手环加入上位机配置4G和GPS更新频率设置，加入供电过低保护，减少搜索为1s，震动逻辑变为10s停，500ms震，搜索模式加入校准时间函数，满足功耗稳...

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
@@ -79,7 +82,7 @@
/* RX window open in advance */
#define RX_WIN_IN_ADVANCE_US (150)

#define DELAY_BETWEEN_TWO_FRAME_UUS 1400
#define DELAY_BETWEEN_TWO_FRAME_UUS 600 //yuan1400

/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -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;
@@ -270,6 +275,8 @@
uint16_t random_time;
//anchor
int32_t hist_dist;
int16_t temp_recdist_before_offset;
int16_t dist_temp;
void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary)
{
    uint8_t i;
@@ -290,8 +297,14 @@
    anchordata_dist[i] = dist;
    anchordata_bat[i] = battary;
    tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
      dist_temp=dist;
//    if(dist>0)
      if(temp_recdist_before_offset!=0&&distance!=0x1ffff)
      {
    distance=dist*0.5+distance*0.5;
      }else{
         distance=dist;
      }
}
uint16_t CmpTagInList(uint16_t tagid)
{   uint16_t i;
@@ -362,12 +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;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
uint8_t secondtask_search_count,secondtask_search_flag;
uint8_t flag_temp2,flag_temp1;
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;
@@ -399,8 +417,11 @@
    receive_flag = 0;
      flag_recsuccess = 0;
    temp_count3=phy_timer_count_get();
      #ifdef BO_XING
    gpio_pin_set(SCL_PIN);
    uwb_rx(0, 0, range_timeout_us);//开启接收
      #endif
    flag_temp1=uwb_rx(0, 0, range_timeout_us);//开启接收
	
   // while(mac_is_busy());
  //  temp_count2=phy_timer_count_get();
      start_receive_count=phy_timer_count_get();
@@ -413,8 +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)
            {
@@ -426,8 +451,8 @@
    {

        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
        {   flag_recsuccess = 1;
                  sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
        {    flag_recsuccess = 1;
                sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
                 temp_count2=phy_timer_count_get();
            frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
            battary = rx_buf[BATTARY_IDX];
@@ -439,7 +464,7 @@
            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);
                }
@@ -459,16 +484,18 @@
            {
                seize_anchor=1;   //抢占anchor
                Anchor_RecNearPoll(i);

            }
                  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;
            }
    } else {
         uwb_rx(0, 0, range_timeout_us);
    }
    } 
      //失败或者接受被高发射机打断都会再次开启接收
         flag_temp1=uwb_rx(0, 0, range_timeout_us);
   }
      delay_us(1);
      uwb_rx_force_off(1);
@@ -485,11 +512,39 @@
        }
         }

    gpio_pin_clr(SCL_PIN);
   
         
         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)
@@ -520,12 +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);
    uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收
      #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)
    {
@@ -535,8 +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)
            {
@@ -549,7 +610,8 @@
        {
            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
            {   
                       sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-1));//测试
                       sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-13));//测试
                        range_timeout_us=20000;//将下次range开启后超时时间设为20ms之后再range里恢复
                        temp_count2=phy_timer_count_get();
                frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
                battary = rx_buf[BATTARY_IDX];
@@ -562,6 +624,8 @@
                {
                    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);
                    }
                }
@@ -581,20 +645,23 @@
                    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
            }

        }
            temp_count3=phy_timer_count_get();
        uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收

        flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
    }
      delay_us(1);
      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
}
//}
@@ -621,6 +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;
@@ -653,7 +721,7 @@
        //link_error_count+=g_com_map[COM_INTERVAL];
        //if(link_error_count>=g_com_map[4G_INTERNAL])
        //link_error_count=0;
        update_led_power_state();//更新灯状态
       // update_led_power_state();//更新灯状态
    }
     LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
}