对比PCA9555的修改

zhangbo

2025-05-16 39842cc2707c7ceb890bd963d1d226cc7542bc91

 keil/uwb_app.c

@@ -12,7 +12,7 @@
#include "PCA9555.h"

#define TAG_KEEPTIMES           20
#define REPORT_TAG_KEEPTIMES     1
#define REPORT_TAG_KEEPTIMES     20

#define GROUP_NUM   3
uint16_t group_min_dist[GROUP_NUM+1];
@@ -98,6 +98,7 @@
#define RANGING_PERIOD_MS (1000)

/* This is the delay from Frame RX POLL frame to send RESP Frame */
//#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan750 7500Haoyong
#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan750 7500Haoyong

#define RESP_TX_TO_FINAL_RX_DLY_US 500U
@@ -324,6 +325,8 @@
uint16_t REPLY_POLL_NUM;
uint16_t ERR_RX_NUM;
uint8_t send_qiangzhan_NUM;
uint8_t resp_tx_flag;
uint32_t temp_c[10];
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{      uint8_t valid_sts=0;
    // Power off radio
@@ -333,20 +336,25 @@
    if (rx_report->err_code == UWB_RX_OK)
    {
         

        resp_tx_flag=0;
        /* Received data does not contain FCS */
        rx_length = rx_report->pkt_len;
        memcpy(rx_buf, rx_report->pkt_data, rx_length);
        memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
        /* Calculate rx timestamp */
        temp_count= phy_timer_count_get();
        
        poll_rx_en_start_u32 = rx_rpt.timestamp - phy_shr_duration();
        poll_rx_ts_i64 = ranging_rx_time_correct(&rx_rpt);
        poll_rx_num++;
            REV_RX_NUM++;
        rssi = rx_report->rssi;
        receive_flag=1;
            temp_count= phy_timer_count_get();
            Anchor_App();
          if(resp_tx_flag==0)
         {
           OpenUWB();
         }
         #ifdef STS_MODE
            valid_sts= sts_valid_check();
      if (valid_sts)
@@ -378,9 +386,9 @@
           ERR_RX_NUM++;
            UWB_STATE=UWB_STATE_IDLE;   

         //   OpenUWB();//再次开启UWB接收
            OpenUWB();//再次开启UWB接收
    }
   OpenUWB();//再次开启UWB接收
//   OpenUWB();//再次开启UWB接收
#ifdef USE_TX_UWBON         
            if(UWB_STATE==UWB_STATE_IDLE)
            {
@@ -407,7 +415,7 @@
         
        temp_count= phy_timer_count_get();
        temp_internal=temp_count;
        
        OpenUWB();
           TX_CALL_POLL_NUM++;
//           if(send_qiangzhan_NUM)
//            {
@@ -530,7 +538,7 @@
uint16_t response_num;
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos)//根据自己是否为新基站定制消息去发送，根据是否抢占判断
{
    temp_count2=poll_rx_en_start_u32;
//    temp_count2=phy_timer_count_get();
    memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//组id
    memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);//自身id
    memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);//接受者id
@@ -549,7 +557,7 @@
//            //这里应该有问题问一下钟工
//      }//此处设置绝对时间将poll u32改为phy_timer_count_get()
      position=ancrec_nearbasepos;
     temp_count1=phy_timer_count_get();
	 
      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);//加入帧间隔
//    resp_tx_en_start_u32 = temp_count1+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+ancrec_nearbasepos*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//加入帧间隔
    resp_tx_ts_i64 = ranging_tx_time_correct(resp_tx_en_start_u32 + phy_shr_duration());//修正时间戳
@@ -558,10 +566,10 @@
    resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts_i64);//此处时间戳int64直接转换为uint64不知道会不会有错误
    memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&disoffset,2);//差个修正offset,修正有符号但是这个com表为无符号的,传过去直接赋给Int16_t相当于还原了
    temp_resp_i64=resp_tx_ts_i64;
    temp_count3= phy_timer_count_get();
    
    UWB_STATE==UWB_TX_STATE_BUSY;
      flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
   
    resp_tx_flag=1;
      
      tagofflinetime[taglist_pos] = 0;//更新标签通信
//    temp_count1=phy_timer_count_get();
@@ -584,146 +592,7 @@
uint32_t UWB_fachu_count=0;
uint32_t UWB_qiangzhanfachu_count=0;
uint32_t UWB_1003_count,UWB_6666_count=0;
//int UwbRange(void)
//{

//    uint8_t i;
//    uint16_t tempid;

//    mac_register_process_handler(tx_int_callback, rx_int_callback);
//    receive_flag = 0;
//      flag_recsuccess = 0;

//    uwb_rxflag=uwb_rx(0, 0, range_timeout_us);//开启接收

//    uwb_rxflag_num1++;
//  //  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);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
//   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(mac_is_busy())
//        {
////            IdleTask();
//            current_count=phy_timer_count_get();
//            if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)//超时时间为4.992秒
//            {
//                    break;
//            }
//        }
//			
//    if(receive_flag==1)//成功接收
//    {
//      time_count_sdsj=phy_timer_count_get();
////          gpio_pin_set(IO_PIN_5);
//					
////      gpio_pin_clr(IO_PIN_5);
//      #ifdef DEBUG_BOXING
////      gpio_pin_set(IO_PIN_5);//测试
////      gpio_pin_clr(IO_PIN_5);//测试
//      #endif
////            timeceshi1=phy_timer_count_get();
////            temp_count7=poll_rx_en_start_u32;
//        receive_flag=0;
//        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)*///判断是否是和自己是同一组通讯的且为poll包
//        {  
////                  UWB_shoudao_count++;
//                  flag_recsuccess = 1;
////                 temp_count2=phy_timer_count_get();
//            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
//					
//                 //rec_nearbase_num=25;  
//					
//            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);
////            timeceshi1=phy_timer_count_get();
////            temp_count7=poll_rx_en_start_u32;
//                 taglist_pos=CmpTagInList(tag_id_recv);
//            for(i=0; i<rec_nearbase_num; i++)
//            {
//							
//                if(rec_ancidlist[i] == dev_id)
//                {
//                    rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
//                    PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
//                             UWB_fachu_count++;
////      #ifdef DEBUG_BOXING
//////      gpio_pin_clr(IO_PIN_5);//测试
////      gpio_pin_set(IO_PIN_5);//测试
////      #endif
//                }
//            }
//            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];
//                        if(group_min_dist[group_id]>rec_ancdistlist[i])
//                        {
//                            group_min_dist[group_id] = rec_ancdistlist[i];
//                        }
//                        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
//                            tagid_list[taglist_pos] = tag_id_recv;
//                        }
//                        break;
//                              }
//            }

//            if(i==rec_nearbase_num)
//            {
//							
//                seize_anchor=1;   //抢占anchor
//                Anchor_RecNearPoll(i);
//                       UWB_qiangzhanfachu_count++;

//            }
//                  recev_error_num=0;

////            sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
////            LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度：%d.\r\n",g_com_map[BIND_DEV_ID],distance,rssi);
//       
//            }
//      //  uwb_rxflag=uwb_rx(0, 0, range_timeout_us);
//    }    
//      #ifdef DEBUG_BOXING
////      gpio_pin_clr(IO_PIN_5);//测试
////      gpio_pin_set(IO_PIN_5);//测试
//      #endif
//	
//    delay_us(1);
//    uwb_rx_force_off(1);
////      gpio_pin_clr(IO_PIN_5); 
////      #ifdef DEBUG_BOXING
////      gpio_pin_clr(IO_PIN_5);//测试.
////      #endif
////      if(!flag_recsuccess)
////      {
////         sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-3));//测试
////        LOG_INFO(TRACE_MODULE_APP,"测距失败，计数：%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;
////        }
////         }
////      #ifdef DEBUG_BOXING
////      gpio_pin_clr(IO_PIN_5);//测试
//////      gpio_pin_set(IO_PIN_5);//测试
////      #endif    
//}
int Uwbinit(void)
{
    uwb_open();
@@ -837,78 +706,21 @@
//uint32_t wltag_statetimer,wltag_uwbtimer;
int uwb_app_poll(void)
{

	
//   switch(wltag_state)
//   {
//   case RANGE:
//   if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
//      { 
//				
//            wltag_uwbtimer = HIDO_TimerGetTick();
//            if(UWB_STATE==UWB_STATE_IDLE)
//            {
//               UWB_STATE=UWB_RX_STATE_BUSY;
//               OpenUWB();
//            }
//      }
//      else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1)
//      {
////         time_flag=HIDO_TimerGetTick()-wltag_uwbtimer;
//           UWB_LED_OFF;
//            wltag_uwbtimer = HIDO_TimerGetTick();
//            CloseUWB();
//           UWB_STATE=UWB_STATE_IDLE;
//      }
//      if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
//      { 
//       wltag_statetimer = HIDO_TimerGetTick();
//         if(uwb_rx_flag==0)//若要切换到搜索模式时没有开启则开启UWB
//         {
//            if(UWB_STATE==UWB_STATE_IDLE)
//            {
//               UWB_STATE=UWB_RX_STATE_BUSY;
//               OpenUWB();
//            }
//         }
//     wltag_state = SEARCH;
//      }
//      break;
//   case SEARCH:
//      if(HIDO_TimerGetTick()-wltag_statetimer>1)
//      {
//         wltag_statetimer = HIDO_TimerGetTick();
//         wltag_state = CLOSE;
//         CloseUWB();
//         UWB_STATE=UWB_STATE_IDLE;
//      }
//      break;
//   case CLOSE:
//      if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
//      {
//         wltag_statetimer = HIDO_TimerGetTick();
//         wltag_state = SEARCH;
//         if(UWB_STATE==UWB_STATE_IDLE)
//         {
//            UWB_STATE=UWB_RX_STATE_BUSY;
//            OpenUWB();
//         }
//      }
//      break;
//   }

    UWBIdleTask();
}

//uint16_t REV_POLL_NUM;
//uint16_t REPLY_POLL_NUM;
extern uint8_t uwbled,gpsled,loraled,powerled;
int Anchor_App(void)
{
            uint8_t i;
            uint16_t tempid;
   temp_count1=phy_timer_count_get();
         if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//判断是否是和自己是同一组通讯的且为poll包
        {    flag_recsuccess = 1;
//                  wltag_state=RANGE;//成功后从search切换为range
					
                 REV_POLL_NUM++;
                  memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
                 //temp_count2=phy_timer_count_get();
@@ -917,10 +729,14 @@
            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],2);
               temp_count2=phy_timer_count_get();
            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);
                  taglist_pos=CmpTagInList(tag_id_recv);
               //   UWB_LED_ON;
                 uwbled=1;
                temp_count3=phy_timer_count_get();
                if(taglist_num>=ANC_MAX_NUM)
                              return 0;
                         for(i=0; i<rec_nearbase_num; i++)
@@ -939,6 +755,7 @@
                                    break;
                              }
                        }
								 
                         if((i==rec_nearbase_num&&taglist_pos==taglist_num)||(rec_nearbase_num==0&&!ExistInTagList(tag_id_recv)))//当基站不在标签列表中，标签也不在基站列表中时，随机找个时间片回复基站。
                {
                       Anchor_RecNearPoll(rec_nearbase_num);