From a61102099d74e7a5293696af70a18104e8e78975 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期四, 07 十一月 2024 16:06:07 +0800
Subject: [PATCH] 1.22，改为3s一个周期 第一秒发lora 第二个周期开uwb，第三秒关uwb
---
Src/radio/Lora.c | 116 ++++++++++++++++++++++++++++++++--------------------------
1 files changed, 64 insertions(+), 52 deletions(-)
diff --git a/Src/radio/Lora.c b/Src/radio/Lora.c
index 249815e..a4683a5 100644
--- a/Src/radio/Lora.c
+++ b/Src/radio/Lora.c
@@ -207,19 +207,19 @@
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)
@@ -239,10 +239,11 @@
Radio.Send(lora_sendbuffer,data_length+11);
// Delay_Ms(100);
}
+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;
+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;
@@ -256,12 +257,12 @@
Radio.Standby();
no_rx_flag = 0;
lora_up_rec_flag=1;
- if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_RANGEPOLL)
- {
- UWB_Wkup();
- MbxTagUwbRec();
- HAL_GPIO_WritePin(RADIO_NSS_GPIO_Port, RADIO_NSS_Pin, GPIO_PIN_RESET); //片选lora有效
- }
+// if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_RANGEPOLL)
+// {
+// UWB_Wkup();
+// MbxTagUwbRec();
+// HAL_GPIO_WritePin(RADIO_NSS_GPIO_Port, RADIO_NSS_Pin, GPIO_PIN_RESET); //片选lora有效
+// }
if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_WGRESPTAG)
{
checksum1=Checksum_u16(RX_Buffer,BufferSize-2);
@@ -278,19 +279,25 @@
if(!memcmp(&wg_report_id,&RX_Buffer[SOURCE_ID_IDX],2))
{
wg_lost_count = 0;
+// HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);
switch(RX_Buffer[PWTAG_RW_FLAG_IDX])
{
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);
- if(report_ancnum<2)
- {
- datalen_offset = report_ancnum*85;
- }else{
- datalen_offset = (report_ancnum-1)*46+85;
- }
-
+ 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;
@@ -334,7 +341,8 @@
{
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;
+ LoraUp_flag=1;
+ imu_enable=0;
}
// LoraUp_Poll();
break;
@@ -344,36 +352,40 @@
}
}
}
- if(!no_rx_flag)
- {
- if(lora_jianting_flag&&LoraUp_flag==0)
- {
- SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],UWB_CHANNEL_SF,0);
- Radio.Rx(0);
- }
- }
+// if(!no_rx_flag)
+// {
+// if(lora_jianting_flag&&LoraUp_flag==0)
+// {
+// 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);
+// if(lora_jianting_flag)
+// SwitchLoraSettings(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);
+ }
+// HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);
if(lora_jianting_flag)
{
- SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],UWB_CHANNEL_SF,0);
- Radio.Rx(0);
+// SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],UWB_CHANNEL_SF,0);
+// Radio.Rx(0);
}
}
@@ -381,8 +393,8 @@
{
Radio.Standby();
- if(lora_jianting_flag)
- SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],UWB_CHANNEL_SF,0);
+// if(lora_jianting_flag)
+// SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],UWB_CHANNEL_SF,0);
}
uint16_t freq_test;
@@ -421,13 +433,13 @@
RadioEvents.RxError = OnRxError;
Radio.Init( &RadioEvents );
- SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],5,0); //切换lora接收频点
- if(active_flag)
- {
- Radio.Rx( 0 );
- }else{
- Radio.Sleep();
- }
+ SwitchLoraSettings(REPORT_MANGE_CHANNEL_FRQ,7,22); //切换lora接收频点
+// if(active_flag)
+// {
+// Radio.Rx( 0 );
+// }else{
+// Radio.Sleep();
+// }
// Radio.SetRxDutyCycle(RxDutyCycle_RX_time,RxDutyCycle_SLEEP_time);
}
--
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