#include "mk_trace.h"
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#include "mk_uwb.h"
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#include "mk_phy.h"
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#include "mk_misc.h"
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#include "mk_power.h"
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#include "mk_sleep_timer.h"
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#include "lib_ranging.h"
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#include "lib_aoa.h"
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#include "dw_app_anchor.h"
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#include "global_param.h"
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#include "board.h"
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#include "lib_aoa.h"
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#include "lib_kf.h"
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#include "MK8000_kf_top.h"
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#if PDOA_3D_EN
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#include "lib_pdoa_3d.h"
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#endif
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extern int simple_main(void);
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extern int temp_main(void);
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void Calibration_Time(void);
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void TagListUpdate(void);
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void TagListUpdate_person_num(void);
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void buffer_message_send(void);
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void buffer_485_send(uint8_t* show_buffer);
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void Uwb_init(void);
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void OpenUWB(void);
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void CloseUWB(void);
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int Anchor_App(void);
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extern void IO_LED_control_change(uint8_t data);
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extern void IO_control_init(void);
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extern uint8_t loc_kf_filter(float data_meas, enum KF_DATA_TYPE_T data_type, uint8_t *mac_addr, float *data_post);
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extern void updata_led_power_state(void);
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/*receive buffer*/
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static uint8_t rx_buf[150];
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static uint8_t uwb_sendbuffer[150];
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static volatile uint16_t rx_state;
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static volatile uint16_t rx_length;
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//resp±äÁ¿
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static uint8_t frame_seq_nb2,battary,button,rec_nearbase_num,ancidlist_num;
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static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS];
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uint8_t show_location[TAG_NUM_IN_SYS];
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void buffer_485_construct(uint8_t* show_buffer);
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static int16_t rec_ancdistlist[TAG_NUM_IN_SYS];
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void update_show_buffer(void);
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extern uint8_t group_id;
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static uint16_t anc_id_recv;
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static uint16_t tag_id_recv;
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static int16_t rec_antdelay;
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extern uint32_t dev_id;
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static uint32_t taglist_pos,tmp_time;
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extern uint16_t tag_frequency;
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extern uint16_t disoffset;
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static uint8_t frame_len,recpoll_len,current_syncid,new_tagid,seize_anchor,result,g_start_sync_flag;
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extern uint8_t gps_power_state,motor_power_state,uwb_state,air780_power_state,gps_success_state,red_charge_state,green_charge_state,air780_success_state;
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int poll_rx_num,resp_tx_num;
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//respº¯Êý
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void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary);//ÕÒµ½×Ô¼ºµÄidÐÅÏ¢¶ÔӦλÖøüÐÂ×Ô¼ºµÄ½»»¥ÐÅÏ¢
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static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts);//ÓÃÀ´¶ÔӦλÖ÷ÅÈëʱ¼ä´Á
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static uint16_t tagid_list[TAG_NUM_IN_SYS];
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uint8_t tag_seq[TAG_NUM_IN_SYS];
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uint16_t angle_azimuth[TAG_NUM_IN_SYS];
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uint16_t angle_elevation[TAG_NUM_IN_SYS];
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uint16_t angle_num;
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uint32_t fliter_tagid_list[TAG_NUM_IN_SYS];
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uint16_t CmpTagInList(uint16_t tagid);
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uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos);
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static uint8_t send_buffer[100];
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static uint8_t tagofflinetime[TAG_NUM_IN_SYS];
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uint32_t temp_count=0;
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uint32_t temp_count1=0;
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uint32_t temp_count2=0;
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uint32_t temp_count3=0;
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uint32_t temp_count7=0;
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uint32_t temp_internal=0;
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int16_t elevation = 0;
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int16_t azimuth = 0;
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uint8_t fom = 0;
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int32_t distance;
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uint8_t taglist_num;
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float *sts_rssi=NULL;
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extern uint8_t recev_error_num;
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uint8_t uwb_rx_flag;
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extern Operation_step UWB_work_state;
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void find_in_tag_id_authorization_list(uint32_t authorization_list_num);
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extern int16_t first_search_flag;
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typedef enum
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{
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SEARCH,
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CLOSE,
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RANGE,
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}enumwltagstate;
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/* Ranging period */
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#define RANGING_PERIOD_MS (1000)
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/* This is the delay from Frame RX POLL frame to send RESP Frame */
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#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan550¼«ÏÞ
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#define RESP_TX_TO_FINAL_RX_DLY_US 500U
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/* RX sync window size 50 ms*/
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#define RX_SYNC_WIN_US 5000U //yuan1000 7000success
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/* RX sync window size 50 ms*/
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#define RX_SYNC_WIN_US_TEMP 2000000U //yuan1000 7000success
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/* Receive poll timeout 500us*/
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#define POLL_RX_TIMEOUT_US 500
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/* Receive final timeout 500us */
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#define FINAL_RX_TIMEOUT_US 500
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/* RX window open in advance */
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#define RX_WIN_IN_ADVANCE_US (150)
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#define DELAY_BETWEEN_TWO_FRAME_UUS 500 //yuan1400
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/* Field index in frame */
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#define MSG_SEQ_NUM_IDX 2
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#define FINAL_MSG_POLL_TX_TS_IDX 10
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#define FINAL_MSG_RESP_RX_TS_IDX 14
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#define FINAL_MSG_FINAL_TX_TS_IDX 18
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#define DELAY_DEFAULT 1000
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#define HALF_SECOND_TIME 624000000
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/* Length of the common part of the message */
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#define MSG_COMMON_LEN 10
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#define UWB_DELAY_TIME_US 496
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static uint8_t receive_flag=0;
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struct mk_uwb_configure
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{
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uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
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struct UWB_CONFIG_T phy_cfg;
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};
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///* Default communication configuration. */
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//static struct mk_uwb_configure config = {//ÔÀ´µÄ»ùÕ¾·Ç110k´úÂë
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// .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
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// .phy_cfg.ch_num = 5, /* Channel number. */
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// .phy_cfg.code_index = 9, /* TX preamble code. */
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// .phy_cfg.mean_prf = MEAN_PRF_64M, /* Data rate 6.8M */
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// .phy_cfg.data_bit_rate = DATA_BR_6M8, /* data rate 6.8M. */
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// .phy_cfg.sync_sym = PREAM_LEN_128, /* Preamble duration, length of preamble 128 */
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// .phy_cfg.sfd_sym = BPRF_NSFD2_8, /* Identifier for SFD sequence */
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// .phy_cfg.ranging_bit = 1, /* ranging bit set. */
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// .phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF, /* IEEE802.15.4z - BPRF mode */
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// .phy_cfg.sts_pkt_cfg = STS_PKT_CFG_0, /* SP0 Frame */
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// .phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1, /* Number of STS segments in the frame */
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// .phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
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// .phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
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//};
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#ifdef DW1000
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static struct mk_uwb_configure config = {
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.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
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.phy_cfg.ch_num = 5, /* Channel number. */
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.phy_cfg.code_index = 9, /* TRX preamble code */
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.phy_cfg.mean_prf = MEAN_PRF_64M, /* Mean prf 64/128/256M */
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.phy_cfg.data_bit_rate = DATA_BR_6M8, /* Data rate 6.8M */
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.phy_cfg.sync_sym = PREAM_LEN_128, /* Preamble duration, length of preamble 128 */
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.phy_cfg.sfd_sym = NON_STD_NSFD5_8, /* Identifier for SFD sequence */
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.phy_cfg.ranging_bit = 1, /* ranging bit set 1 */
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.phy_cfg.trx_mode = TRX_MODE_15_4A, /* IEEE802.15.4z - BPRF mode */
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.phy_cfg.sts_pkt_cfg = STS_PKT_CFG_0, /* SP0 Frame */
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.phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1, /* Number of STS segments in the frame */
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.phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
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.phy_cfg.rx_main_ant = UWB_RX_ANT_3, /* UWB RX main antenna port */
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.phy_cfg.rx_ant_mode = RX_ANT_PORTS_COMBINATION, /* UWB RX antenna mode */
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.phy_cfg.pulse_shape = 0x2, /* 0x0: CCC pulse, 0x2: FiRa pulse */
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};
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#elif defined STS_MODE
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static struct mk_uwb_configure config = {
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.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
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.phy_cfg.ch_num = 5, /* Channel number. */
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.phy_cfg.code_index = 9, /* TRX preamble code */
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.phy_cfg.mean_prf = MEAN_PRF_64M, /* Mean prf 64/128/256M */
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.phy_cfg.data_bit_rate = DATA_BR_6M8, /* Data rate 6.8M */
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.phy_cfg.sync_sym = PREAM_LEN_128, /* Preamble duration, length of preamble 128 */
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.phy_cfg.sfd_sym = BPRF_NSFD2_8, /* Identifier for SFD sequence */
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.phy_cfg.ranging_bit = 1, /* ranging bit set 1 */
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.phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF, /* IEEE802.15.4z - BPRF mode */
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.phy_cfg.sts_pkt_cfg = STS_PKT_CFG_1, /* SP1 Frame */
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.phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1, /* Number of STS segments in the frame */
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.phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
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.phy_cfg.rx_main_ant = UWB_RX_ANT_3, /* UWB RX main antenna port */
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.phy_cfg.rx_ant_mode = RX_ANT_PORTS_COMBINATION, /* UWB RX antenna mode */
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.phy_cfg.pulse_shape = 0x2, /* 0x0: CCC pulse, 0x2: FiRa pulse */
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};
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/* Use the default key and IV specified in the IEEE 802.15.4z attachment */
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static struct UWB_STS_KEY_CONFIG_T sts_iv_key = {
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.sts_vcounter = 0x1F9A3DE4,
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.sts_vupper0 = 0xD37EC3CA,
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.sts_vupper1 = 0xC44FA8FB,
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.sts_vupper2 = 0x362EEB34,
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.sts_key0 = 0x14EB220F,
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.sts_key1 = 0xF86050A8,
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.sts_key2 = 0xD1D336AA,
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.sts_key3 = 0x14148674,
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};
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#elif defined MK_MODE
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static struct mk_uwb_configure config = {
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.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
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.phy_cfg.ch_num = 9, /* Channel number. */
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.phy_cfg.code_index = 9, /* TX preamble code. */
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.phy_cfg.mean_prf = MEAN_PRF_64M, /* Data rate 6.8M */
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.phy_cfg.data_bit_rate = DATA_BR_6M8, /* data rate 6.8M. */
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.phy_cfg.sync_sym = PREAM_LEN_128, /* Preamble duration, length of preamble 128 */
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.phy_cfg.sfd_sym = BPRF_NSFD2_8, /* Identifier for SFD sequence */
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.phy_cfg.ranging_bit = 1, /* ranging bit set. */
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.phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF, /* IEEE802.15.4z - BPRF mode */
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.phy_cfg.sts_pkt_cfg = STS_PKT_CFG_0, /* SP0 Frame */
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.phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1, /* Number of STS segments in the frame */
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.phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
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.phy_cfg.rx_main_ant = UWB_RX_ANT_3, /* UWB RX main antenna port */
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.phy_cfg.rx_ant_mode = RX_ANT_PORTS_COMBINATION, /* UWB RX antenna mode */
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.phy_cfg.pulse_shape = 0x2, /* 0x0: CCC pulse, 0x2: FiRa pulse */
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};
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#elif defined STS_MODE_SQUARE
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static struct mk_uwb_configure config = {
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.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
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.phy_cfg.ch_num = 5, /* Channel number. */
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.phy_cfg.code_index = 9, /* TRX preamble code */
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.phy_cfg.mean_prf = MEAN_PRF_64M, /* Mean prf 64/128/256M */
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.phy_cfg.data_bit_rate = DATA_BR_6M8, /* Data rate 6.8M */
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.phy_cfg.sync_sym = PREAM_LEN_128, /* Preamble duration, length of preamble 128 */
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.phy_cfg.sfd_sym = BPRF_NSFD2_8, /* Identifier for SFD sequence */
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.phy_cfg.ranging_bit = 1, /* ranging bit set 1 */
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.phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF, /* IEEE802.15.4z - BPRF mode */
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.phy_cfg.sts_pkt_cfg = STS_PKT_CFG_1, /* SP1 Frame */
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.phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1, /* Number of STS segments in the frame */
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.phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
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.phy_cfg.rx_main_ant = UWB_RX_ANT_3, /* UWB RX main antenna port */
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.phy_cfg.rx_ant_mode = RX_ANT_PORTS_COMBINATION, /* UWB RX antenna mode */
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.phy_cfg.pulse_shape = 0x2, /* 0x0: CCC pulse, 0x2: FiRa pulse */
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};
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/* Use the default key and IV specified in the IEEE 802.15.4z attachment */
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static struct UWB_STS_KEY_CONFIG_T sts_iv_key = {
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.sts_vcounter = 0x1F9A3DE4,
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.sts_vupper0 = 0xD37EC3CA,
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.sts_vupper1 = 0xC44FA8FB,
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.sts_vupper2 = 0x362EEB34,
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.sts_key0 = 0x14EB220F,
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.sts_key1 = 0xF86050A8,
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.sts_key2 = 0xD1D336AA,
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.sts_key3 = 0x14148674,
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};
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#endif
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static struct anchor_id_car{
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uint16_t anchor_new_id;
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uint16_t change_num;
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};
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/* Buffer to store received frame */
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/* Frames used in the ranging process
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* Poll message:
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* - byte 0 - 1: 0x8841 to indicate a data frame using 16-bit addressing.
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* - byte 2: sequence number, incremented for each new frame.
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* - byte 3 - 4: PAN Id 0x4B4d
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* - byte 5 - 6: Destination address
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* - byte 7 - 8: Source address
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* - byte 9: Message type (0x02 RANGING_POLL / 0x03 RANGING_RESPONSE / 0x04 RANGING_FINAL)
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* Response message:
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* - byte 10: activity code (0x07 to tell the initiator to go on with the ranging exchange)
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* Final message:
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* - byte 10 - 13: poll message transmission timestamp.
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* - byte 14 - 17: response message reception timestamp.
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* - byte 18 - 21: final message transmission timestamp.
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*/
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static uint8_t rx_poll_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x02};
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static uint8_t tx_resp_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x4D, 0x49, 0x53, 0x45, 0x03, 0x07};
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static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x04, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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/* Count value of phy counter when transmitting and receiving frames */
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static uint32_t poll_rx_en_start_u32;
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static uint32_t resp_tx_en_start_u32;
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static uint32_t resp_tx_timeout;
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int64_t temp_resp_i64;
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/* 41 bits timestamps of frames transmission/reception. */
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int64_t poll_rx_ts_i64;
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int64_t resp_tx_ts_i64;
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int64_t final_rx_ts_i64;
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/* Frame sequence number, incremented after each transmission. */
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static uint8_t frame_seq_nb = 0;
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/* MAC report data structure */
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static struct MAC_HW_REPORT_T rx_rpt;
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enum SIMPLE_FSM_T
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{
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SIMPLE_IDLE = 0,
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SIMPLE_POLL = 1,
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SIMPLE_RESPONSE = 2,
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SIMPLE_FINAL = 3,
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};
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static enum SIMPLE_FSM_T state = SIMPLE_IDLE;
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/**
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* @brief Correct TX timestamp of the ranging frame.
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*
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* @param[in] timestamp PHY timer count of TX
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* @return TX timestamp (unit: 15.65ps)
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*/
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static int64_t ranging_tx_time_correct(uint32_t timestamp)
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{
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int64_t tx_timestamp = ranging_tx_time(timestamp);
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// correct antenna delay (TX using the same antenna as RX)
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tx_timestamp += ranging_ant_delays_get(config.phy_cfg.rx_main_ant) / 2;
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return tx_timestamp;
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}
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/**
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* @brief Correct RX timestamp of the ranging frame.
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*
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* @param[in] ind MAC RX report
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* @return RX timestamp (unit: 15.65ps)
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*/
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static int64_t ranging_rx_time_correct(const struct MAC_HW_REPORT_T *ind)
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{
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int64_t rx_timestamp = ranging_rx_time(ind);
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// correct antenna delay
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rx_timestamp -= ranging_ant_delays_get(config.phy_cfg.rx_main_ant) / 2;
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return rx_timestamp;
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}
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/* RX done process handler. */
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int8_t rssi;
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uint32_t range_timeout_us = 2000000;//yuan5000
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uint8_t flag_temp2,flag_temp1;
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uint16_t uwb_losttimer;
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uint8_t mac_error;
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uint8_t allow_flag;
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uint8_t resp_tx_flag,poll_rx_error_num;
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uint8_t tag_rssi[TAG_NUM_IN_SYS];
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uint8_t tag_show_location[TAG_NUM_IN_SYS];
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void construct_show_buffer(uint8_t*tag_show_location,uint32_t tag_pos)
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{
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//if(angle_azimuth[tag_pos])
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//{
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//
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//}elseif(angle_azimuth[tag_pos])
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//{
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//}elseif(angle_azimuth[tag_pos])
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//{
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//}elseif(angle_azimuth[tag_pos])
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//{
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//}
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}
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float temp1,temp2;
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static void angle_result_filter(uint8_t *mac_addr, int16_t *angle, uint8_t type)
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{
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if (angle == NULL)
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{
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return;
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}
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float post_angle;
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float angle_meas = mk_q7_to_f32(*angle);
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temp1=angle_meas;
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// call filter
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loc_kf_filter(angle_meas, (enum KF_DATA_TYPE_T)type, mac_addr, &post_angle);
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temp2=post_angle;
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// update angle
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*angle = mk_f32_to_q7(post_angle);
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temp1=*angle;
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// LOG_INFO(TRACE_MODULE_APP, "Peer %X, $%d %d;\r\n", READ_SHORT(mac_addr), (int16_t)angle_meas,(int16_t)post_angle);
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}
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static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
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{ uint8_t valid_sts=0;
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// Power off radio
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power_off_radio();
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sts_lsp_store_stop();
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/** UWB RX success */
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if (rx_report->err_code == UWB_RX_OK)
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{
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// /* Received data does not contain FCS */
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// rx_length = rx_report->pkt_len;
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// memcpy(rx_buf, rx_report->pkt_data, rx_length);
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/* Received data does not contain FCS */
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rx_length = rx_report->pkt_len;
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memcpy(rx_buf, rx_report->pkt_data, rx_length);
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memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
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/* Calculate rx timestamp */
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temp_count= phy_timer_count_get();
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poll_rx_en_start_u32 = rx_rpt.timestamp - phy_shr_duration();
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poll_rx_ts_i64 = ranging_rx_time_correct(&rx_rpt);
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poll_rx_num++;
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rssi = rx_report->rssi;
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//receive_flag=1;
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Anchor_App();
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// // PDoA caculation
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if (sts_valid_check())//ΪÁ˱ÜÃâÓ°ÏìʱÐò·Åµ½Á˻ذüºó½øÐвÙ×÷
|
{
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pdoa_3d_calculate(0, &elevation, &azimuth);
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pdoa_fom_get(NULL, &fom);
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if(allow_flag)
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{
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tag_rssi[taglist_pos]=rssi;
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uint8_t mac_addr=0;
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angle_result_filter(&mac_addr,&azimuth, KF_DATA_TYPE_AZIMUTH);
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angle_result_filter(&mac_addr,&elevation, KF_DATA_TYPE_ELEVATION);
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angle_azimuth[taglist_pos]=(uint16_t)mk_q7_to_s16(azimuth);
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angle_elevation[taglist_pos]=(uint16_t)mk_q7_to_s16(elevation);
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//buffer_message_send();
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//int16_t azimth=mk_q7_to_s16(azimuth),elevate=mk_q7_to_s16(elevation);
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// // filter process
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LOG_INFO(TRACE_MODULE_APP, "PDoA 0x%04x Azimuth %d Elevation %d FoM %u area%#x\r\n",tag_id_recv, mk_q7_to_s16(azimuth),
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mk_q7_to_s16(elevation), fom,show_location[taglist_pos]);
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allow_flag=0;
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}
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}
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if(resp_tx_flag==0)
|
{
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OpenUWB();
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}
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// }else{
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// poll_rx_error_num++;
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// rx_report->err_code |= UWB_STS_ERR;
|
// }
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// #ifdef STS_MODE
|
// valid_sts= sts_valid_check();
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// if (valid_sts)
|
// {
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// aoa_calculate(&elevation, &azimuth);
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// aoa_fom_get(NULL, &fom);
|
//// float pdoa[3];
|
//// pdoa[0] = pdoa_select_get(0, 3);
|
//// pdoa[1] = pdoa_select_get(1, 3);
|
//// pdoa[2] = pdoa_select_get(2, 3);
|
//// LOG_INFO(TRACE_MODULE_APP, "PDOA: %f %f %f\r\n", pdoa[0], pdoa[1], pdoa[2]);
|
|
// sts_rssi = sts_rssi_output_get();
|
// }
|
// #endif
|
}
|
else
|
{
|
/* UWB_PLD_ERR payload error */
|
/* UWB_PHR_ERR PHR error */
|
/* UWB_SFD_ERR Sfd error */
|
/* UWB_BD_ERR Preamble detection error */
|
/* UWB_TO_ERR Receive timeout */
|
/* UWB_STS_ERR STS error */
|
temp_count= phy_timer_count_get();
|
memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
|
rx_length = 0;
|
OpenUWB();//ÔٴοªÆôUWB½ÓÊÕ
|
}
|
//OpenUWB();//ÔٴοªÆôUWB½ÓÊÕ
|
}
|
|
/* TX done process handler. */
|
static void tx_int_callback(struct MAC_HW_REPORT_T *tx_report)
|
{
|
// Power off radio
|
power_off_radio();
|
|
/** UWB TX success */
|
if (tx_report->err_code == UWB_TX_OK)
|
{
|
temp_count= phy_timer_count_get();
|
temp_internal=temp_count;
|
resp_tx_num++;
|
resp_tx_flag=0;
|
OpenUWB();//ÔٴοªÆôUWB½ÓÊÕ
|
//LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
|
}else{
|
mac_error=1;
|
}
|
}
|
uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
|
uint16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
|
extern uint32_t tag_id_authorization_list[1024];
|
static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
|
uint8_t anchordata_num = 0;
|
static int32_t tagdist_list[TAG_NUM_IN_SYS];
|
uint8_t rssi_quality[TAG_NUM_IN_SYS];
|
uint16_t state_button[TAG_NUM_IN_SYS];
|
uint16_t pressure[TAG_NUM_IN_SYS];
|
uint16_t random_time;
|
//anchor
|
int32_t hist_dist;
|
int16_t temp_recdist_before_offset;
|
int16_t dist_temp;
|
void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary)
|
{
|
uint8_t i;
|
for(i=0; i<anchordata_num; i++)
|
{
|
if(anchordata_id[i] == ancid)//²éѯ±êÇ©ÊÇ·ñÔÚ×Ô¼ºÒÑͨѶÁбíÖÐ
|
{
|
|
break;
|
}
|
}
|
if(i==anchordata_num)
|
{
|
if(anchordata_num<TAG_NUM_IN_SYS-1)
|
anchordata_num++;
|
}
|
anchordata_id[i] = ancid;//Óë֮ͨÐŵıêÇ©id´æÈ뵱ǰ±íÖÐ
|
distance=dist*0.5+(int16_t)anchordata_dist[i]*0.5;
|
anchordata_dist[i] = dist;
|
anchordata_bat[i] = battary;
|
tagofflinetime[i]=0;//²»¶Ï¸üе±Ç°TAG¶ÔÓ¦ÀëÏßʱ¼ä
|
dist_temp=dist;
|
// if(dist>0)
|
|
// if(temp_recdist_before_offset!=0&&distance!=0x1ffff)
|
// {
|
// distance=dist*0.5+distance*0.5;
|
// }else{
|
// distance=dist;
|
// }
|
|
}
|
//uint16_t CmpTagInList(uint16_t tagid)
|
//{ uint16_t i;
|
// for(i=0; i<taglist_num; i++)
|
// {
|
// if(memcmp(&tagid,&anchordata_id[i],2)==0)
|
// break;
|
// }
|
// if(i==taglist_num)
|
// return taglist_num;
|
// //tagofflinetime[i] = 0;
|
// return i;
|
//}yuan
|
uint16_t CmpTagInList(uint16_t tagid)
|
{ uint16_t i;
|
for(i=0; i<taglist_num; i++)
|
{
|
if(memcmp(&tagid,&tagid_list[i],2)==0)
|
break;
|
}
|
return i;
|
}
|
uint16_t ExistInTagList(uint16_t tagid)
|
{ uint16_t i;
|
for(i=0; i<taglist_num; i++)
|
{
|
if(memcmp(&tagid,&tagid_list[i],2)==0)
|
return 1;
|
}
|
return 0;
|
}
|
|
uint16_t CmpCarInExistList(uint16_t tagid)
|
{ uint16_t i;
|
for(i=0; i<anchordata_num; i++)
|
{
|
if(memcmp(&tagid,&anchordata_id[i],2)==0)
|
break;
|
}
|
if(i==anchordata_num)
|
return anchordata_num;
|
//tagofflinetime[i] = 0;
|
return i;
|
}
|
|
static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts)
|
{
|
int i,ts2;
|
ts2=(int32_t)ts;
|
for (i = 0; i < 4; i++)
|
{
|
ts_field[i] = (uint8_t)ts2;
|
ts2 >>= 8;
|
}
|
}
|
uint8_t tt5=0;
|
//void TagListUpdate(void)
|
//{
|
// uint8_t i,j=0;
|
// for(i=0; i<anchordata_num; i++)
|
// {
|
// if(tagofflinetime[i]++<QUIT_SLOT_TIME)
|
// {
|
// anchordata_id[j]=anchordata_id[i];
|
// tagofflinetime[j++]=tagofflinetime[i];
|
// }
|
// }
|
// anchordata_num=j;
|
//}
|
uint8_t find_flag;
|
uint16_t bind_distance,button_determinate_distance,change_by_frequency_distance;
|
uint8_t tag_near_frequency;
|
uint8_t tag_authorized_List[TAG_NUM_IN_SYS];
|
extern uint32_t tag_id_authorization_list_num;
|
void sort_tag_lists(void)
|
{
|
if (taglist_num <= 1) {
|
return; // ÎÞÐèÅÅÐò
|
}
|
// ʹÓÃðÅÝÅÅÐò£¨Îȶ¨ÅÅÐò£¬ÊµÏÖ¼òµ¥£©
|
for (size_t i = 0; i < taglist_num - 1; i++) {
|
for (size_t j = 0; j < taglist_num - i - 1; j++) {
|
if (tagdist_list[j] > tagdist_list[j + 1]) {
|
// ½»»»¾àÀëÖµ
|
uint16_t temp_dist = tagdist_list[j];
|
tagdist_list[j] = tagdist_list[j + 1];
|
tagdist_list[j + 1] = temp_dist;
|
|
// ͬ²½½»»»±êÇ©ID
|
uint32_t temp_id = tagid_list[j];
|
tagid_list[j] = tagid_list[j + 1];
|
tagid_list[j + 1] = temp_id;
|
|
//ͬ²½½»»»µçÁ¿ÊÇ·ñÊÚȨ±íºÍÔÚÏßʱ¼ä
|
uint32_t temp_bat = anchordata_bat[j];
|
anchordata_bat[j]=anchordata_bat[j+1];//µçÁ¿ËæÖ®¸üÐÂ
|
anchordata_bat[j+1]=temp_bat;
|
|
//ͬ²½½»»»ÔÚÏßʱ¼ä
|
uint32_t temp_tag_offlinetime = tagofflinetime[j];
|
tagofflinetime[j]=tagofflinetime[j+1];//µçÁ¿ËæÖ®¸üÐÂ
|
tagofflinetime[j+1]=temp_tag_offlinetime;
|
|
// //ͬ²½½»»»ÊÚȨ±í
|
// uint8_t temp_tag_authorized = tag_authorized_List[j];
|
// tag_authorized_List[j]=tag_authorized_List[j+1];//µçÁ¿ËæÖ®¸üÐÂ
|
// tag_authorized_List[j+1]=temp_tag_authorized;
|
}
|
}
|
}
|
}
|
|
void change_button_state(void)
|
{
|
if(tag_authorized_List[0]==1&&taglist_num>=1)//Ö»ÓÐÔÚÓÐЧÅж¨·¶Î§ÄÚÓÐÊÚȨµÄ±êÇ©²Å»á¿ªÆô£¬·ñÔò¶¼ÊǹرÕ
|
{
|
if(tagdist_list[0]<button_determinate_distance)
|
{
|
gpio_pin_set(BUTTON_PIN);
|
}else{
|
gpio_pin_clr(BUTTON_PIN);
|
}
|
}else{
|
gpio_pin_clr(BUTTON_PIN);
|
}
|
}
|
void TagListUpdate(void)
|
{
|
uint16_t i,j=0,k=0;
|
for(i=0; i<taglist_num; i++)
|
{
|
if(tagofflinetime[i]++<TAG_KEEPTIMES)
|
{
|
tagid_list[j]=tagid_list[i];
|
tagdist_list[j] = tagdist_list[i];
|
anchordata_bat[j]=anchordata_bat[i];//µçÁ¿ËæÖ®¸üÐÂ
|
tagofflinetime[j++]=tagofflinetime[i];
|
}
|
}
|
taglist_num=j;
|
sort_tag_lists();//Ôö¼Ó¾àÀëСµÄÅŵ½Ç°ÃæÂß¼
|
update_show_buffer();//¸ù¾Ý½Ç¶ÈºÍ¾àÀëÅжÏÇøÓòλÖÃ
|
gpio_pin_set(CHANGE_UART_PIN);//£»À¸ß´òÓ¡Êä³ö
|
buffer_message_send();//·¢ËͲâ¾à±¨ÎÄÐÅÏ¢
|
// //delay_ms(10);
|
buffer_485_send(show_location);//·¢ËÍÏÔʾÐÅÏ¢
|
while(uart_tx_in_progress(UART_ID0));
|
gpio_pin_clr(CHANGE_UART_PIN);//£»ÀµÍ±ä½ÓÊÕ
|
}
|
|
uint8_t position;
|
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos)//¸ù¾Ý×Ô¼ºÊÇ·ñΪлùÕ¾¶¨ÖÆÏûϢȥ·¢ËÍ£¬¸ù¾ÝÊÇ·ñÇÀÕ¼ÅжÏ
|
{
|
temp_count2=poll_rx_en_start_u32;
|
|
memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//×éid
|
memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);//×ÔÉíid
|
memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,4);//½ÓÊÜÕßid
|
send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
|
|
// if(rec_nearbase_num == ancrec_nearbasepos)//ÇÀռģʽ×Ô¼ºÎªÐ»ùÕ¾
|
// {
|
// random_time = (phy_timer_count_get()%100);//¶à»ùÕ¾ÇÀÕ¼Ò»¸öλÖÃʱ±ÜÃâÒ»¸öÒ²ÊÕ²»µ½µÄÇé¿ö¾Íÿһ¸öËæ»ú´í¿ª¼¸Ê®uS
|
// //resp_tx_time = (poll_rx_ts+((random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//¼ÆËãResponse·¢ËÍʱ¼äT3¡£
|
// // (resp_tx_en_start_u32) is the moment when TX enable
|
// resp_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_num*DELAY_BETWEEN_TWO_FRAME_UUS);//ºóÃæµÄÐèÒª¸ù¾ÝÒÑÓлùÕ¾ÊýÁ¿½øÐиü¸Ä£¬Èç¹ûÊÇÇÀÕ¼×Ô¼º×îºóÒ»¸ö»Ø¸´£¬ÒªÓе×Êý
|
//
|
// } else {
|
// //resp_tx_time = (poll_rx_ts + ((rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//¼ÆËãResponse·¢ËÍʱ¼äT3¡£
|
// resp_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS);//ºóÃæµÄÐèÒª¸ù¾ÝÒÑÓлùÕ¾ÊýÁ¿½øÐиü¸Ä£¬Èç¹ûÊÇÇÀÕ¼×Ô¼º×îºóÒ»¸ö»Ø¸´£¬ÒªÓе×Êý
|
// //ÕâÀïÓ¦¸ÃÓÐÎÊÌâÎÊÒ»ÏÂÖÓ¹¤
|
// }//´Ë´¦ÉèÖþø¶Ôʱ¼ä½«poll u32¸ÄΪphy_timer_count_get()
|
position=ancrec_nearbasepos;
|
resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+ancrec_nearbasepos*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//¼ÓÈëÖ¡¼ä¸ô
|
resp_tx_ts_i64 = ranging_tx_time_correct(resp_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
|
/* Write all timestamps in the final message. See NOTE 8 below. */
|
resp_msg_set_ts(&send_buffer[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts_i64);
|
resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts_i64);//´Ë´¦Ê±¼ä´Áint64Ö±½Óת»»Îªuint64²»ÖªµÀ»á²»»áÓдíÎó
|
memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&disoffset,2);//²î¸öÐÞÕýoffset,ÐÞÕýÓзûºÅµ«ÊÇÕâ¸öcom±íΪÎÞ·ûºÅµÄ,´«¹ýÈ¥Ö±½Ó¸³¸øInt16_tÏ൱ÓÚ»¹ÔÁË
|
if(tagdist_list[ancrec_nearbasepos]<=change_by_frequency_distance&&tag_authorized_List[ancrec_nearbasepos]==1)//ÊÚȨ²Å¸Ä±äƵÂÊ·ñÔò²»¸Ä±ä
|
{
|
send_buffer[RESP_MSG_TAG_FREQUENCY]=tag_near_frequency;//мÓÈë¸Ä±ä±êÇ©²â¾àhz
|
}
|
else{
|
send_buffer[RESP_MSG_TAG_FREQUENCY]=1;//мÓÈë¸Ä±ä±êÇ©²â¾àhz
|
}
|
temp_resp_i64=resp_tx_ts_i64;
|
temp_count3= phy_timer_count_get();
|
flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//Á¢¼´·¢ËͲâÊÔsize´óС
|
resp_tx_flag=1;//ÏÞÖÆÖظ´¿ªÆô
|
tagofflinetime[taglist_pos] = 0;//¸üбêǩͨÐÅ
|
//phy_update_sts_iv_counter(0x00, sts_iv_key.sts_vcounter);//ÖØÖÃsts
|
// temp_count1=phy_timer_count_get();
|
//while(mac_is_busy());
|
//gpio_pin_clr(SCL_PIN);
|
}
|
|
uint16_t uwb_searchcount;
|
uint8_t flag_recsuccess;
|
|
uint32_t start_receive_count_calibration;
|
uint32_t current_count_calibration;
|
uint32_t get_in_num,get_out_num;
|
struct anchor_id_car anchor_id_in_car[TAG_NUM_IN_SYS],anchor_id_out_car[TAG_NUM_IN_SYS];
|
int16_t change_count[TAG_NUM_IN_SYS];
|
uint16_t anchor_id_in[TAG_NUM_IN_SYS],anchor_id_out[TAG_NUM_IN_SYS];
|
uint8_t secondtask_search_count,secondtask_search_flag;
|
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag,flag_secondtask;
|
enumwltagstate wltag_state=RANGE;
|
uint32_t wltag_statetimer,wltag_uwbtimer;
|
uint32_t uwbtasktimer=0,uwbtagsendtimer=0;
|
|
uint16_t CmpCarInTable(uint16_t tagid)
|
{ uint16_t i;
|
for(i=0; i<get_in_num; i++)
|
{
|
if(memcmp(&tagid,&anchor_id_in[i],2)==0)
|
break;
|
}
|
if(i==get_in_num)
|
return get_in_num;
|
//tagofflinetime[i] = 0;
|
return i;
|
}
|
void Calibration_Time(void)
|
{
|
current_count_calibration=phy_timer_count_get();
|
if((current_count_calibration-start_receive_count_calibration>=MS_TO_PHY_TIMER_COUNT(500)||current_count_calibration+(UINT32_MAX-start_receive_count_calibration)>=MS_TO_PHY_TIMER_COUNT(500))
|
&&!((end_receive_count-current_count_calibration<=MS_TO_PHY_TIMER_COUNT(200))||(end_receive_count+(UINT32_MAX-current_count_calibration)<=MS_TO_PHY_TIMER_COUNT(200))))
|
{
|
start_receive_count_calibration=current_count_calibration;//¸üпªÊ¼Ê±¼ä
|
|
|
if(secondtask_search_count++%2==0)
|
{
|
secondtask_search_flag = 1;
|
}else{
|
secondtask_search_flag = 0;
|
}
|
if(secondtask_search_flag)//¸üÐÂSʱ¼äTICK
|
{
|
HIDO_TimerTick();
|
TagListUpdate();
|
// GPS_Poll();
|
// if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//·ÀÖ¹Òç³ö
|
// nomove_count++;
|
// else{
|
// nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
|
// }
|
}
|
// update_led_power_state();//¸üеÈ״̬·ÀÖ¹Õ𶯿¨ËÀÔÚËÑË÷
|
}
|
}
|
uint16_t g_com_receive_id;
|
void CloseUWB(void)
|
{
|
uwb_rx_force_off(1);
|
uwb_rx_flag=0;
|
//LOG_INFO(TRACE_MODULE_APP,"¹Ø±Õuwb_rx\r\n");
|
}
|
void OpenUWB(void)
|
{
|
flag_temp1=uwb_rx(0, 0,range_timeout_us);//Ìá½»½ÓÊÕÇëÇó
|
uwb_rx_flag=1;
|
//LOG_INFO(TRACE_MODULE_APP,"´ò¿ªuwb_rx\r\n");
|
}
|
void UWBOneSecondTask(void)
|
{
|
TagListUpdate();//¸üбêÇ©Êý
|
uwb_losttimer++;
|
if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
|
uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//·ÀÖ¹Òç³ö
|
}
|
void UWBIdleTask(void)
|
{
|
|
if(HIDO_TimerGetTick()-uwbtasktimer >=1)
|
{
|
uwbtasktimer = HIDO_TimerGetTick();
|
UWBOneSecondTask();
|
}
|
}
|
int uwb_app_poll(void)
|
{
|
// switch(wltag_state)
|
// {
|
// case RANGE:
|
// if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
|
// {
|
// wltag_uwbtimer = HIDO_TimerGetTick();
|
// OpenUWB();
|
// }
|
// else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1)
|
// {
|
// wltag_uwbtimer = HIDO_TimerGetTick();
|
// CloseUWB();
|
// }
|
// if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
|
// {
|
// wltag_statetimer = HIDO_TimerGetTick();
|
// if(uwb_rx_flag==0)//ÈôÒªÇл»µ½ËÑË÷ģʽʱûÓпªÆôÔò¿ªÆôUWB
|
// {
|
// OpenUWB();
|
// }
|
// wltag_state = SEARCH;
|
// }
|
// break;
|
// case SEARCH:
|
// if(HIDO_TimerGetTick()-wltag_statetimer>1)
|
// {
|
// wltag_statetimer = HIDO_TimerGetTick();
|
// wltag_state = CLOSE;
|
// CloseUWB();
|
// }
|
// break;
|
// case CLOSE:
|
// if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
|
// {
|
// wltag_statetimer = HIDO_TimerGetTick();
|
// wltag_state = SEARCH;
|
// OpenUWB();
|
// }
|
// break;
|
// }
|
UWBIdleTask();
|
}
|
|
extern uint8_t bind_flag;
|
void bubble_sort(uint32_t *arr, uint32_t n)
|
{
|
if (n <= 1) return; // ÎÞÐèÅÅÐò
|
|
uint32_t i, j;
|
uint8_t swapped; // ±ê¼ÇÊÇ·ñ·¢Éú½»»»
|
|
for (i = 0; i < n - 1; i++) {
|
swapped = 0; // ÖØÖý»»»±ê¼Ç
|
|
// ÿÂÖ½«×î´óÔªËØ"ðÅÝ"µ½Ä©Î²
|
for (j = 0; j < n - i - 1; j++) {
|
if (arr[j] > arr[j + 1]) {
|
// ½»»»ÏàÁÚÔªËØ
|
uint32_t temp = arr[j];
|
arr[j] = arr[j + 1];
|
arr[j + 1] = temp;
|
swapped = 1; // ±ê¼Ç·¢ÉúÁ˽»»»
|
}
|
}
|
|
// ÓÅ»¯£ºÈç¹û±¾ÂÖδ·¢Éú½»»»£¬ËµÃ÷Êý×éÒÑÅÅÐò
|
if (!swapped) break;
|
}
|
}
|
uint16_t tag_authorization_list_num_temp;
|
void fliter_tag_id_authorization_list(uint16_t*tag_authorization_list_real_num)
|
{
|
uint32_t filtered_count = 0;
|
|
// ±éÀúËùÓбêÇ©£¬½«¾àÀëСÓÚãÐÖµµÄID´æÈë½á¹ûÊý×é
|
for (uint32_t i = 0; i < taglist_num; i++) {
|
if (tagdist_list[i] < bind_distance&&tagid_list[i]!=0) {
|
fliter_tagid_list[filtered_count] = tagid_list[i];
|
filtered_count++;
|
}
|
//fliter_tagid_list
|
}
|
*tag_authorization_list_real_num=filtered_count;
|
}
|
void copy_taglist_to_flash(void)
|
{
|
fliter_tag_id_authorization_list(&tag_authorization_list_num_temp);//¹ýÂ˵÷idΪ0µÄ±êÇ©ºÍ²»Âú×ã°ó¶¨¾àÀëµÄ±êÇ©
|
memset(tag_id_authorization_list,0,sizeof(tag_id_authorization_list));//Çå¿ÕÉÏÒ»´ÎÊý×é·ÀÖ¹Öصþ
|
memcpy(&tag_id_authorization_list,&fliter_tagid_list,tag_authorization_list_num_temp*4);//¸´ÖÆÂú×ãÌõ¼þÊý×é
|
bubble_sort(&tag_id_authorization_list,tag_authorization_list_num_temp);//½øÐÐÅÅÐòºó´æÈë,Ϊ¶þ·Ö·¨×ö»ù´¡
|
save_taglist_map_to_flash();//´æÈëflash
|
}
|
|
void find_in_tag_id_authorization_list(uint32_t authorization_list_num)
|
{
|
// for (uint32_t i = 0; i < taglist_num; i++) {
|
// uint32_t target = tagid_list[i];
|
// uint32_t left = 0;
|
// uint32_t right = authorization_list_num - 1; // ÊÚȨÁбíµÄ×î´óË÷Òý
|
// uint8_t found = 0;
|
//
|
// // ¶þ·Ö²éÕÒÑ»·
|
// while (left <= right) {
|
// uint32_t mid = left + ((right - left) >> 1); // ·ÀÖ¹ÕûÊýÒç³ö
|
// uint32_t mid_val = tag_id_authorization_list[mid];
|
//
|
// if (mid_val == target) {
|
// found = 1;
|
// break; // ÕÒµ½Ä¿±êÖµ£¬Á¢¼´Í˳öÑ»·
|
// } else if (mid_val < target) {
|
// left = mid + 1;
|
// } else {
|
// right = mid - 1;
|
// }
|
// LOG_INFO(TRACE_MODULE_APP, "DEBUG: i=%u, left=%d, right=%d, found=%u\n", i, left, right, found);
|
// }
|
////
|
//// // ´æ´¢²éÕÒ½á¹û
|
//// tag_authorized_List[i] = found;
|
// }
|
{
|
// Èç¹ûÊÚȨÁбíΪ¿Õ£¬Ö±½ÓÈ«²¿±ê¼ÇΪ0
|
if (authorization_list_num == 0) {
|
for (int i = 0; i < taglist_num; i++) {
|
|
tag_authorized_List[i] = 0;
|
}
|
return;
|
}
|
|
// ±éÀúÐèÒª²éÕÒµÄÿ¸öID
|
for (int i = 0; i < taglist_num; i++) {
|
if (tag_authorized_List[i] != 2) {
|
continue; // Ìø¹ý²»ÐèÒª²éÕÒµÄÏî
|
}
|
int key = tagid_list[i];
|
int low = 0;
|
int high = authorization_list_num - 1;
|
int found = 0; // ±ê¼ÇÊÇ·ñÕÒµ½
|
|
// ÔÚÊÚȨÁбíÖÐÖ´Ðжþ·Ö²éÕÒ
|
while (low <= high) {
|
int mid = low + (high - low) / 2; // ·ÀÖ¹ÕûÊýÒç³ö
|
|
if (tag_id_authorization_list[mid] == key) {
|
found = 1; // ÕÒµ½Æ¥ÅäÏî
|
break;
|
} else if (tag_id_authorization_list[mid] < key) {
|
low = mid + 1; // ÔÚÓҰ벿·Ö¼ÌÐø²éÕÒ
|
} else {
|
high = mid - 1; // ÔÚ×ó°ë²¿·Ö¼ÌÐø²éÕÒ
|
}
|
}
|
|
// ¸ù¾Ý²éÕÒ½á¹ûÉèÖÃÊä³öÁбí
|
tag_authorized_List[i] = found ? 1 : 0;
|
}
|
}
|
}
|
#define AREA_1 0xa1
|
#define AREA_2 0xa2
|
#define AREA_3 0xa3
|
#define AREA_4 0xa4
|
#define AREA_5 0xa5
|
#define AREA_6 0xa6
|
#define AREA_7 0xa7
|
#define AREA_8 0xa8
|
uint8_t change_by_distance(uint8_t position,uint16_t distance)
|
{
|
if(distance<1000){
|
position=position;
|
}else if (distance>1000&&distance<2000){
|
position=position+16;
|
}else if (distance>2000&&distance<3000){
|
position=position+16;
|
}
|
return position;
|
}
|
void update_show_buffer(void)
|
{
|
uint8_t location_temp;
|
for(int i=0;i<taglist_num;i++)
|
{
|
if((int16_t)angle_azimuth[i]>=-22.5&&(int16_t)angle_azimuth[i]<=22.5)
|
{
|
location_temp=change_by_distance(AREA_1,tagdist_list[i]);
|
}else if((int16_t)angle_azimuth[i]>=22.5&&(int16_t)angle_azimuth[i]<=67.5){
|
location_temp=change_by_distance(AREA_8,tagdist_list[i]);
|
}else if((int16_t)angle_azimuth[i]>=67.5&&(int16_t)angle_azimuth[i]<=112.5){
|
location_temp=change_by_distance(AREA_7,tagdist_list[i]);
|
}else if((int16_t)angle_azimuth[i]>=112.5&&(int16_t)angle_azimuth[i]<=157.5){
|
location_temp=change_by_distance(AREA_6,tagdist_list[i]);
|
}else if(((int16_t)angle_azimuth[i]>=157.5&&(int16_t)angle_azimuth[i]<=180)||((int16_t)angle_azimuth[i]>=-180&&(int16_t)angle_azimuth[i]<=-157.5)){
|
location_temp=change_by_distance(AREA_5,tagdist_list[i]);
|
}else if((int16_t)angle_azimuth[i]>=-157.5&&(int16_t)angle_azimuth[i]<=-112.5){
|
location_temp=change_by_distance(AREA_4,tagdist_list[i]);
|
}else if((int16_t)angle_azimuth[i]>=-112.5&&(int16_t)angle_azimuth[i]<=-67.5){
|
location_temp=change_by_distance(AREA_3,tagdist_list[i]);
|
}else if((int16_t)angle_azimuth[i]>=-67.5&&(int16_t)angle_azimuth[i]<=-22.5){
|
location_temp=change_by_distance(AREA_2,tagdist_list[i]);
|
}
|
show_location[i]=location_temp;
|
}
|
}
|
void buffer_485_send(uint8_t* show_buffer)
|
{ static uint8_t usart_send[100];
|
uint16_t checksum = 0;
|
usart_send[0] = 0x55;
|
usart_send[1] = 0xAA;
|
usart_send[2] = 0x50;
|
usart_send[3] = 9+5*taglist_num; //length
|
memcpy(&usart_send[4],&dev_id,2); //anchor_id)
|
usart_send[6]=taglist_num; //ÇøÓòÊýÁ¿
|
memcpy(&usart_send[7],show_buffer,taglist_num);//ÇøÓòλÖÃ
|
memcpy(&usart_send[7+taglist_num],&tagid_list,2*taglist_num);//tag_idlist
|
memcpy(&usart_send[7+taglist_num+2*taglist_num],&tagdist_list,2*taglist_num); //tag_distlist
|
usart_send[7+5*taglist_num]=0;//±£Áô4λRESERVE1
|
usart_send[7+5*taglist_num+1]=0;
|
usart_send[7+5*taglist_num+2]=0;
|
usart_send[7+5*taglist_num+3]=0;
|
|
checksum = Checksum_u16(&usart_send[2],9+5*taglist_num);
|
memcpy(&usart_send[7+5*taglist_num+4], &checksum, 2);
|
while(uart_is_busy(UART_ID0));
|
uart_send(UART_ID0, usart_send,13+5*taglist_num, NULL);
|
}
|
void buffer_message_send(void)
|
{ static uint8_t usart0_send[1024];
|
uint16_t checksum = 0;
|
uint32_t yuliu=0;
|
usart0_send[0] = 0x55;
|
usart0_send[1] = 0xAA;
|
usart0_send[2] = 0x51;
|
usart0_send[3] = 8+16*taglist_num; //length
|
memcpy(&usart0_send[4],&dev_id,2); //anchor_id
|
for(uint8_t i=0;i<taglist_num;i++)
|
{
|
memcpy(&usart0_send[6+i*16],tagid_list[i],2);
|
usart0_send[8+i*20] = tag_seq[i];//°üÐò
|
memcpy(&usart0_send[9+i*16],&tagdist_list[i],2); //distance
|
memcpy(&usart0_send[11+i*16],&angle_azimuth[i],2);//angle_azithum
|
memcpy(&usart0_send[13+i*16],&angle_elevation[i],2);//angle_elevation
|
memcpy(&usart0_send[15+i*16],&tag_rssi[i],1); //ÐźÅÇ¿¶È
|
memcpy(&usart0_send[16+i*16],&rssi_quality[i],1); //ÐźÅÖÊÁ¿Ô¤Áô
|
usart0_send[17+i*20]=anchordata_bat[i];//±êÇ©µçÁ¿
|
memcpy(&usart0_send[18+i*16],&state_button[i],2); //É豸״̬
|
memcpy(&usart0_send[20+i*16],&pressure[i],2); //Æøѹ
|
}
|
memcpy(&usart0_send[6+taglist_num*16],&yuliu,4); //Ô¤Áôλ4λ
|
checksum = Checksum_u16(&usart0_send[2],8+16*taglist_num);
|
memcpy(&usart0_send[10+16*taglist_num], &checksum, 2);
|
uart_send(UART_ID0, usart0_send,12+16*taglist_num, NULL);
|
}
|
int Anchor_App(void)
|
{
|
uint8_t i;
|
uint16_t tempid;
|
//phy_update_sts_iv_counter(0x01, 0x00);//½ÓÊܵ½ºó¸üÐÂstsʱ¼ä
|
if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//ÅжÏÊÇ·ñÊǺÍ×Ô¼ºÊÇͬһ×éͨѶµÄÇÒΪpoll°ü
|
{
|
flag_recsuccess = 1;
|
wltag_state=RANGE;//³É¹¦ºó´ÓsearchÇл»Îªrange
|
memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
|
//temp_count2=phy_timer_count_get();
|
uwb_losttimer=0;//³É¹¦²â¾àÇå0 lostʱ¼ä
|
|
// #if AOA_EN
|
// // AOA caculation
|
// aoa_calculate(&elevation, &azimuth);
|
// aoa_fom_get(NULL, &fom);
|
//#elif PDOA_3D_EN
|
// // PDoA caculation
|
// pdoa_3d_calculate(0, &elevation, &azimuth);
|
// pdoa_fom_get(NULL, &fom);
|
//#endif
|
|
frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//»ñÈ¡°üÐò
|
battary = rx_buf[BATTARY_IDX];
|
rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX]; //±êÇ©´«¹ýÀ´µÄËûÓë»ùÕ¾½»»¥µÄ»ùÕ¾idÊýÄ¿
|
memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
|
memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
|
memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
|
memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
|
allow_flag=1;
|
taglist_pos=CmpTagInList(tag_id_recv);
|
if(taglist_num>=ANC_MAX_NUM)
|
return 0;
|
for(i=0; i<rec_nearbase_num; i++)
|
{
|
memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
|
if(tempid==dev_id)
|
{
|
Anchor_RecNearPoll(i);
|
tagdist_list[taglist_pos]=rec_ancdistlist[i];
|
anchordata_bat[taglist_pos] = battary;//±£´æ¸Ã»ùÕ¾µçÁ¿
|
tag_seq[taglist_pos]=frame_seq_nb2;
|
if(taglist_pos==taglist_num)// taglist_pos==taglist_num ˵Ã÷Õâ¸ö»ùÕ¾²»ÔÚµ±Ç°ÁбíÖÐ
|
{ //tempid==dev_id ˵Ã÷»ùվϷ¢²â¾à±¨ÎÄÓÐÕâ¸ö±êÇ©µÄÐÅÏ¢
|
taglist_num++; //Âú×ãÉÏÊöÁ½ÖÖÇé¿ö²Å»áÌí¼Ó»ùÕ¾ID½øÈëÁбíÖУ¬·ñÔò»á³öÏÖ±êÇ©²»ÔÚ»ùÕ¾ÁбíÖУ¬±êÇ©Ò²²»ÏìÓ¦µÄÇé¿ö
|
tagid_list[taglist_pos] = tag_id_recv;//ÐÂÔö»ùÕ¾
|
}
|
break;
|
}
|
}
|
|
if((i==rec_nearbase_num&&taglist_pos==taglist_num)||(rec_nearbase_num==0&&!ExistInTagList(tag_id_recv)))//µ±»ùÕ¾²»ÔÚ±êÇ©ÁбíÖУ¬±êÇ©Ò²²»ÔÚ»ùÕ¾ÁбíÖÐʱ£¬Ëæ»úÕÒ¸öʱ¼äƬ»Ø¸´»ùÕ¾¡£
|
{
|
Anchor_RecNearPoll(rec_nearbase_num);
|
}
|
}
|
|
|
}
|
int UwbRange(void)
|
{
|
uint8_t i;
|
uint16_t tempid;
|
// The following peripherals will be initialized in the uwb_open function
|
// phy/mac/aes/lsp/phy timers initialized
|
//uwb_open();
|
|
// // Set calibration parameters
|
// uwb_calibration_params_set(config.phy_cfg.ch_num);
|
|
// // set advanced parameters
|
// struct PHY_ADV_CONFIG_T adv_config = {
|
// .thres_fap_detect = 40,
|
// .nth_scale_factor = 4,
|
// .ranging_performance_mode = 0,
|
// .skip_weakest_port_en = 0,
|
// };
|
// phy_adv_params_configure(&adv_config);
|
|
// // uwb configure
|
// uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);
|
|
// ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
|
|
// Register rx interrupt callback function
|
//mac_register_process_handler(tx_int_callback, rx_int_callback);
|
|
receive_flag = 0;
|
flag_recsuccess = 0;
|
temp_count3=phy_timer_count_get();
|
gpio_pin_set(SCL_PIN);
|
sts_lsp_store();
|
flag_temp1=uwb_rx(0, 0, range_timeout_us);//¿ªÆô½ÓÊÕ
|
|
// while(mac_is_busy());
|
// temp_count2=phy_timer_count_get();
|
start_receive_count=phy_timer_count_get();
|
poll_timeout=US_TO_PHY_TIMER_COUNT(range_timeout_us);//¶àÒ»¸ö¶à0.4msĬÈÏ0.4ms¼ÆËãΪ0.125*4*100000,ĬÈÏ¿ªÆô1mss
|
end_receive_count=start_receive_count+poll_timeout;
|
if(end_receive_count>=UINT32_MAX)
|
{end_receive_count-=UINT32_MAX;}
|
current_count=phy_timer_count_get();
|
while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//Ñ»·½ÓÊÜ°üÌå,ÈôΪ124.8KÔòÊÇ+62400000
|
{
|
current_count=phy_timer_count_get();
|
while(mac_is_busy())
|
{
|
Calibration_Time();
|
IdleTask();
|
current_count=phy_timer_count_get();
|
if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
|
{
|
break;
|
}
|
}
|
sts_lsp_store_stop();
|
|
|
if(receive_flag==1)//³É¹¦½ÓÊÕ
|
{
|
|
//if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL&&!memcmp(&rx_buf[TAG_ID_IDX],&g_com_map[BIND_DEV_ID],2))//ÅжÏÊÇ·ñÊǺÍ×Ô¼ºÊÇͬһ×éͨѶµÄÇÒΪpoll°ü
|
if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//ÅжÏÊÇ·ñÊǺÍ×Ô¼ºÊÇͬһ×éͨѶµÄÇÒΪpoll°ü
|
{ flag_recsuccess = 1;
|
memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
|
// sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//²âÊÔ
|
temp_count2=phy_timer_count_get();
|
frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//»ñÈ¡°üÐò
|
battary = rx_buf[BATTARY_IDX];
|
rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX]; //±êÇ©´«¹ýÀ´µÄËûÓë»ùÕ¾½»»¥µÄ»ùÕ¾idÊýÄ¿
|
memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
|
memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
|
memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
|
memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
|
for(i=0; i<rec_nearbase_num; i++)
|
{
|
if(rec_ancidlist[i] == dev_id)
|
{ temp_recdist_before_offset=rec_ancdistlist[i];
|
rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
|
PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
|
}
|
}
|
for(i=0; i<rec_nearbase_num; i++)
|
{
|
memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
|
if(tempid==dev_id)//Ò²ÊDZÈidÈç¹ûÓо͸üÐÂûÓоÍÇÀÕ¼
|
{
|
seize_anchor=0; //·ÇÇÀÕ¼¡£ÒÑ´æÔÚÁбíÖÐ
|
Anchor_RecNearPoll(i);
|
break;
|
}
|
}
|
|
if(i==rec_nearbase_num)
|
{
|
seize_anchor=1; //ÇÀÕ¼anchor
|
Anchor_RecNearPoll(i);
|
}
|
recev_error_num=0;
|
//range_timeout_us=5000;//»Ö¸´Îª5000½øÈërangeºó
|
//LOG_INFO(TRACE_MODULE_APP,"±êÇ©ID£º%X,¾àÀë: %d °üÐò%d\r\n",g_com_receive_id,distance,frame_seq_nb2);
|
|
|
gpio_pin_clr(SCL_PIN);
|
//break;È¥µôbreak±äΪһ¶Ô¶à
|
}
|
}
|
sts_lsp_store();
|
|
break;
|
//ʧ°Ü»òÕß½ÓÊܱ»¸ß·¢Éä»ú´ò¶Ï¶¼»áÔٴοªÆô½ÓÊÕ
|
//flag_temp1=uwb_rx(0, 0, range_timeout_us);
|
}
|
delay_us(1);
|
sts_lsp_store_stop();
|
uwb_rx_force_off(1);
|
|
// if(!flag_recsuccess)
|
// {
|
// //sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-3));//²âÊÔ
|
// //LOG_INFO(TRACE_MODULE_APP,"²â¾àʧ°Ü£¬¼ÆÊý£º%d\r\n",recev_error_num);
|
// if(recev_error_num++>5)
|
// {
|
// recev_error_num=0;
|
// UWB_work_state=SEARCH_DEV;
|
// uwb_searchcount = 0;
|
// search_open_flag = 1;
|
// }
|
//}
|
|
|
|
return 0;
|
}
|
void Uwb_init(void)//uwbinitÐÞ¸ÄÁË
|
{
|
uwb_open();
|
// Set calibration parameters
|
uwb_calibration_params_set(config.phy_cfg.ch_num);
|
|
// set advanced parameters
|
struct PHY_ADV_CONFIG_T adv_config =
|
{
|
.thres_fap_detect = 40,
|
.nth_scale_factor = 1,
|
.ranging_performance_mode = 0,
|
#if RX_ANT_PORTS_NUM == 4
|
.skip_weakest_port_en = 1,
|
#else
|
.skip_weakest_port_en = 0,
|
#endif
|
};
|
phy_adv_params_configure(&adv_config);
|
|
// uwb configure
|
uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);
|
|
ranging_lib_init(config.phy_cfg.sts_pkt_cfg, CE_AUX_CH_PWR_NLOS_FOM);
|
|
// Register rx interrupt callback function
|
mac_register_process_handler(tx_int_callback, rx_int_callback);
|
|
// Reduce inter frame spacing (IFS) for non encrypted packets
|
mac_ifs_set(0, 0);
|
}
|
#if PDOA_3D_EN
|
#define PDOA_3D_SUPPORT_NUM 10
|
#define PDOA_3D_TIMEOUT_MS 2000
|
static struct PDOA_3D_MAC_ADDR_T mac_addr_cache[PDOA_3D_SUPPORT_NUM];
|
static struct PDOA_3D_PDOA_DATA_T pdoa_data_cache[PDOA_3D_SUPPORT_NUM];
|
#endif
|
#define KF_SUPPORT_NUM 3
|
#define KF_TIMEOUT_MS 2000
|
static struct KF_MAC_ADDR_T kf_mac_addr_cache[KF_SUPPORT_NUM];
|
static struct KF_CHANNEL_CACHE_T kf_channel_cache[KF_SUPPORT_NUM];
|
static struct KF_MAT_VALUE_CACHE_T kf_mat_value_cache[KF_SUPPORT_NUM];
|
void Anchor_uwb_aoa_square_init(void)
|
{
|
uwb_open();
|
// Set calibration parameters
|
uwb_calibration_params_set(config.phy_cfg.ch_num);
|
|
// set advanced parameters
|
struct PHY_ADV_CONFIG_T adv_config =
|
{
|
.thres_fap_detect = 40,
|
.nth_scale_factor = 1,
|
.ranging_performance_mode = 0,
|
#if RX_ANT_PORTS_NUM == 4
|
.skip_weakest_port_en = 1,
|
#else
|
.skip_weakest_port_en = 0,
|
#endif
|
};
|
phy_adv_params_configure(&adv_config);
|
|
// uwb configure
|
uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);
|
|
ranging_lib_init(config.phy_cfg.sts_pkt_cfg, CE_AUX_CH_PWR_NLOS_FOM);
|
|
// Register rx interrupt callback function
|
mac_register_process_handler(tx_int_callback, rx_int_callback);
|
|
// Reduce inter frame spacing (IFS) for non encrypted packets
|
mac_ifs_set(0, 0);
|
|
#if (ANT_PATTERN == ANT_PATTERN_SQUARE)
|
angle_span_t aoa_span;
|
aoa_span.Ndim = 2;
|
aoa_span.el_low = 90;
|
aoa_span.el_high = 90;
|
aoa_span.el_step = 1;
|
aoa_span.az_low = 0;
|
aoa_span.az_high = 359;
|
aoa_span.az_step = 1;
|
aoa_angle_search_span_set(&aoa_span);
|
#endif
|
|
#if AOA_EN
|
sts_param_config(config.phy_cfg.sts_pkt_cfg, STS_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM, STS_BUF_NUM, STS_BUF_SIZE);
|
aoa_steering_vector_set((const float *)((uint32_t)((config.phy_cfg.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) | SRAM_BASE));
|
#else
|
sts_param_config(config.phy_cfg.sts_pkt_cfg, STS_AUX_ANT_IQ_RSSI, STS_BUF_NUM, STS_BUF_SIZE);
|
#endif
|
|
#if PDOA_3D_EN
|
pdoa_3d_param_config(ANT_PATTERN, ANT_LAYOUT, PDOA_3D_AMBIGUITY_LEVEL_NONE, mac_addr_cache, pdoa_data_cache, PDOA_3D_SUPPORT_NUM, PDOA_3D_TIMEOUT_MS);
|
// pdoa_angle_reverse_set(1, 0);
|
#endif
|
|
// Set STS key and IV
|
phy_sts_key_configure(&sts_iv_key);
|
|
phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
|
//³õʼ»¯Â˲¨¿Õ¼ä
|
loc_post_kf_config(1000, kf_mac_addr_cache, kf_channel_cache, kf_mat_value_cache, KF_SUPPORT_NUM, KF_TIMEOUT_MS);
|
}
|
|
|
//Ö÷º¯Êý°ó¶¨½ÓÊÜÂß¼
|
int UwbSearch(void)
|
{
|
uint8_t i;
|
uint16_t tempid;
|
// The following peripherals will be initialized in the uwb_open function
|
// phy/mac/aes/lsp/phy timers initialized
|
uwb_open();
|
#ifdef STS_MODE
|
// Set STS key and IV
|
phy_sts_key_configure(&sts_iv_key);
|
|
// which RX ports will be used for AoA/PDoA
|
phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
|
#endif
|
// Set calibration parameters
|
uwb_calibration_params_set(config.phy_cfg.ch_num);
|
|
#ifndef STS_MODE
|
// set advanced parameters
|
struct PHY_ADV_CONFIG_T adv_config = {
|
.thres_fap_detect = 40,
|
.nth_scale_factor = 4,
|
.ranging_performance_mode = 0,
|
.skip_weakest_port_en = 0,
|
};
|
#else
|
// set advanced parameters
|
struct PHY_ADV_CONFIG_T adv_config = {
|
.thres_fap_detect = 40,
|
.nth_scale_factor = 4,
|
.ranging_performance_mode = 3,
|
.skip_weakest_port_en = 0,
|
};
|
#endif
|
phy_adv_params_configure(&adv_config);
|
|
// uwb configure
|
uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);
|
|
#ifdef STS_MODE
|
ranging_lib_init();
|
#endif
|
//ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);//а汾ÐÞ¸Ä
|
ranging_lib_init(config.phy_cfg.sts_pkt_cfg, CE_AUX_CH_PWR_NLOS_FOM);
|
#ifdef STS_MODE
|
aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM);
|
aoa_steering_vector_set((const float *)((uint32_t)((config.phy_cfg.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) | SRAM_BASE));
|
|
aoa_param_config();
|
|
phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
|
#endif
|
// Register rx interrupt callback function
|
mac_register_process_handler(tx_int_callback, rx_int_callback);
|
|
receive_flag = 0;
|
temp_count3=phy_timer_count_get();
|
gpio_pin_set(SCL_PIN);
|
sts_lsp_store();
|
flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//¿ªÆô½ÓÊÕ
|
start_receive_count=phy_timer_count_get();
|
poll_timeout=US_TO_PHY_TIMER_COUNT(2000000);//¶àÒ»¸ö¶à0.4msĬÈÏ0.4ms¼ÆËãΪ0.125*4*100000,ĬÈÏ¿ªÆô1mss
|
end_receive_count=start_receive_count+poll_timeout;
|
if(end_receive_count>=UINT32_MAX)
|
{
|
end_receive_count-=UINT32_MAX;
|
}
|
current_count=phy_timer_count_get();
|
while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//Ñ»·½ÓÊÜ°üÌå,ÈôΪ124.8KÔòÊÇ+62400000
|
{
|
while(mac_is_busy())
|
{
|
IdleTask();
|
current_count=phy_timer_count_get();
|
if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
|
{
|
break;
|
}
|
}
|
sts_lsp_store_stop();
|
|
|
temp_count2=phy_timer_count_get();
|
if(receive_flag==1)//³É¹¦½ÓÊÕ
|
{
|
// if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL&&!memcmp(&rx_buf[TAG_ID_IDX],&g_com_map[BIND_DEV_ID],2))//ÅжÏÊÇ·ñÊǺÍ×Ô¼ºÊÇͬһ×éͨѶµÄÇÒΪpoll°ü
|
if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//ÅжÏÊÇ·ñÊǺÍ×Ô¼ºÊÇͬһ×éͨѶµÄÇÒΪpoll°ü
|
{
|
sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-13));//²âÊÔ
|
range_timeout_us=20000;//½«Ï´Îrange¿ªÆôºó³¬Ê±Ê±¼äÉèΪ20msÖ®ºóÔÙrangeÀï»Ö¸´
|
temp_count2=phy_timer_count_get();
|
frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//»ñÈ¡°üÐò
|
battary = rx_buf[BATTARY_IDX];
|
rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX]; //±êÇ©´«¹ýÀ´µÄËûÓë»ùÕ¾½»»¥µÄ»ùÕ¾idÊýÄ¿
|
memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
|
memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
|
memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
|
memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
|
for(i=0; i<rec_nearbase_num; i++)
|
{
|
if(rec_ancidlist[i] == dev_id)
|
{
|
temp_recdist_before_offset=rec_ancdistlist[i];
|
rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
|
PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
|
}
|
}
|
for(i=0; i<rec_nearbase_num; i++)
|
{
|
memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
|
if(tempid==dev_id)//Ò²ÊDZÈidÈç¹ûÓо͸üÐÂûÓоÍÇÀÕ¼
|
{
|
seize_anchor=0; //·ÇÇÀÕ¼¡£ÒÑ´æÔÚÁбíÖÐ
|
Anchor_RecNearPoll(i);
|
break;
|
}
|
}
|
|
if(i==rec_nearbase_num)
|
{
|
seize_anchor=1; //ÇÀÕ¼anchor
|
Anchor_RecNearPoll(i);
|
}
|
|
gpio_pin_clr(SCL_PIN);//²âÊÔ
|
LOG_INFO(TRACE_MODULE_APP,"±êÇ©ID£º%X,¾àÀë: %d ÐźÅÇ¿¶ÈANT0:%f,ÐźÅÇ¿¶ÈANT2: %f\r\n",g_com_map[BIND_DEV_ID],distance,sts_rssi[0],sts_rssi[2]);
|
return 1;//·µ»Ø·¢Ëͳɹ¦±êÖ¾
|
}
|
|
}
|
temp_count3=phy_timer_count_get();
|
sts_lsp_store();
|
flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//ÔٴοªÆô½ÓÊÕ
|
}
|
delay_us(2);
|
sts_lsp_store_stop();
|
uwb_rx_force_off(1);
|
// LOG_INFO(TRACE_MODULE_APP,"³¬Ê±¶¨Ê±Æ÷£º%x,%x,%x\r\n",start_receive_count,end_receive_count,current_count);
|
gpio_pin_clr(SCL_PIN);//²âÊÔ
|
return 0;//·µ»Ø°ó¶¨Ê§°Ü±êÖ¾
|
}
|
//}
|
|
#define SEARCH_TIMESTEMP 20
|
void UWBPoll(void)
|
{
|
switch(UWB_work_state)
|
{
|
case LINK_SUCCESS:
|
{ //Á¬½Ó³É¹¦½øÐÐÂÖѯ²â¾à
|
|
uwb_led_on();
|
UwbRange();
|
uwb_led_off();
|
|
}
|
break;
|
case SEARCH_DEV:
|
{
|
UWB_work_state=LINK_SUCCESS;
|
Uwb_init();
|
// //½Ó°ü²»³É¹¦»òÕßͨѶʧ°Ü½øÈëËÑË÷ģʽ
|
// if(search_open_flag)
|
// {
|
// LOG_INFO(TRACE_MODULE_APP,"¿ªÆôËÑË÷\r\n");
|
// search_open_flag=0;
|
// uwb_led_on();
|
// link_success_flag=UwbSearch();//µÚÒ»´Î¿ªÆô½ÓÊÕ2s°ó¶¨Ê§°ÜºóÔò½øÐÐÏÂÃæ1·ÖÖÓºóÖØпªÆô2s°ó¶¨Á÷³Ì
|
// uwb_led_off();
|
// if(link_success_flag)
|
// UWB_work_state=LINK_SUCCESS;
|
// }else{
|
// LOG_INFO(TRACE_MODULE_APP,"µÈ´ý½øÈëËÑË÷ģʽ£º%d\r\n",SEARCH_TIMESTEMP-uwb_searchcount);
|
// }
|
|
}
|
break;
|
case UN_BIND:
|
{
|
uwb_led_off();//¹Ø±ÕuwbָʾµÆ
|
}
|
break;
|
}
|
if(UWB_work_state==LINK_SUCCESS)
|
{ //³É¹¦Ê±Çå0´íÎó¼ÆÊý
|
uwb_searchcount=0;
|
}
|
if(UWB_work_state==SEARCH_DEV)
|
{
|
if(!search_open_flag)
|
{
|
if(uwb_searchcount++>SEARCH_TIMESTEMP)
|
{
|
uwb_searchcount=0;
|
search_open_flag=1;
|
}
|
}
|
//link_error_count+=g_com_map[COM_INTERVAL];
|
//if(link_error_count>=g_com_map[4G_INTERNAL])
|
//link_error_count=0;
|
// update_led_power_state();//¸üеÆ״̬
|
}
|
//LOG_INFO(TRACE_MODULE_APP,"UWB״̬£º%d\r\n",UWB_work_state);
|
}
|
|
uint8_t GetUWBBindState(void)
|
{
|
if(UWB_work_state == UN_BIND)
|
{
|
return 0;
|
}
|
return 1;
|
}
|
