修改搬运tagid为2字节，修改55aaaoa包体内容和上传时机，增加距离和角度判断区域显示报文输出逻辑

chen

2025-07-09 31ac7dbd495f1ba57c91b602886f3baf5fa0735c

 keil/uwb_app.c

@@ -10,6 +10,8 @@
#include "global_param.h"
#include "board.h"
#include "lib_aoa.h"
#include "lib_kf.h"
#include "MK8000_kf_top.h"
#if PDOA_3D_EN
#include "lib_pdoa_3d.h"
#endif
@@ -18,14 +20,15 @@
void Calibration_Time(void);
void TagListUpdate(void);
void TagListUpdate_person_num(void);
void buffer_message_send(uint32_t tag_pos,uint8_t rssi_quality,uint16_t pressure,uint16_t state_button);

void buffer_message_send(void);
void buffer_485_send(uint8_t* show_buffer);
void Uwb_init(void);
void OpenUWB(void);
void CloseUWB(void);
int Anchor_App(void);
extern void IO_LED_control_change(uint8_t data);
extern void IO_control_init(void);
extern uint8_t loc_kf_filter(float data_meas, enum KF_DATA_TYPE_T data_type, uint8_t *mac_addr, float *data_post);

extern void updata_led_power_state(void);
/*receive buffer*/
@@ -37,8 +40,10 @@
//resp变量
static uint8_t frame_seq_nb2,battary,button,rec_nearbase_num,ancidlist_num;
static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS];
uint8_t show_location[TAG_NUM_IN_SYS];
void buffer_485_construct(uint8_t* show_buffer);
static int16_t rec_ancdistlist[TAG_NUM_IN_SYS];
void update_show_buffer(void);
extern uint8_t group_id;
static uint16_t anc_id_recv;
static uint16_t tag_id_recv;
@@ -213,7 +218,7 @@
#elif defined STS_MODE_SQUARE
static struct mk_uwb_configure config = {
    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
    .phy_cfg.ch_num = 9,                      /* Channel number.                           */
    .phy_cfg.ch_num = 5,                      /* Channel number.                           */
    .phy_cfg.code_index = 9,                  /* TRX preamble code                         */
    .phy_cfg.mean_prf = MEAN_PRF_64M,         /* Mean prf 64/128/256M                      */
    .phy_cfg.data_bit_rate = DATA_BR_6M8,     /* Data rate 6.8M                            */
@@ -332,6 +337,43 @@
uint8_t allow_flag;
uint8_t resp_tx_flag,poll_rx_error_num;
uint8_t tag_rssi[TAG_NUM_IN_SYS];
uint8_t tag_show_location[TAG_NUM_IN_SYS];
void construct_show_buffer(uint8_t*tag_show_location,uint32_t tag_pos)
{
//if(angle_azimuth[tag_pos])
//{
//	
//}elseif(angle_azimuth[tag_pos])
//{

//}elseif(angle_azimuth[tag_pos])
//{

//}elseif(angle_azimuth[tag_pos])
//{

//}
}
float temp1,temp2;
static void angle_result_filter(uint8_t *mac_addr, int16_t *angle, uint8_t type)
{
    if (angle == NULL)
    {
        return;
    }

    float post_angle;
    float angle_meas = mk_q7_to_f32(*angle);
      temp1=angle_meas;
		
    // call filter
    loc_kf_filter(angle_meas, (enum KF_DATA_TYPE_T)type, mac_addr, &post_angle);
      temp2=post_angle;
    // update angle
    *angle = mk_f32_to_q7(post_angle);
      temp1=*angle;
    // LOG_INFO(TRACE_MODULE_APP, "Peer %X, $%d %d;\r\n", READ_SHORT(mac_addr), (int16_t)angle_meas,(int16_t)post_angle);
}
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{      uint8_t valid_sts=0;
    // Power off radio
@@ -363,11 +405,20 @@
         pdoa_fom_get(NULL, &fom);
         if(allow_flag)
         {
            tag_rssi[taglist_pos]=rssi;
         tag_rssi[taglist_pos]=rssi;
               uint8_t mac_addr=0;
             angle_result_filter(&mac_addr,&azimuth, KF_DATA_TYPE_AZIMUTH);
       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);
         buffer_message_send(taglist_pos,0,0,0);
         allow_flag=0;
         //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),
                                 mk_q7_to_s16(elevation), fom);
            allow_flag=0;
         }
      }
         if(resp_tx_flag==0)
@@ -435,7 +486,9 @@
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;
@@ -575,10 +628,10 @@
                     tagofflinetime[j]=tagofflinetime[j+1];//电量随之更新
            tagofflinetime[j+1]=temp_tag_offlinetime;
                     
                     //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
            tag_authorized_List[j+1]=temp_tag_authorized;
//                     //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
//            tag_authorized_List[j+1]=temp_tag_authorized;
            }
        }
    }
@@ -613,13 +666,10 @@
      }
       taglist_num=j;
      sort_tag_lists();//增加距离小的排到前面逻辑
      if(find_flag)
      {
         //if(tt5)
      find_in_tag_id_authorization_list(tag_id_authorization_list_num);
      find_flag=0;
      }
      change_button_state();
      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
}

uint8_t position;
@@ -915,7 +965,52 @@
    }
}
}
void buffer_485_construct(uint8_t* show_buffer)
#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;
@@ -924,9 +1019,9 @@
        usart_send[3] = 9+5*taglist_num;      //length            
        memcpy(&usart_send[4],&dev_id,2); //anchor_id)
            usart_send[6]=taglist_num;       //区域数量
        memcpy(&usart_send[7],&show_buffer,taglist_num);//区域位置
        memcpy(&usart_send[7+taglist_num],&ancidlist_rec,2*taglist_num);//tag_idlist
        memcpy(&usart_send[7+taglist_num+2*taglist_num],&rec_ancdistlist,2*taglist_num); //tag_distlist
        memcpy(&usart_send[7],show_buffer,taglist_num);//区域位置
        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;//保留4位RESERVE1
            usart_send[7+5*taglist_num+1]=0;
            usart_send[7+5*taglist_num+2]=0;
@@ -934,31 +1029,35 @@
   
        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(uint32_t tag_pos,uint8_t rssi_quality,uint16_t pressure,uint16_t state_button)
{            static uint8_t usart_send[100];
void buffer_message_send(void)
{            static uint8_t usart0_send[1024];
            uint16_t checksum = 0;
            uint32_t yuliu=0;
        usart_send[0] = 0x55;
        usart_send[1] = 0xAA;
        usart_send[2] = 0x51;                        
        usart_send[3] = 24;      //length
            usart_send[4] = tag_seq[tag_pos];//包序
        memcpy(&usart_send[5],&dev_id,2); //anchor_id
            memcpy(&usart_send[7],&tagid_list[tag_pos],2); //tag_id
            memcpy(&usart_send[9],&tagdist_list[tag_pos],2); //distance
        memcpy(&usart_send[11],&angle_azimuth[tag_pos],2);//angle_azithum
        memcpy(&usart_send[13],&angle_elevation[tag_pos],2);//angle_elevation
        memcpy(&usart_send[15],&tag_rssi[tag_pos],1); //信号强度
            memcpy(&usart_send[16],&rssi_quality,1); //信号质量预留
            usart_send[17]=anchordata_bat[taglist_pos];//标签电量
            memcpy(&usart_send[18],&state_button,2); //设备状态
            memcpy(&usart_send[20],&pressure,2); //气压
               memcpy(&usart_send[22],&yuliu,4); //预留位4位
        checksum = Checksum_u16(&usart_send[2],24);
        memcpy(&usart_send[26], &checksum, 2);
            uart_send(UART_ID0, usart_send,28, NULL);
        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];//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[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);
            uart_send(UART_ID0, usart0_send,12+16*taglist_num, NULL);
}
int Anchor_App(void)
{
@@ -986,7 +1085,7 @@
            frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
            battary = rx_buf[BATTARY_IDX];
            rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX];  //标签传过来的他与基站交互的基站id数目
            memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],4);
            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);
@@ -1003,15 +1102,6 @@
                                    tagdist_list[taglist_pos]=rec_ancdistlist[i];
                                    anchordata_bat[taglist_pos] = battary;//保存该基站电量
                                    tag_seq[taglist_pos]=frame_seq_nb2;
//                              if(tag_authorized_List[taglist_pos]==1)
//                              {
//                                 if(tagdist_list[taglist_pos]<button_determinate_distance)
//                                 {
//                                    gpio_pin_set(BUTTON_PIN);
//                                 }else{
//                                    gpio_pin_clr(BUTTON_PIN);
//                                 }
//                              }
                                    if(taglist_pos==taglist_num)// taglist_pos==taglist_num 说明这个基站不在当前列表中
                                    {   //tempid==dev_id 说明基站下发测距报文有这个标签的信息
                                          taglist_num++;          //满足上述两种情况才会添加基站ID进入列表中，否则会出现标签不在基站列表中，标签也不响应的情况
@@ -1027,8 +1117,7 @@
                }
            }
            
                         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);
								
}
int UwbRange(void)
{
@@ -1202,6 +1291,11 @@
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();
@@ -1261,6 +1355,8 @@
    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);
      //初始化滤波空间
      loc_post_kf_config(1000, kf_mac_addr_cache, kf_channel_cache, kf_mat_value_cache, KF_SUPPORT_NUM, KF_TIMEOUT_MS);
}