From c2802ee207528de2d06403061405f0faadffb922 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期二, 05 三月 2024 18:03:36 +0800
Subject: [PATCH] 初步修改完成，跟工卡相似，gps采用外包代码
---
Src/application/dw_mbx_tag.c | 120 ++++++++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 97 insertions(+), 23 deletions(-)
diff --git a/Src/application/dw_mbx_tag.c b/Src/application/dw_mbx_tag.c
index a8b322a..d8c293c 100644
--- a/Src/application/dw_mbx_tag.c
+++ b/Src/application/dw_mbx_tag.c
@@ -1,6 +1,8 @@
#include "dw_mbx_tag.h"
-
-#define DELAY_BETWEEN_TWO_FRAME_UUS 300
+//#include "dps310.h"
+#include "WS2812.h"
+#include "syn6288.h"
+#define DELAY_BETWEEN_TWO_FRAME_UUS 400
#define POLL_RX_TO_RESP_TX_DLY_UUS 470
#define UUS_TO_DWT_TIME 65536
@@ -38,6 +40,7 @@
#define TAG_NUM_IN_SYS 25
#define TAG_KEEPTIMES 30
+#define REPORT_TAG_KEEPTIMES 3
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 u8 frame_seq_nb2,battary,button,uwb_losttimer,taglist_pos;
@@ -95,17 +98,25 @@
// delay_ms(10);
}
uint8_t report_ancnum;
+uint16_t report_ancdist[ANC_MAX_NUM],report_ancid[ANC_MAX_NUM];
void TagListUpdate(void)
{
- uint16_t i,j=0,temp[TAG_NUM_IN_SYS];
+ uint16_t i,j=0,k=0,temp[TAG_NUM_IN_SYS];
for(i=0;i<taglist_num;i++)
{
+ if(tagofflinetime[i]++<REPORT_TAG_KEEPTIMES)
+ {
+ report_ancid[k]=tagid_list[i];
+ report_ancdist[k++]=tagdist_list[i];
+ }
if(tagofflinetime[i]++<TAG_KEEPTIMES)
{
tagid_list[j]=tagid_list[i];
+ tagdist_list[j] = tagdist_list[i];
tagofflinetime[j++]=tagofflinetime[i];
}
}
+ report_ancnum = k;
taglist_num=j;
}
uint16_t CmpTagInList(uint16_t tagid)
@@ -117,7 +128,8 @@
}
return i;
}
-
+uint32_t temp231;
+extern uint32_t uwbled,gpsled,loraled,powerled;
void MbxTagUwbRec(void)
{
@@ -130,7 +142,7 @@
dwt_setrxtimeout(3000);//设定接收超时时间，0位没有超时时间
dwt_rxenable(0);//打开接收
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_RESET);
-
+ temp231 = dwt_read32bitreg(CHAN_CTRL_ID) ;
start_time=HAL_LPTIM_ReadCounter(&hlptim1);
timeout=100; //单位0.1ms
end_time=start_time+(timeout<<2);
@@ -179,7 +191,7 @@
memcpy(&rec_ancdistlist,&rx_buffer[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
// memcpy(&rec_antdelay,&rx_buffer[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
uwb_losttimer = 0;
-
+ uwbled=GREEN;
taglist_pos=CmpTagInList(tag_id_recv);
if(taglist_num>=ANC_MAX_NUM)
break;
@@ -201,7 +213,8 @@
}
if(i==rec_nearbase_num&&taglist_pos==taglist_num)//当基站不在标签列表中，标签也不在基站列表中时，随机找个时间片回复基站。
{
- Anchor_RecNearPoll(rec_nearbase_num+start_time%5);
+ //Anchor_RecNearPoll(rec_nearbase_num+start_time%2);
+ Anchor_RecNearPoll(rec_nearbase_num);
}
}
@@ -224,51 +237,112 @@
extern u8 wg_lost_count;
uint16_t wg_report_freq,wg_report_id;
#define WG_LOST_SWITCH_THRES 3
+#define WG_LOST_NOUWB_COUNT 30
+u8 closeuwb_flag;
void LoraReportFreqPoll(void)
{
+ if(wg_lost_count++>WG_LOST_NOUWB_COUNT)
+ {
+ closeuwb_flag = 1;
+ }else{
+ closeuwb_flag = 0;
+ }
if(wg_state==WG_Lost)
{
wg_report_id = 0xffff;
wg_report_freq = REPORT_MANGE_CHANNEL_FRQ; //如果丢失链接就进入WG管理信道。
}else{
- if(wg_lost_count++>WG_LOST_SWITCH_THRES)
+ if(wg_lost_count>WG_LOST_SWITCH_THRES)
{
- wg_state = WG_Lost;
+ wg_state = WG_Lost;
}
}
}
static u16 checksum;
-u8 gps_state,gps_chafenlingqi,gps_satel_num,test_num;
+u8 gps_state,gps_chafenlingqi,gps_satel_num,gps_signalpower;
double gps_jingdu,gps_weidu;
+float gps_height;
extern u8 bat_percent,stationary_flag;
-int16_t sendcount = 0,tp1;
+int16_t sendcount = 0,tp1,bar_height;
+u8 flag_getwgresp;
+void LoraHeartBeartPoll(void)
+{
+ lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGHEARTBEAT;
+ lora_sendbuffer[MSG_LENGTH] = 14;
+ memcpy(&lora_sendbuffer[SOURCE_ID_IDX],&g_com_map[DEV_ID],2);
+ memcpy(&lora_sendbuffer[DEST_ID_IDX],&wg_report_id,2);
+ memcpy(&lora_sendbuffer[HB_VERSION_IDX],&g_com_map[VERSION],2);
+ lora_sendbuffer[HB_UWBPOWER_IDX] = g_com_map[POWER];
+ lora_sendbuffer[HB_LORAPOWER_IDX] = g_com_map[LORA_POWER];
+ checksum = Checksum_u16(lora_sendbuffer,14);
+ memcpy(&lora_sendbuffer[14],&checksum,2);
+ Radio.Send(lora_sendbuffer,16);
+}
+uint16_t heatbeat_count = 3600;
+int16_t intheight;
+#define HEATBEAT_UPDATE_TIME 3600
+extern float Height;
void LoraReportPoll(void)
{
-
+ // delay_ms(100);
+#ifdef _USE_BAR
+ GetPressAndHeight();
+ intheight = Height*100;
+#endif
+ #ifdef _SMT_TEST
+ printf("气压值：%d",intheight);
+ #endif
+
if(sendcount++>0)
TagListUpdate();
LoraReportFreqPoll();
- taglist_num = test_num;
+ flag_getwgresp = 0;
+ // wg_report_freq = REPORT_MANGE_CHANNEL_FRQ;
SwitchLoraSettings(wg_report_freq,REPORT_CHANNEL_SF,g_com_map[LORA_POWER]);
+ if(heatbeat_count++>HEATBEAT_UPDATE_TIME && WG_Connected == wg_state) //如果心跳包到达上传时间，并且网关处于链接状态，就上传心跳包
+ {
+ heatbeat_count = 0;
+ LoraHeartBeartPoll();
+ return;
+ }
+#ifdef USE_GPS
lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGMSGTOWG_GPS;
- lora_sendbuffer[MSG_LENGTH] = 4*taglist_num+30;
+ lora_sendbuffer[MSG_LENGTH] = 4*report_ancnum+30;
+#else
+ lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGMSGTOWG;
+ lora_sendbuffer[MSG_LENGTH] = 4*report_ancnum+ANCID_IDX;
+#endif
+
memcpy(&lora_sendbuffer[SOURCE_ID_IDX],&g_com_map[DEV_ID],2);
memcpy(&lora_sendbuffer[DEST_ID_IDX],&wg_report_id,2);
lora_sendbuffer[SEQNUM_IDX] = seq_num++;
lora_sendbuffer[BAT_IDX] = bat_percent;
- lora_sendbuffer[STATE_IDX] = !GET_USERKEY|stationary_flag<<1;;
+ lora_sendbuffer[STATE_IDX] = !GET_USERKEY|stationary_flag<<1;
+#ifdef USE_GPS
memcpy(&lora_sendbuffer[GPS_JINGDU_IDX],&gps_jingdu,8);
memcpy(&lora_sendbuffer[GPS_WEIDU_IDX],&gps_jingdu,8);
+ memcpy(&lora_sendbuffer[GPS_HEIGHT_IDX],&gps_height,8);
lora_sendbuffer[GPS_STATE_IDX] = gps_state;
lora_sendbuffer[GPS_SATEL_NUM_IDX] = gps_satel_num;
+ lora_sendbuffer[GPS_SPOWER_IDX] = gps_signalpower;
lora_sendbuffer[GPS_CHAFENLINGQI] = gps_chafenlingqi;
- lora_sendbuffer[ANCNUM_IDX] = taglist_num;
- memcpy(&lora_sendbuffer[ANCID_IDX],tagid_list,taglist_num*2);
- memcpy(&lora_sendbuffer[ANCID_IDX+taglist_num*2],tagdist_list,taglist_num*2);
- checksum = Checksum_u16(lora_sendbuffer,4*taglist_num+ANCID_IDX);
- memcpy(&lora_sendbuffer[ANCID_IDX+taglist_num*4],&checksum,2);
- Radio.Send(lora_sendbuffer,ANCID_IDX+taglist_num*4+2);
+#endif
+ memcpy(&lora_sendbuffer[BAR_HEIGHT_IDX],&intheight,2);
+ lora_sendbuffer[ANCNUM_IDX] = report_ancnum;
+ memcpy(&lora_sendbuffer[ANCID_IDX],report_ancid,report_ancnum*2);
+ memcpy(&lora_sendbuffer[ANCID_IDX+report_ancnum*2],report_ancdist,report_ancnum*2);
+ checksum = Checksum_u16(lora_sendbuffer,4*report_ancnum+ANCID_IDX);
+ memcpy(&lora_sendbuffer[ANCID_IDX+report_ancnum*4],&checksum,2);
+ Radio.Send(lora_sendbuffer,ANCID_IDX+report_ancnum*4+2);
+
+// LED_TB_ON;
bat_percent=Get_Battary();
-
-}
\ No newline at end of file
+ #ifdef _USE_BAR_
+ //if(taglist_total_num>0)
+ {
+ GetPressAndHeight();
+ intheight = Height*100;
+ }
+#endif
+}
--
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