修改后成功稳定测距算法，功耗加大

chen

2024-12-31 3bdc6c074be48d5fdf1b2d4ea619771da6f32b97

 keil/uwb_tag_.c

@@ -13,6 +13,7 @@

extern int TagRange(void);
void Tag_uwb_init(void);
void TagListUpdate(void);
/* Ranging period: 1s */
#define RANGING_PERIOD_MS (10000)

@@ -33,7 +34,7 @@
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define DELAY_DEFAULT 50000
#define DELAY_BETWEEN_TWO_FRAME_UUS 450  //yuan1400
#define DELAY_BETWEEN_TWO_FRAME_UUS 500  //yuan1400
#define HALF_SECOND_TIME 62400000

uint16_t CmpTagInList(uint16_t tagid);
@@ -169,11 +170,11 @@
int32_t test2;
static uint8_t receive_flag=0;
static uint8_t rec_tag_index,tag_num_tosend;
uint16_t  taglist_total_num,taglist_current_index;  //当前列表总数量

uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
uint16_t  taglist_total_num,taglist_current_index;  //当前列表总数量
uint8_t  taglist_keeptime[MAX_TAG_LIST_NUM]; //每个标签存活时间
uint16_t taglist_id[MAX_TAG_LIST_NUM],taglist_dist[MAX_TAG_LIST_NUM]; //标签距离和标签的ID
uint16_t taglist_id[MAX_TAG_LIST_NUM],taglist_dist[MAX_TAG_LIST_NUM],temp_index; //标签距离和标签的ID

int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
uint8_t anclost_times=0 , mainbase_lost_count=0,exsistbase_list[MAX_NEARBASE_NUM],get_newbase=0,nearbase_num,last_nearbase_num,next_nearbase_num;
@@ -197,17 +198,23 @@
};
void uwb_poll_buffer_construct(void)
{
   for(uint8_t i=0;i<nearbase_num;i++)   //标签距离32位转成16位
{
    u16_nearbase_distlist[i] = nearbase_distlist[i];
}
//   for(uint8_t i=0;i<nearbase_num;i++)   //标签距离32位转成16位
//{
//    u16_nearbase_distlist[i] = nearbase_distlist[i];
//}
	
    tag_num_tosend = taglist_total_num-taglist_current_index;
    if(tag_num_tosend>SEND_GROUP_MAX_NUM)  //这次发的数量
    {
        tag_num_tosend = SEND_GROUP_MAX_NUM;
    }
      uwb_sendbuffer[GROUP_ID_IDX] = group_id;
      memcpy(&uwb_sendbuffer[TAG_ID_IDX],&dev_id,2);
   //uwb_sendbuffer[BATTARY_IDX] = bat_percent;
    uwb_sendbuffer[SEQUENCE_IDX] = frame_seq_nb++;
      uwb_sendbuffer[NEARBASENUM_INDEX] = nearbase_num;
      memcpy(&uwb_sendbuffer[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);//基站id
    memcpy(&uwb_sendbuffer[NEARBASEID_INDEX+nearbase_num*2],&u16_nearbase_distlist,nearbase_num*2);
      uwb_sendbuffer[NEARBASENUM_INDEX] = tag_num_tosend;
      memcpy(&uwb_sendbuffer[NEARBASEID_INDEX],&taglist_id[taglist_current_index],tag_num_tosend*2);//基站id
    memcpy(&uwb_sendbuffer[NEARBASEID_INDEX+tag_num_tosend*2],&taglist_dist[taglist_current_index],tag_num_tosend*2);
      uwb_sendbuffer[MESSAGE_TYPE_IDX] = MBX_POLL;   
      memcpy(&uwb_sendbuffer[ANCHOR_ID_IDX],&mainbase_id,2);
}
@@ -263,14 +270,14 @@
        memcpy(rx_buf, rx_report->pkt_data, rx_length);
        /* Calculate rx timestamp */
        resp_rx_ts_i64 = ranging_rx_time_correct(rx_report);
         if(temp_rx_first_stamp==0)
         {
         temp_rx_first_stamp=(uint32_t)resp_rx_ts_i64;
         memcpy(&temp_rx_first_id,&rx_buf[1],2);
         }else{
         memcpy(&temp_rx_second_id,&rx_buf[1],2);
         temp_rx_second_stamp=(uint32_t)resp_rx_ts_i64;
         }
//         if(temp_rx_first_stamp==0)
//         {
//         temp_rx_first_stamp=(uint32_t)resp_rx_ts_i64;
//         memcpy(&temp_rx_first_id,&rx_buf[1],2);
//         }else{
//         memcpy(&temp_rx_second_id,&rx_buf[1],2);
//         temp_rx_second_stamp=(uint32_t)resp_rx_ts_i64;
//         }
            temp_count1=phy_timer_count_get();
               //获取发射端时钟偏差
         resp_rx_num++;
@@ -327,7 +334,7 @@
//方法是将新注册的标签添加到下次发送的标签列表头部，其他标签依次向后挪动。
uint16_t AddNewTagIntoList(uint16_t tagid)  
{                                       
     uint16_t newindex_cal = taglist_current_index+25;//当前索引+25，为下次索引要发出的值的最大值，如果总数小于这个值，即可放到最后面。
     uint16_t newindex_cal = taglist_current_index+SEND_GROUP_MAX_NUM;//当前索引+25，为下次索引要发出的值的最大值，如果总数小于这个值，即可放到最后面。
      if(newindex_cal>=taglist_total_num) //如果当前索引是最后一包，那么就加到总索引的后面，如果不是就加到下一次起始索引位置。
      {
        newindex_cal = taglist_total_num;
@@ -343,7 +350,7 @@
      taglist_total_num++;
      taglist_id[newindex_cal] = tagid;
      taglist_dist[newindex_cal] = 0;
      taglist_keeptime[newindex_cal] = TAG_KEEPTIMES;
      taglist_keeptime[newindex_cal] = KEEP_TIMES;
      return newindex_cal;
}
uint8_t FindNearBasePos(uint16_t baseid)//寻找当前列表中的基站返回索引
@@ -377,7 +384,21 @@
         nearbase_num = next_nearbase_num;//更新现存基站数
         last_nearbase_num = next_nearbase_num;//更新当前基站数
}

int temp_j;
void TagListUpdate(void)
{
   uint16_t i,j=0,temp[TAG_NUM_IN_SYS];
   for(i=0;i<taglist_total_num;i++)
   {
      if(taglist_keeptime[i]-->0)
      {
         taglist_id[j]=taglist_id[i];
         taglist_keeptime[j++]=taglist_keeptime[i];//自动覆盖，即从前往后寻找存活时间为0的标签，并把它用后面离得最近的第一个有效存活的标签覆盖，那么最后j的值就是当前有效个数
      }
   }
   temp_j=j;
   taglist_total_num=j;
}
void Rank_ANchor_list_by_dis(void)//按照目前的基站距离进行冒泡排序用临时数组方式将最近的放到最前面，最远的放到最后面
{
for(int i=0;i<last_nearbase_num-1;i++)
@@ -414,7 +435,7 @@
   {
      if(memcmp(&tagid,&taglist_id[i],2)==0)
        {
            taglist_keeptime[i] = TAG_KEEPTIMES;
            taglist_keeptime[i] = KEEP_TIMES;
         return i;
        }
   }
@@ -470,12 +491,12 @@
      phy_timer_open(1, IRQ_PRIORITY_HIGH);
    // Register rx interrupt callback function
    mac_register_process_handler(tx_int_callback, rx_int_callback);

      //taglist_total_num=50;//测试

      uwb_poll_buffer_construct();
      temp_tag_num=0;//临时数量为0
      poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//发送必须要延时发送才可以用于测距否则立即发送会获取时间戳不对，需要计算程序运行时间，避免设置过去时间
      tempflag=uwb_tx(uwb_sendbuffer,13+4*nearbase_num,1,poll_tx_en_start_u32);//立即发送
      tempflag=uwb_tx(uwb_sendbuffer,13+4*tag_num_tosend,1,poll_tx_en_start_u32);//立即发送
      #ifdef BOXING
      gpio_pin_set(IO_PIN_5);//测试
      #endif
@@ -496,7 +517,7 @@
   
   start_receive_count=phy_timer_count_get();
   //poll_timeout=nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(RESP_RX_TIMEOUT_US);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
   poll_timeout=US_TO_PHY_TIMER_COUNT(RESP_RX_TIMEOUT_US_DEFAULT)+nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);
   poll_timeout=US_TO_PHY_TIMER_COUNT(RESP_RX_TIMEOUT_US_DEFAULT)+tag_num_tosend*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);
   end_receive_count=start_receive_count+poll_timeout;
   
   if(end_receive_count>=UINT32_MAX)
@@ -528,16 +549,18 @@
         if (rx_buf[MESSAGE_TYPE_IDX] == MBX_RESPONSE&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2)&&rx_buf[GROUP_ID_IDX]==group_id) //判断接收到的数据是否是response数据
                     {   
                           memcpy(&rec_nearbaseid,&rx_buf[ANCHOR_ID_IDX],2);
                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                        rec_tag_index = CmpTagInList(rec_nearbaseid);//当前新来的这包数据插入当前表中的位置索引
                           //rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                           freqlost_count = 0;
                           SetANCTimestap(rec_nearbasepos,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2,(uint32_t)poll_tx_ts_i64);
                           if(rec_nearbasepos>=nearbase_num)          //发现新的基站
                           {
                              //get_newbase=1;
                              nearbase_num++;
                              nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
                           }
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;//更新存活时间
                           temp_index =rec_tag_index -taglist_current_index;
                           SetANCTimestap(temp_index,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2,(uint32_t)poll_tx_ts_i64);
//                           if(rec_nearbasepos>=nearbase_num)          //发现新的基站
//                           {
//                              //get_newbase=1;
//                              nearbase_num++;
//                              nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
//                           }
//                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;//更新存活时间
              
                     memset(rx_buf, 0, sizeof(rx_buf));//清空接收到的用完的数组
                     rx_length=0;//清0长度
@@ -572,7 +595,12 @@
      uwb_rx_force_off(1);
      //dwt_forecetrxoff();
       CalculateDists(poll_tx_ts_i64); //计算距离并更新距离表
       AnchorListUpdate();//更新存活基站列表
       Rank_ANchor_list_by_dis();//冒泡排序重新按距离重新排列基站列表最小距离存货基站放到最前面
      LOG_INFO(TRACE_MODULE_APP,"现存测距数 %d id1:%04x id2:%04x .\r\n",taglist_total_num,taglist_id[0],taglist_id[1]);
       //AnchorListUpdate();//更新存活基站列表
       TagListUpdate();
       taglist_current_index+=tag_num_tosend;
      if(taglist_current_index>=taglist_total_num||taglist_total_num<=SEND_GROUP_MAX_NUM) //如果标签当前index大于总index，或者总基站数量小于等于25，则从0开始index。一个是已经发完一轮了，一个是不够最大发送数
     taglist_current_index = 0;
       //Rank_ANchor_list_by_dis();//冒泡排序重新按距离重新排列基站列表最小距离存货基站放到最前面
}
#endif