初步写好485和AOA通信包体内容，未测试485通信报文和AOA通信报文和未移植角度判断算法

chen

2025-07-05 997d4c66f106cdd91b7541a972129a75f68fd04e

 keil/uwb_app.c

@@ -18,6 +18,8 @@
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 Uwb_init(void);
void OpenUWB(void);
void CloseUWB(void);
@@ -35,10 +37,11 @@
//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];
void buffer_485_construct(uint8_t* show_buffer);
static int16_t rec_ancdistlist[TAG_NUM_IN_SYS];
extern uint8_t group_id;
static uint16_t anc_id_recv;
static uint32_t tag_id_recv;
static uint16_t tag_id_recv;
static int16_t rec_antdelay;
extern uint32_t dev_id;
static uint32_t taglist_pos,tmp_time;
@@ -50,7 +53,11 @@
//resp函数
void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary);//找到自己的id信息对应位置更新自己的交互信息
static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts);//用来对应位置放入时间戳
static uint32_t tagid_list[TAG_NUM_IN_SYS];
static uint16_t tagid_list[TAG_NUM_IN_SYS];
uint8_t tag_seq[TAG_NUM_IN_SYS];
uint16_t angle_azimuth[TAG_NUM_IN_SYS];
uint16_t angle_elevation[TAG_NUM_IN_SYS];
uint16_t angle_num;
uint32_t fliter_tagid_list[TAG_NUM_IN_SYS];
uint16_t CmpTagInList(uint16_t tagid);
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos);
@@ -322,7 +329,9 @@
uint8_t flag_temp2,flag_temp1;
uint16_t uwb_losttimer;
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];
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{      uint8_t valid_sts=0;
    // Power off radio
@@ -349,10 +358,18 @@
            Anchor_App();
         //    // PDoA caculation
         if (sts_valid_check())//为了避免影响时序放到了回包后进行操作
      {
     {
         pdoa_3d_calculate(0, &elevation, &azimuth);
         pdoa_fom_get(NULL, &fom);
         if(allow_flag)
         {
            tag_rssi[taglist_pos]=rssi;
         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;
         }
      }
         if(resp_tx_flag==0)
         {
           OpenUWB();
@@ -418,6 +435,7 @@
static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
uint8_t anchordata_num = 0;
static int32_t tagdist_list[TAG_NUM_IN_SYS];

uint16_t random_time;
//anchor
int32_t hist_dist;
@@ -918,6 +936,30 @@
        memcpy(&usart_send[7+5*taglist_num+4], &checksum, 2);
            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];
            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);
}
int Anchor_App(void)
{
            uint8_t i;
@@ -948,7 +990,7 @@
            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;
@@ -960,6 +1002,7 @@
                                    Anchor_RecNearPoll(i);
                                    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)
@@ -983,7 +1026,8 @@
                           Anchor_RecNearPoll(rec_nearbase_num);
                }
            }
                         LOG_INFO(TRACE_MODULE_APP, "PDoA Azimuth %d Elevation %d FoM %u\r\n", 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);
}
int UwbRange(void)