHANNEL_SF,0);
+ SwitchLoraSettings_FSK(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],UWB_CHANNEL_SF,0);
}
uint8_t tm;
uint16_t Lora_rece_error;
void OnRxTimeout( void )
{
Radio.Standby();
- 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(wg_state==WG_Lost)
+ {
+ 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);
+ SwitchLoraSettings_FSK(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],UWB_CHANNEL_SF,0);
Radio.Rx(0);
}
}
@@ -355,7 +399,7 @@
Radio.Standby();
if(lora_jianting_flag)
- SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],UWB_CHANNEL_SF,0);
+ SwitchLoraSettings_FSK(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],UWB_CHANNEL_SF,0);
}
uint16_t freq_test;
@@ -384,6 +428,39 @@
}
+uint16_t freq_test;
+#define FSK_FDEV 127e3 // Hz
+#define FSK_DATARATE 250e3 // bps
+#define FSK_BANDWIDTH 250e3 // Hz >> DSB in sx126x
+#define FSK_AFC_BANDWIDTH 100e3 // Hz
+#define FSK_PREAMBLE_LENGTH 5 // Same for Tx and Rx
+#define FSK_FIX_LENGTH_PAYLOAD_ON false
+void SwitchLoraSettings_FSK(uint32_t freq,uint8_t sf,uint8_t power)
+{
+
+// RadioEvents.TxDone = OnTxDone;
+// RadioEvents.RxDone = OnRxDone;
+// RadioEvents.TxTimeout = OnTxTimeout;
+// RadioEvents.RxTimeout = OnRxTimeout;
+// RadioEvents.RxError = OnRxError;
+ //HAL_GPIO_WritePin(GPIOB, GPIO_PIN_12, GPIO_PIN_SET);
+// Radio.Init( &RadioEvents );
+ Radio.Standby();
+ // HAL_GPIO_WritePin(GPIOB, GPIO_PIN_12, GPIO_PIN_RESET);
+ Radio.SetChannel( freq*1000000 );
+ freq_test = freq;
+ Radio.SetTxConfig( MODEM_FSK, power, FSK_FDEV, 0,
+ FSK_DATARATE, 0,
+ FSK_PREAMBLE_LENGTH, FSK_FIX_LENGTH_PAYLOAD_ON,
+ true, 0, 0, 0, 3000 );
+
+ Radio.SetRxConfig( MODEM_FSK, FSK_BANDWIDTH, FSK_DATARATE,
+ 0, FSK_AFC_BANDWIDTH, FSK_PREAMBLE_LENGTH,
+ 0, FSK_FIX_LENGTH_PAYLOAD_ON, 0, true,
+ 0, 0,false, false );
+
+
+}
extern u8 active_flag;
void LoraInit(void)
{
@@ -394,7 +471,7 @@
RadioEvents.RxError = OnRxError;
Radio.Init( &RadioEvents );
- SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],5,0); //切换lora接收频点
+ SwitchLoraSettings_FSK(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],5,0); //切换lora接收频点
if(active_flag)
{
Radio.Rx( 0 );
@@ -405,8 +482,6 @@
}
-uint16_t rec_wenjian_daxiao;
-uint16_t wangguan_up_id;
uint8_t send_lora_data[250];
//extern uint8_t lora_recbuffer[255];
uint8_t muqiandeshengjibao;
@@ -420,13 +495,9 @@
void LoraUp_Poll()
{ uint16_t result ;
uint16_t crc16;
- memcpy(&rec_wenjian_daxiao,&RX_Buffer[WRITEPARA_VALUE_IDX],2);//文件大小
-// rec_wenjian_daxiao=rxbuffer[WRITEPATE_VALUE_IDX];
- if(rec_wenjian_daxiao>0XAC00)
- {}//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
+ 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
@@ -436,7 +507,7 @@
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);
+ Delay_Ms(1000);
SwitchLoraSettings(LORA_UPCHANNEL_FRQ,LORA_UPCHANNEL_SF,22); //切换lora升级频点
delay_ms(200);
__disable_irq();
@@ -532,10 +603,12 @@
huifushengjibaoerror_num++;
if(huifushengjibaoerror_num>=5)
{
- huifushengjibaoerror_num=0;
+ huifushengjibaoerror_num=0;
+ Delay_Ms(500);
+ HAL_NVIC_SystemReset();
break;
}
}
}
- }
+ }
}
--
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