From d7f957eb56272e006de3dd404454cdf56de86655 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期日, 25 二月 2024 18:42:52 +0800
Subject: [PATCH] 调通数据上报，测距，同步
---
Src/application/dw_mbx_tag.c | 49 +++++++++++++++++++++++++++++++++++--------------
1 files changed, 35 insertions(+), 14 deletions(-)
diff --git a/Src/application/dw_mbx_tag.c b/Src/application/dw_mbx_tag.c
index 41e557a..b7f43d4 100644
--- a/Src/application/dw_mbx_tag.c
+++ b/Src/application/dw_mbx_tag.c
@@ -1,6 +1,6 @@
#include "dw_mbx_tag.h"
-#define DELAY_BETWEEN_TWO_FRAME_UUS 300
+#define DELAY_BETWEEN_TWO_FRAME_UUS 400
#define POLL_RX_TO_RESP_TX_DLY_UUS 470
#define UUS_TO_DWT_TIME 65536
@@ -38,6 +38,7 @@
#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 +96,25 @@
// 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)
@@ -201,7 +210,8 @@
}
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);
}
}
@@ -224,24 +234,33 @@
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;
+u8 gps_state,gps_chafenlingqi,gps_satel_num,gps_signalpower;
double gps_jingdu,gps_weidu;
extern u8 bat_percent,stationary_flag;
int16_t sendcount = 0,tp1;
+u8 flag_getwgresp;
void LoraReportPoll(void)
{
@@ -249,10 +268,10 @@
TagListUpdate();
LoraReportFreqPoll();
-
+ flag_getwgresp = 0;
SwitchLoraSettings(wg_report_freq,REPORT_CHANNEL_SF,g_com_map[LORA_POWER]);
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;
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++;
@@ -262,13 +281,15 @@
memcpy(&lora_sendbuffer[GPS_WEIDU_IDX],&gps_jingdu,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);
+ 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
--
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