From f152f0dd5cb4aaf867b8976e357291001bb2eebe Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期一, 21 十月 2024 16:06:24 +0800
Subject: [PATCH] 开发完成，版本V1.0
---
Src/application/dw_app.c | 162 ++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 128 insertions(+), 34 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index a2d6bac..6769a1b 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -74,7 +74,7 @@
//#define _UWB_4G
-static dwt_config_t config = {
+dwt_config_t config = {
#ifdef _UWB_4G
2, /* Channel number. */
#else
@@ -243,54 +243,148 @@
}
}
#include "radio.h"
+#include "dw_mbx_anc.h"
u8 lora_start_poll_buff[4] = {LORA_MSGTYPE_RANGEPOLL,'I','N','G'};
uint16_t current_count,target_count;
+typedef enum{ Next_Poll_RANGE,
+ Next_Poll_LORASYNC,
+}nextpoll_enum;
+#define UWB 0
+#define LORA 1
+static uint8_t lora_sendbuffer[40];
+static uint16_t wg_report_id=0xffff;
+uint8_t seq_num;
+static u16 checksum;
+#define SEQNUM_IDX 6 //标签报文序号
+#define BAT_IDX 7 //标签电量
+#define STATE_IDX 8
+#define ANCID_IDX 30 //校验在4*ancnum+ANCID_IDX 位置
+#define LORA5_CHANNEL_FRQ 478
+#define LORA5_CHANNEL_SF 7
+uint8_t poll_state;
+void Lora_Poll(void)
+{
+
+ SwitchLoraSettings(LORA5_CHANNEL_FRQ,LORA5_CHANNEL_SF,22);
+ lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGMSGTOWG_GPS;
+ lora_sendbuffer[MSG_LENGTH] = 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++;
+ lora_sendbuffer[BAT_IDX] = bat_percent;
+ lora_sendbuffer[STATE_IDX] = 0;
+// memcpy(&lora_sendbuffer[GPS_JINGDU_IDX],&gps_jingdu,8);
+// 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] = 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*0+ANCID_IDX);
+ memcpy(&lora_sendbuffer[ANCID_IDX+0*4],&checksum,2);
+ Radio.Send(lora_sendbuffer,ANCID_IDX+0*4+2);
+}
nextpoll_enum next_poll_state;
+extern uint8_t sync_lost_count;
+extern uint8_t Lorahuifu_flag;
+extern int16_t intheight;
+extern u16 uwbdistance;
+extern float bat_volt;
+extern uint8_t shuzu[3];
+extern uint8_t datashuju[50];
+extern uint8_t datachangdu;
void Tag_App(void)//发送模式(TAG标签)
{
- if(next_poll_state==Next_Poll_RANGE)
+// SyncStateSwitch();
+ if(poll_state==UWB) //读取本次的工作状态 测距还是同步
{
+ poll_state=LORA;
current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- target_count = GetUwbPollCount();
- SwitchLoraSettings(UWB_CHANNEL_FRQ,5); //切换lora接收频点
- while(current_count<target_count||current_count>target_count+16384)
- {
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- if(current_count<target_count-300)
- {
- break;
- }
- }
+// g_com_map[LORA_POWER]=22;
+// g_com_map2[LORA_POWER]=22;
+ SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],5,g_com_map[LORA_POWER]); //切换lora接收频点
+
memcpy(&lora_start_poll_buff[ANC_ID_IDX],&g_com_map[DEV_ID],2);
Radio.Send(lora_start_poll_buff, 4);
- UWB_Wkup();
+ UWB_Wkup();
delay_us(700);
MBXANCPoll();
dwt_entersleep();
- bat_percent=Get_VDDVlotage();
- next_poll_state = Next_Poll_LORASYNC;
+// next_poll_state = Next_Poll_LORASYNC;
}else{
- LoraSyncRecPoll();
- if(GetRangeState()) //获取当前测距状态，是否开启。如果开启下次为测距，否为同步
+ poll_state=UWB;
+ Lora_Poll();
+ if(intheight!=0)
{
- next_poll_state = Next_Poll_RANGE;
- }else{
- next_poll_state = Next_Poll_LORASYNC;
- }
+// printf("高度值:%d\r\n",intheight);
+ uartsend(6,intheight);
+ memset(datashuju,0,sizeof(datashuju));
+ USART_puts(shuzu, 3);//开始结束都要发
+ datachangdu=sprintf(datashuju,"t2.bco=2024");
+ USART_puts(datashuju, datachangdu);
+ USART_puts(shuzu, 3);
+ }
+ if(uwbdistance!=0)
+ {
+// printf("UWB测距值:%d\r\n",uwbdistance);
+ uartsend(4,uwbdistance);
+ memset(datashuju,0,sizeof(datashuju));
+ USART_puts(shuzu, 3);//开始结束都要发
+ datachangdu=sprintf(datashuju,"t0.bco=2024");
+ USART_puts(datashuju, datachangdu);
+ USART_puts(shuzu, 3);
+ }
+ if(Lorahuifu_flag)
+ {
+ Lorahuifu_flag=0;
+ uartsend(5,0);
+ memset(datashuju,0,sizeof(datashuju));
+ USART_puts(shuzu, 3);//开始结束都要发
+ datachangdu=sprintf(datashuju,"t1.bco=2024");
+ USART_puts(datashuju, datachangdu);
+ USART_puts(shuzu, 3);
+ }
+ memset(datashuju,0,sizeof(datashuju));
+ USART_puts(shuzu, 3);//开始结束都要发
+ datachangdu=sprintf(datashuju,"t7.txt=\"%.2f\"",bat_volt);
+ USART_puts(datashuju, datachangdu);
+ USART_puts(shuzu, 3);
+ if(bat_volt>0)
+ {
+ memset(datashuju,0,sizeof(datashuju));
+ USART_puts(shuzu, 3);//开始结束都要发
+ datachangdu=sprintf(datashuju,"t3.bco=2024");
+ USART_puts(datashuju, datachangdu);
+ USART_puts(shuzu, 3);
+ }
+// LoraSyncRecPoll();
+// if(GetRangeState()) //获取当前测距状态，是否开启。如果开启下次为测距，否为同步
+// {
+// next_poll_state = Next_Poll_RANGE;
+// }else{
+// next_poll_state = Next_Poll_LORASYNC;
+// }
}
- if(next_poll_state == Next_Poll_LORASYNC)
- {
- target_count = GetUwbPollCount()-4000/LPTIMER_LSB; //同步则提前4ms唤醒，如果在同步间隔内，则会快速进入休眠。
- if(target_count<0)
- target_count+=32768;
- __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
- }else{
+// Radio.Sleep();
+// if(next_poll_state == Next_Poll_LORASYNC) //设定下一次的唤醒时间
+// {
+//// if(sync_state==Sync_Lost)
+//// {
+//// target_count = GetLoraSyncCount()-(18000)/LPTIMER_LSB+sync_lost_count*1000;
+//// }else
+// {
+// target_count = GetLoraSyncCount()-(18000)/LPTIMER_LSB; //比上次收到的lora提前17ms唤醒（lora接收大概17ms），如果在同步间隔内，则会快速进入休眠。
+// }
+// if(target_count<0)
+// target_count+=32768;
+// __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
+// }else{
- target_count = GetUwbPollCount()-2000/LPTIMER_LSB; //测距提前4ms唤醒
-
- if(target_count<0)
- target_count+=32768;
- __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
- }
+// target_count = GetUwbPollCount(); //测距提前2ms唤醒
+// __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
+// }
+
}
--
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