From dbe010cbc556a3f07136b7eac67e62f115285db8 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期日, 24 三月 2024 19:00:15 +0800
Subject: [PATCH] Merge branch '免布线URT-LORA-L071' of http://47.108.70.204:60062/r/XRange_Tag into 免布线URT-LORA-L071
---
Src/application/dw_mbx_tag.c | 145 +++++++++++++++++++++++++++++++++++++++---------
1 files changed, 118 insertions(+), 27 deletions(-)
diff --git a/Src/application/dw_mbx_tag.c b/Src/application/dw_mbx_tag.c
index 38a0624..71fb9f8 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
@@ -126,7 +128,10 @@
}
return i;
}
-
+extern uint8_t gps_state;
+uint32_t temp231;
+extern uint32_t uwbled,gpsled,loraled,powerled;
+uint32_t uwbdezhuangtai;
void MbxTagUwbRec(void)
{
@@ -135,11 +140,11 @@
uint32_t rec_syncid,status_reg;
uint16_t checksum;
uint8_t kk;
-
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);
-
+// HAL_GPIO_WritePin(GPIOC, GPIO_PIN_5, GPIO_PIN_SET);
+// printf("成功接收LORA\r\n");
+ temp231 = dwt_read32bitreg(CHAN_CTRL_ID) ;
start_time=HAL_LPTIM_ReadCounter(&hlptim1);
timeout=100; //单位0.1ms
end_time=start_time+(timeout<<2);
@@ -153,7 +158,8 @@
if(current_time>=end_time&¤t_time<end_time+15000)
break;
};
-
+ uwbdezhuangtai=status_reg;
+// printf("UWB状态:%x\r\n",uwbdezhuangtai);
if (status_reg & SYS_STATUS_RXFCG && status_reg!=0xffffffff)//成功接收
{
uint16_t tag_recv_interval;
@@ -165,7 +171,8 @@
dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
//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);
+ memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
+//gps_state=tag_id_recv;
switch(rx_buffer[MESSAGE_TYPE_IDX])
{uint8_t target_tagi;
case MBX_REG:
@@ -188,7 +195,7 @@
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;
@@ -210,7 +217,8 @@
}
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);
}
}
@@ -225,7 +233,11 @@
dwt_forcetrxoff();
dwt_entersleep();
-
+//printf("UWB状态:%x\r\n",uwbdezhuangtai);
+//printf("ID:%x\r\n",tag_id_recv);
+//printf("测距:%x\r\n",rec_ancdistlist[0]);
+//uwbdezhuangtai=0;
+//tag_id_recv=0;
}
wg_state_enum wg_state = WG_Lost;
uint8_t lora_sendbuffer[200];
@@ -233,51 +245,130 @@
extern u8 wg_lost_count;
uint16_t wg_report_freq,wg_report_id;
#define WG_LOST_SWITCH_THRES 3
+#define WG_LOST_NOUWB_COUNT 60
+#define DEFAULT_WG_ID 0xFFFF
+u8 lora_jianting_flag = 1;
void LoraReportFreqPoll(void)
{
+ if(wg_lost_count++>WG_LOST_NOUWB_COUNT)
+ {
+ lora_jianting_flag = 0;
+ } else {
+ lora_jianting_flag = 1;
+ }
if(wg_state==WG_Lost)
{
- wg_report_id = 0xffff;
+ wg_report_id = DEFAULT_WG_ID;
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)
- {
- wg_state = WG_Lost;
- }
+ } else {
+ if(wg_lost_count>WG_LOST_SWITCH_THRES)
+ {
+ 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;
+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 = 590;
+int16_t intheight;
+#define HEATBEAT_UPDATE_TIME 600
+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
+// printf("LORA发送\r\n");
if(sendcount++>0)
TagListUpdate();
LoraReportFreqPoll();
-
+ 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*report_ancnum+30;
+ lora_sendbuffer[MSG_LENGTH] = 4*report_ancnum+ANCID_IDX;
+#else
+ lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGMSGTOWG;
+ lora_sendbuffer[MSG_LENGTH] = 4*report_ancnum+ANCID_IDX;
+#endif
+// 2000f026 02020002 //000220200
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_WEIDU_IDX],&gps_weidu,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;
+#endif
+ for(u16 i=0; i<report_ancnum-1; i++)
+ {
+ for(u16 j=0; j<report_ancnum-1-i; j++)
+ {
+ if(report_ancdist[j]>report_ancdist[j+1])
+ {
+ u16 id,dist;
+ u8 bat;
+ id = report_ancid[j];
+ dist = report_ancdist[j];
+ report_ancid[j] = report_ancid[j+1];
+ report_ancdist[j] = report_ancdist[j+1];
+ report_ancid[j+1] = id;
+ report_ancdist[j+1] = dist;
+ }
+ }
+ }
+ 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);
- bat_percent=Get_Battary();
-
-}
\ No newline at end of file
+//delay_ms(100);
+// LED_TB_ON;
+// bat_percent=Get_Battary();
+// #ifdef _USE_BAR_
+// //if(taglist_total_num>0)
+// {
+ GetPressAndHeight();
+ intheight = Height*100;
+// }
+//#endif
+}
--
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