ChinaUWBProject.git

			@@ -333,7 +333,7 @@
			uint32_t range_timeout_us = 2000000;//yuan5000
			uint8_t flag_temp2,flag_temp1;
			uint16_t uwb_losttimer;
			uint8_t mac_error;
			//uint8_t mac_error;
			uint8_t allow_flag;
			uint8_t resp_tx_flag,poll_rx_error_num;
			uint8_t tag_rssi[TAG_NUM_IN_SYS];
			@@ -355,6 +355,7 @@
			//}
			}
			float temp1,temp2;
			uint8_t aoa_fom[TAG_NUM_IN_SYS];
			static void angle_result_filter(uint8_t mac_addr, int16_t angle, uint8_t type)
			{
			if (angle == NULL)
			@@ -411,12 +412,13 @@
			angle_result_filter(&mac_addr,&elevation, KF_DATA_TYPE_ELEVATION);
			angle_azimuth[taglist_pos]=(uint16_t)mk_q7_to_s16(azimuth);
			angle_elevation[taglist_pos]=(uint16_t)mk_q7_to_s16(elevation);
			aoa_fom[taglist_pos]=fom;
			//buffer_message_send();
			//int16_t azimth=mk_q7_to_s16(azimuth),elevate=mk_q7_to_s16(elevation);

			// // filter process

			LOG_INFO(TRACE_MODULE_APP, "PDoA 0x%04x Azimuth %d Elevation %d FoM %u\r\n",tag_id_recv, mk_q7_to_s16(azimuth),
			LOG_INFO(TRACE_MODULE_APP, "PDoA 0x%04x Azimuth %d Elevation %d FoM %u \r\n",tag_id_recv, mk_q7_to_s16(azimuth),
			mk_q7_to_s16(elevation), fom);
			allow_flag=0;
			}
			@@ -477,7 +479,7 @@
			OpenUWB();//再次开启UWB接收
			//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;
			//mac_error=1;
			}
			}
			uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
			@@ -485,8 +487,8 @@
			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];
			static int16_t tagdist_list[TAG_NUM_IN_SYS];

			uint16_t state_button[TAG_NUM_IN_SYS];
			uint16_t pressure[TAG_NUM_IN_SYS];
			uint16_t random_time;
			@@ -618,7 +620,7 @@
			tagid_list[j] = tagid_list[j + 1];
			tagid_list[j + 1] = temp_id;

			//同步交换电量是否授权表和在线时间
			//同步交换电量
			uint32_t temp_bat = anchordata_bat[j];
			anchordata_bat[j]=anchordata_bat[j+1];//电量随之更新
			anchordata_bat[j+1]=temp_bat;
			@@ -628,6 +630,38 @@
			tagofflinetime[j]=tagofflinetime[j+1];//电量随之更新
			tagofflinetime[j+1]=temp_tag_offlinetime;

			//水平角度交换
			uint16_t temp_tag_azimuth=angle_azimuth[j];
			angle_azimuth[j]=angle_azimuth[j+1];
			angle_azimuth[j+1]=temp_tag_azimuth;
			//垂直角度交换
			uint16_t temp_tag_elevation=angle_elevation[j];
			angle_elevation[j]=angle_elevation[j+1];
			angle_elevation[j+1]=temp_tag_elevation;
			//信号强度交换
			uint8_t rssi_temp=tag_rssi[j];
			tag_rssi[j]=tag_rssi[j+1];
			tag_rssi[j+1]=rssi_temp;
			//角度置信度交换
			uint8_t temp_fom=aoa_fom[j];
			aoa_fom[j]=aoa_fom[j+1];
			aoa_fom[j+1]=temp_fom;
			//设备状态交换
			uint16_t temp_state=state_button[j];
			state_button[j]=state_button[j+1];
			state_button[j+1]=temp_state;
			//气压交换
			uint16_t temp_pressure=pressure[j];
			pressure[j]=pressure[j+1];
			pressure[j+1]=temp_pressure;
			//包序交换
			uint8_t seq_temp=tag_seq[j];
			tag_seq[j]=tag_seq[j+1];
			tag_seq[j+1]=seq_temp;
			//showbuffer交换
			uint8_t show_location_temp=show_location[j];
			show_location[j]=show_location[j+1];
			show_location[j+1]=show_location_temp;
			// //同步交换授权表
			// uint8_t temp_tag_authorized = tag_authorized_List[j];
			// tag_authorized_List[j]=tag_authorized_List[j+1];//电量随之更新
			@@ -666,10 +700,12 @@
			}
			taglist_num=j;
			sort_tag_lists();//增加距离小的排到前面逻辑
			buffer_message_send();//发送测距报文信息
			update_show_buffer();//根据角度和距离判断区域位置
			//delay_ms(10);
			buffer_485_send(show_location);//发送显示信息
			//update_show_buffer();//根据角度和距离判断区域位置
			// gpio_pin_set(CHANGE_UART_PIN);//；拉高打印输出
			//buffer_message_send();//发送测距报文信息
			//buffer_485_send(show_location);//发送显示信息
			// while(uart_tx_in_progress(UART_ID0));
			// gpio_pin_clr(CHANGE_UART_PIN);//；拉低变接收
			}

			uint8_t position;
			@@ -788,6 +824,7 @@
			uwb_rx_flag=1;
			//LOG_INFO(TRACE_MODULE_APP,"打开uwb_rx\r\n");
			}
			//uint8_t temp_tag_num;
			void UWBOneSecondTask(void)
			{
			TagListUpdate();//更新标签数
			@@ -975,11 +1012,11 @@
			#define AREA_8 0xa8
			uint8_t change_by_distance(uint8_t position,uint16_t distance)
			{
			if(distance<1000){
			if(distance<g_com_map[ALARM_DISTANCE1]){
			position=position;
			}else if (distance>1000&&distance<2000){
			}else if (distance>g_com_map[ALARM_DISTANCE1]&&distance<g_com_map[ALARM_DISTANCE2]){
			position=position+16;
			}else if (distance>2000&&distance<3000){
			}else if (distance>g_com_map[ALARM_DISTANCE2]&&distance<g_com_map[ALARM_DISTANCE3]){
			position=position+16;
			}
			return position;
			@@ -1043,21 +1080,24 @@
			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];//包序
			memcpy(&usart0_send[6+i*16],&tagid_list[i],2);
			usart0_send[8+i*16] = tag_seq[i];//包序
			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); //信号强度
			memcpy(&usart0_send[16+i*16],&rssi_quality[i],1); //信号质量预留
			usart0_send[17+i*20]=anchordata_bat[i];//标签电量
			memcpy(&usart0_send[16+i*16],&aoa_fom[i],1); //信号质量预留
			usart0_send[17+i*16]=anchordata_bat[i];//标签电量
			memcpy(&usart0_send[18+i*16],&state_button[i],2); //设备状态
			memcpy(&usart0_send[20+i*16],&pressure[i],2); //气压
			}
			memcpy(&usart0_send[6+taglist_num*16],&yuliu,4); //预留位4位
			checksum = Checksum_u16(&usart0_send[2],8+16*taglist_num);
			memcpy(&usart0_send[10+16*taglist_num], &checksum, 2);
			gpio_pin_set(CHANGE_UART_PIN);//；拉高打印输出
			uart_send(UART_ID0, usart0_send,12+16*taglist_num, NULL);
			while(uart_tx_in_progress(UART_ID0));
			gpio_pin_clr(CHANGE_UART_PIN);//；拉低变接收
			}
			int Anchor_App(void)
			{
			@@ -1298,7 +1338,7 @@
			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);