修改算法

chen

2025-01-15 c34a56ed63ad55ab9c7985c59f8ee28ef74c914b

 keil/uwb_app.c

@@ -97,7 +97,7 @@
/* RX window open in advance */
#define RX_WIN_IN_ADVANCE_US (150)

#define DELAY_BETWEEN_TWO_FRAME_UUS 300 //yuan1400
#define DELAY_BETWEEN_TWO_FRAME_UUS 500 //yuan1400

/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -432,7 +432,7 @@
    }
}
uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
 uint16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
int16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
uint8_t anchordata_num = 0;
static int32_t tagdist_list[TAG_NUM_IN_SYS];
@@ -486,6 +486,15 @@
    return i;
}

uint16_t ExistInTagList(uint16_t tagid)
{   uint16_t i;
    for(i=0; i<taglist_num; i++)
    {
        if(memcmp(&tagid,&tagid_list[i],2)==0)
            return 1;
    }
    return 0;
}
uint16_t CmpCarInExistList(uint16_t tagid)
{   uint16_t i;
    for(i=0; i<anchordata_num; i++)
@@ -510,22 +519,36 @@
    }
}

//void TagListUpdate(void)
//{
//    uint8_t i,j=0;
//    for(i=0; i<anchordata_num; i++)
//    {
//        if(tagofflinetime[i]++<QUIT_SLOT_TIME)
//        {
//            anchordata_id[j]=anchordata_id[i];
//            tagofflinetime[j++]=tagofflinetime[i];
//        }
//    }
//    anchordata_num=j;
//}
void TagListUpdate(void)
{
    uint8_t i,j=0;
    for(i=0; i<anchordata_num; i++)
uint16_t i,j=0,k=0;
    for(i=0; i<taglist_num; i++)
    {
        if(tagofflinetime[i]++<QUIT_SLOT_TIME)
          if(tagofflinetime[i]++<TAG_KEEPTIMES)
        {
            anchordata_id[j]=anchordata_id[i];
            tagid_list[j]=tagid_list[i];
            tagdist_list[j] = tagdist_list[i];
                  anchordata_bat[j]=anchordata_bat[i];//电量随之更新
            tagofflinetime[j++]=tagofflinetime[i];
        }
    }
    anchordata_num=j;
      }
       taglist_num=j;
}

uint16_t g_com_receive_id;
uint8_t cmd_flag;
uint8_t cmd_flag,position;;
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
{
    cmd_flag=0;
@@ -578,7 +601,8 @@
//       resp_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS);//后面的需要根据已有基站数量进行更改，如果是抢占自己最后一个回复，要有底数
//            //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()
      resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US);
      position=ancrec_nearbasepos;
      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_ts_i64 = ranging_tx_time_correct(resp_tx_en_start_u32 + phy_shr_duration());//修正时间戳
    /* Write all timestamps in the final message. See NOTE 8 below. */
    resp_msg_set_ts(&send_buffer[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts_i64);
@@ -587,9 +611,10 @@
    temp_resp_i64=resp_tx_ts_i64;
    temp_count3= phy_timer_count_get();
    flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
      tagofflinetime[taglist_pos] = 0;//更新标签通信
//    temp_count1=phy_timer_count_get();
    //while(mac_is_busy());
    gpio_pin_clr(SCL_PIN);
    //gpio_pin_clr(SCL_PIN);
    }
    
}
@@ -682,10 +707,10 @@
        uwbsend[0]=0x55;
        uwbsend[1]=0xaa;
        uwbsend[2]=0x40;
        uwbsend[3]=anchordata_num;
        memcpy(&uwbsend[4],&anchordata_id,anchordata_num*2);
        memcpy(&uwbsend[4+anchordata_num*2],&anchordata_dist,anchordata_num*2);
        uart_send(UART_ID0, uwbsend,anchordata_num*4+4, NULL);
        uwbsend[3]=taglist_num;
        memcpy(&uwbsend[4],&tagid_list,taglist_num*2);
        memcpy(&uwbsend[4+taglist_num*2],&tagdist_list,taglist_num*2);
        uart_send(UART_ID0, uwbsend,taglist_num*4+4, NULL);
//        for(int i=0;i<anchordata_num;i++)
//        {
//        LOG_INFO(TRACE_MODULE_APP,"当前测距基站ID:%x,距离:%d.\r\n",anchordata_id[i],anchordata_dist[i]);
@@ -738,7 +763,7 @@
}
int Anchor_App(void)
{
            uint8_t i;
                        uint8_t i;
            uint16_t tempid;
         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;
@@ -753,34 +778,55 @@
            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);
            for(i=0; i<rec_nearbase_num; i++)
            {
                if(rec_ancidlist[i] == dev_id)
                {      temp_recdist_before_offset=rec_ancdistlist[i];
                    rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
                    PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
                }
            }
            for(i=0; i<rec_nearbase_num; i++)
            {
                memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
                if(tempid==dev_id)//也是比id如果有就更新没有就抢占
                {
                    seize_anchor=0;  //非抢占。已存在列表中
                    Anchor_RecNearPoll(i);
                    break;
                }
            }
//            for(i=0; i<rec_nearbase_num; i++)
//            {
//                if(rec_ancidlist[i] == dev_id)
//                {      temp_recdist_before_offset=rec_ancdistlist[i];
//                    rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
//                    PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
//                }
//            }
//            for(i=0; i<rec_nearbase_num; i++)
//            {
//                memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
//                if(tempid==dev_id)//也是比id如果有就更新没有就抢占
//                {
//                    seize_anchor=0;  //非抢占。已存在列表中
//                    Anchor_RecNearPoll(i);
//                    break;
//                }
//            }

            if(i==rec_nearbase_num)
            {
                seize_anchor=1;   //抢占anchor
                Anchor_RecNearPoll(i);
            }
            }else{
//            OpenUWB();//接收到不是自己的包再次开启UWB接收
//            if(i==rec_nearbase_num)
//            {
//                seize_anchor=1;   //抢占anchor
//                Anchor_RecNearPoll(i);
//            }
                        taglist_pos=CmpTagInList(tag_id_recv);
                if(taglist_num>=ANC_MAX_NUM)
                              return 0;
                         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];
                                    anchordata_bat[taglist_pos] = battary;//保存该基站电量
                                    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&&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);
                }
            }
				
}
int UwbRange(void)
{