From a05285d3b4ea5aa0609a2a23aa867c17c0611a38 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期日, 18 二月 2024 10:17:57 +0800
Subject: [PATCH] 配合网关调试标签上传回复部分，测距部分已经调通
---
Src/application/dw_ancapp.c | 108 ++++++++++++++++++++++++++++++++++-------------------
1 files changed, 69 insertions(+), 39 deletions(-)
diff --git a/Src/application/dw_ancapp.c b/Src/application/dw_ancapp.c
index d76d691..3b0a160 100644
--- a/Src/application/dw_ancapp.c
+++ b/Src/application/dw_ancapp.c
@@ -52,7 +52,8 @@
static uint8_t flag_syncbase,sync_seq,synclost_timer,temp_nearbaspos;
static uint16_t sync_timer;
static uint8_t send_buffer[150];
-static uint8_t frame_seq_nb2,battary,button,ancidlist_num;
+static uint8_t battary,button,ancidlist_num;
+uint8_t frame_seq_nb2;
uint8_t rec_nearbase_num;
static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS],rec_ancdistlist[TAG_NUM_IN_SYS];
static int16_t rec_antdelay;
@@ -179,6 +180,7 @@
u16 basesystimer,uwb_losttimer;
uint8_t remotesend_state,remotesend_index;
uint16_t random_time;
+u32 value;
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos) //0 mainbase 1 first near_base
{
uint8_t motorstate;
@@ -194,10 +196,10 @@
if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式
{
random_time = (GetLPTime()%100);
- resp_tx_time = (poll_rx_ts+((random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
+ resp_tx_time = (poll_rx_ts+((/*value+*/random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
}else{
- resp_tx_time = (poll_rx_ts + ((rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
+ resp_tx_time = (poll_rx_ts + ((/*value+ */rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
}
dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
//dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
@@ -228,23 +230,31 @@
// result = dwt_starttx(DWT_START_TX_DELAYED);
//// uwb_timeout = 0;
// if(result == 0)
+// {
uwb_timeout=lp_time;
- while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS | SYS_STATUS_ALL_RX_ERR)))///不断查询芯片状态直到接收成功或者出现错误
+ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & SYS_STATUS_TXFRS ))///不断查询芯片状态直到接收成功或者出现错误
{
- current_time=HAL_LPTIM_ReadCounter(&hlptim1);
- if(current_time>end_time/*||current_time<end_time+15000*/)
- {
-// printf("debug2 timec:%d timee:%d\r\n",current_time,end_time);
- break;}
-// if(lp_time-uwb_timeout>2)
-// break;
+// current_time=HAL_LPTIM_ReadCounter(&hlptim1);
+// if(current_time>end_time+((32768/1000)*3)||current_time<end_time+15000)
+// {
+//// printf("debug2 timec:%d timee:%d\r\n",current_time,end_time);
+// break;}
+ if(lp_time-uwb_timeout>2)
+ break;
};
- dwt_rxenable(0);
+// }
+// dwt_rxenable(0);
}
-uint8_t power_and_key=0;
+
uint16_t target_tagid[12] = {0x1316,0x1394,0x1265,0x1318,0x1306,0x1304,0x1376,0x1312,0x1277,0x1388,0x1140,0x1392};
+uint16_t Lora_tx_ancid[50];
+uint16_t Lora_tx_ancdist[50];
+uint8_t Lora_tx_anc_electricity[50];
+uint8_t Lora_tx_ancnum=0;
+uint8_t break_flag ;
+uint16_t RX_TIMEOUTs_UWB;
void Anchor_App(void)
{
@@ -252,7 +262,7 @@
u16 tempid;
uint32_t rec_syncid;
uint16_t checksum;
-
+ uint8_t kk;
dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
dwt_rxenable(0);//打开接收
@@ -260,7 +270,7 @@
start_time=HAL_LPTIM_ReadCounter(&hlptim1);
- end_time=start_time+((32768/1000)*20);
+ end_time=start_time+((32768/1000)*2);
if(end_time>=32768)
{end_time-=32768;}
current_time=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -278,7 +288,7 @@
{
uint16_t tag_recv_interval;
float temp_tagpos;
-
+
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
recpoll_len = frame_len;
@@ -289,7 +299,7 @@
//将收到的tag_id分别写入各次通讯的包中，为多标签通讯服务，防止一次通讯中接收到不同ID标签的数据
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
-
+// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET);
// printf("ID %x\r\n",tag_id_recv);
switch(rx_buffer[MESSAGE_TYPE_IDX])
{uint8_t target_tagi;
@@ -330,29 +340,48 @@
for(u8 i=0;i<rec_nearbase_num;i++)
{
if(rec_ancidlist[i] == dev_id)
- {
-// PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],-(int8_t)firstpath_power);
-
- // PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
- }
+ {
+ for(kk=0;kk<Lora_tx_ancnum;kk++)
+ {
+ if(Lora_tx_ancid[kk]==tag_id_recv)
+ {
+// Lora_tx_ancnum--;
+ Lora_tx_ancdist[kk]=rec_ancdistlist[i];
+ Lora_tx_anc_electricity[kk]=battary;
+ break_flag=1;
+ break;
+ }
+ }
+ if(break_flag)
+ {
+ break_flag=0;
+ break;
+ }
+ Lora_tx_ancid[Lora_tx_ancnum]=tag_id_recv;
+ Lora_tx_ancdist[Lora_tx_ancnum]=rec_ancdistlist[i];
+ Lora_tx_anc_electricity[Lora_tx_ancnum]=battary;
+// printf("接收到uwb测距:%d",Lora_tx_ancdist[0]);
+ Lora_tx_ancnum++;
+ RX_TIMEOUTs_UWB++;
+ }
}
-// #ifdef USART_ALL_OUTPUT
- usart_send[2] = 0x12;//正常模式
- usart_send[3] = 8+rec_nearbase_num*4;//数据段长度
- memcpy(&usart_send[4],&tag_id_recv,2);
- usart_send[6] = frame_seq_nb2;//包序
- power_and_key=battary<<1;//把按键跟电量2合1，发出去
- power_and_key=power_and_key+button;
- memcpy(usart_send+7,&power_and_key,1);
-
- usart_send[8] = rec_nearbase_num;//lora等待应答位
- usart_send[9] = lora_yingda_flag;
- memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);
- memcpy(&usart_send[10+rec_nearbase_num*2],&rec_ancdistlist,2*rec_nearbase_num);
- checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
- memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
-// UART_PushFrame(usart_send,12+rec_nearbase_num*4);
-// #endif
+//// #ifdef USART_ALL_OUTPUT
+// usart_send[2] = 0x12;//正常模式
+// usart_send[3] = 8+rec_nearbase_num*4;//数据段长度
+// memcpy(&usart_send[4],&tag_id_recv,2);
+// usart_send[6] = frame_seq_nb2;//包序
+// power_and_key=battary<<1;//把按键跟电量2合1，发出去
+// power_and_key=power_and_key+button;
+// memcpy(usart_send+7,&power_and_key,1);
+// usart_send[8] = lora_yingda_flag;//lora等待应答位
+// usart_send[9] = rec_nearbase_num;//lora等待应答位
+//// usart_send[9] = lora_yingda_flag;
+// memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);
+// memcpy(&usart_send[10+rec_nearbase_num*2],&rec_ancdistlist,2*rec_nearbase_num);
+// checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
+// memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
+//// UART_PushFrame(usart_send,12+rec_nearbase_num*4);
+//// #endif
taglist_pos=CmpTagInList(tag_id_recv);
if(taglist_num>=TAG_NUM_IN_SYS)
@@ -386,6 +415,7 @@
break;
}
}
+
if(i==rec_nearbase_num)
{
seize_anchor=1; //抢占anchor
--
Gitblit v1.9.3