加入缓冲可以1对一较准确判断但是比较慢

chen

2024-11-28 d532bd5e0ed482e4760af0bac690d4e84148169d

 keil/uwb_app.c

@@ -168,6 +168,10 @@
    .sts_key2 = 0xD1D336AA,
    .sts_key3 = 0x14148674,
};
static struct anchor_id_car{
 uint16_t anchor_new_id;
 uint16_t change_num;
};
/* Buffer to store received frame */

/*     Frames used in the ranging process
@@ -339,7 +343,7 @@
            anchordata_num++;
    }
    anchordata_id[i] = ancid;//与之通信的标签id存入当前表中
      distance=dist*0.5+anchordata_dist[i]*0.5;
      distance=dist*0.5+(int16_t)anchordata_dist[i]*0.5;
    anchordata_dist[i] = dist;
    anchordata_bat[i] = battary;
    tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
@@ -363,6 +367,19 @@
    }
    if(i==taglist_num)
        return taglist_num;
    //tagofflinetime[i] = 0;
    return i;
}

uint16_t CmpCarInExistList(uint16_t tagid)
{   uint16_t i;
    for(i=0; i<anchordata_num; i++)
    {
        if(memcmp(&tagid,&anchordata_id[i],2)==0)
            break;
    }
    if(i==anchordata_num)
        return anchordata_num;
    //tagofflinetime[i] = 0;
    return i;
}
@@ -435,9 +452,23 @@
uint32_t start_receive_count_calibration;
uint32_t current_count_calibration;
uint32_t get_in_num,get_out_num;
struct anchor_id_car anchor_id_in_car[TAG_NUM_IN_SYS],anchor_id_out_car[TAG_NUM_IN_SYS];
int16_t change_count[TAG_NUM_IN_SYS];
uint16_t anchor_id_in[TAG_NUM_IN_SYS],anchor_id_out[TAG_NUM_IN_SYS];
uint8_t secondtask_search_count,secondtask_search_flag;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag,flag_secondtask;
uint16_t CmpCarInTable(uint16_t tagid)
{   uint16_t i;
    for(i=0; i<get_in_num; i++)
    {
        if(memcmp(&tagid,&anchor_id_in[i],2)==0)
            break;
    }
    if(i==get_in_num)
        return get_in_num;
    //tagofflinetime[i] = 0;
    return i;
}
void TagListUpdate_person_num(void)
{
   uint8_t i,j=0;
@@ -475,7 +506,34 @@
    anchordata_num=j;
      
}
void in_table_log(void)
{
   uint32_t u32LogLen,datalenth;
   char acReadponse[200];
   u32LogLen = snprintf(acReadponse, sizeof(acReadponse), "车内：%d 人 ID:",get_in_num,get_out_num);
               for(uint16_t i=0;i<get_in_num;i++)
            {
                datalenth = sprintf((char*)&acReadponse[u32LogLen],",%04X",anchor_id_in[i]);
                u32LogLen += datalenth;
            }
      LOG_INFO(TRACE_MODULE_APP,"%s\r\n",acReadponse);
}
void TagListUpdate_person_num_car(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];
        }else{
                  change_count[j]=0;
         }
    }
    anchordata_num=j;

}
void Calibration_Time(void)
{   
   current_count_calibration=phy_timer_count_get();
@@ -506,9 +564,25 @@
   }
}
uint16_t g_com_receive_id;
int Uwb_One_Shot(void)
int add_in_car_table(uint16_t position_anchor_in_table,uint16_t receive_success_id)
{
		
       if(position_anchor_in_table==get_in_num)//新增
            {
        if(get_in_num<TAG_NUM_IN_SYS-1)
            get_in_num++;
            }
            anchor_id_in[position_anchor_in_table]=receive_success_id;
}
int delete_in_car_table(uint16_t position_anchor_in_table)
{
         if(position_anchor_in_table<get_in_num)//若在列表里
         {
         for(int i=position_anchor_in_table+1;i<get_in_num;i++)
                     {
                        anchor_id_in[i-1]=anchor_id_in[i];//缺个数量--
                     }
                     get_in_num--;//更新列表现存数
         }
}
void check_if_in_or_out(uint16_t receive_success_id,int32_t distance_from_tag,float rssi_ant0,float rssi_ant2)
{
@@ -567,6 +641,30 @@
            }
            anchor_id_out[get_out_num-1]=receive_success_id;
    }
   }
}

void check_if_in_or_out_car(uint16_t receive_success_id,int32_t distance_from_tag,float rssi_ant0,float rssi_ant2)
{
    uint8_t i;
      uint16_t position_anchor_exist,position_anchor_in_table;
      position_anchor_exist=CmpCarInExistList(receive_success_id);
   if(rssi_ant0>rssi_ant2&&distance_from_tag<200)
   {
      change_count[position_anchor_exist]++;
      if(change_count[position_anchor_exist]>=3)
      {   change_count[position_anchor_exist]=3;
         position_anchor_in_table=CmpCarInTable(receive_success_id);
         add_in_car_table(position_anchor_in_table,receive_success_id);
      }
   }else if(rssi_ant0<rssi_ant2&&distance_from_tag<200)
   {
      change_count[position_anchor_exist]--;
      if(change_count[position_anchor_exist]<=-3)
      {change_count[position_anchor_exist]=-3;
      position_anchor_in_table=CmpCarInTable(receive_success_id);
      delete_in_car_table(position_anchor_in_table);
      }	
   }
}
int UwbRange(void)
@@ -671,7 +769,7 @@
                  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ANT0: %f,信号强度ANT2: %f\r\n",g_com_receive_id,distance,sts_rssi[0],sts_rssi[2]);
                check_if_in_or_out(g_com_receive_id,distance,sts_rssi[0],sts_rssi[2]);
                check_if_in_or_out_car(g_com_receive_id,distance,sts_rssi[0],sts_rssi[2]);
               
               
                  gpio_pin_clr(SCL_PIN);