国产UWB芯片工程的仓库
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chen
2024-11-11 d0ecbb6b662da93cf85096bd628d41729cd47b24 
 keil/uwb_app.c


@@ -8,11 +8,14 @@


#include "dw_app_anchor.h"


#include "global_param.h"


#include "board.h"


#include "HIDO_TypeDef.h"






extern int simple_main(void);


extern int temp_main(void);


extern void Air780E_4G_POLL(void);


void TagListUpdate(void);


void Calibration_Time(void);


extern void IO_LED_control_change(uint8_t data);


extern void IO_control_init(void);




@@ -35,7 +38,7 @@


extern uint16_t tag_frequency;


extern uint16_t disoffset;


static uint8_t frame_len,recpoll_len,current_syncid,new_tagid,seize_anchor,result,g_start_sync_flag;


extern uint8_t gps_power_state,motor_power_state,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state;


extern uint8_t gps_power_state,motor_power_state,uwb_state,air780_power_state,gps_success_state,red_charge_state,green_charge_state,air780_success_state;


int poll_rx_num,resp_tx_num;


//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


@@ -263,6 +266,8 @@


    }


}


uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;


uint32_t start_receive_count_calibration;


uint32_t current_count_calibration;


static uint16_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;


@@ -370,13 +375,17 @@


    uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小


    temp_count1=phy_timer_count_get();


    while(mac_is_busy());


      #ifdef BO_XING


    gpio_pin_clr(SCL_PIN);


      #endif


}


uint32_t range_timeout_us = 5000;


uint16_t uwb_searchcount;


uint8_t flag_recsuccess;


uint8_t secondtask_search_count,secondtask_search_flag;


uint8_t flag_temp2,flag_temp1;


extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;


extern HIDO_UINT32 u32CurTick;


extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag,flag_secondtask;


int UwbRange(void)


{


    uint8_t i;


@@ -408,7 +417,9 @@


    receive_flag = 0;


      flag_recsuccess = 0;


    temp_count3=phy_timer_count_get();


      #ifdef BO_XING


    gpio_pin_set(SCL_PIN);


      #endif


    flag_temp1=uwb_rx(0, 0, range_timeout_us);//开启接收


   


   // while(mac_is_busy());


@@ -423,8 +434,12 @@


      {


         current_count=phy_timer_count_get();


         while(mac_is_busy())


        {


        {		


						


//                  MotorPoll();


            IdleTask();


                  UserKeyTask();


                  IMUTask();


            current_count=phy_timer_count_get();


            if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)


            {


@@ -473,7 +488,9 @@


                  recev_error_num=0;


              range_timeout_us=5000;//恢复为5000进入range后


            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);


                  #ifdef BO_XING


                  gpio_pin_clr(SCL_PIN);


                  #endif


        break;


            }


    } 


@@ -500,6 +517,34 @@


         return 0;


}




void Calibration_Time(void)


{	


   current_count_calibration=phy_timer_count_get();


   if((current_count_calibration-start_receive_count_calibration>=MS_TO_PHY_TIMER_COUNT(500)||current_count_calibration+(UINT32_MAX-start_receive_count_calibration)>=MS_TO_PHY_TIMER_COUNT(500))


      &&!((end_receive_count-current_count_calibration<=MS_TO_PHY_TIMER_COUNT(200))||(end_receive_count+(UINT32_MAX-current_count_calibration)<=MS_TO_PHY_TIMER_COUNT(200))))


   {


      start_receive_count_calibration=current_count_calibration;//更新开始时间


      MotorPoll();


		


      if(secondtask_search_count++%2==0)


    {


        secondtask_search_flag = 1;


    }else{


        secondtask_search_flag = 0;


    }


      if(secondtask_search_flag)//更新S时间TICK


      {


      HIDO_TimerTick();


      TagListUpdate();


    GPS_Poll();


      }


      update_led_power_state();//更新等状态防止震动卡死在搜索


   }


//   if(current_count_calibration-start_receive_count_calibration>=MS_TO_PHY_TIMER_COUNT(1000)||current_count_calibration+(UINT32_MAX-start_receive_count_calibration)>=MS_TO_PHY_TIMER_COUNT(1000))


//   {


//      HIDO_TimerTick();


//   }


}




//主函数绑定接受逻辑


int UwbSearch(void)


@@ -530,12 +575,16 @@




    // Register rx interrupt callback function


    mac_register_process_handler(tx_int_callback, rx_int_callback);


		


    receive_flag = 0;


    temp_count3=phy_timer_count_get();


      #ifdef BO_XING


    gpio_pin_set(SCL_PIN);


      #endif


    flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收


    start_receive_count=phy_timer_count_get();


    poll_timeout=US_TO_PHY_TIMER_COUNT(2000000);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss


      start_receive_count_calibration=start_receive_count;


    poll_timeout=US_TO_PHY_TIMER_COUNT(1000000);//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)


    {


@@ -545,8 +594,10 @@


    while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//循环接受包体,若为124.8K则是+62400000


    {


        while(mac_is_busy())


        {


        {      Calibration_Time();


            IdleTask();


                  UserKeyTask();


                  IMUTask();


            current_count=phy_timer_count_get();


            if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)


            {


@@ -594,8 +645,9 @@


                    seize_anchor=1;   //抢占anchor


                    Anchor_RecNearPoll(i);


                }


                


                #ifdef BO_XING


                gpio_pin_clr(SCL_PIN);//测试


                        #endif


                        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);


                return 1;//返回发送成功标志


            }


@@ -607,7 +659,9 @@


      delay_us(2);


      uwb_rx_force_off(1);


    // LOG_INFO(TRACE_MODULE_APP,"超时定时器：%x,%x,%x\r\n",start_receive_count,end_receive_count,current_count);


      #ifdef BO_XING


    gpio_pin_clr(SCL_PIN);//测试


      #endif


    return 0;//返回绑定失败标志


}


//}


@@ -634,6 +688,7 @@


            search_open_flag=0;


            uwb_led_on();


            link_success_flag=UwbSearch();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程


                  Calibration_Time();


            uwb_led_off();


            if(link_success_flag)


                UWB_work_state=LINK_SUCCESS;