ChinaUWBProject.git

			@@ -253,8 +253,71 @@

			/* RX done process handler. */
			int8_t rssi;
			#define MSG_POS 0x01
			#define M_PI 3.1415927
			uint8_t usart_send[40];
			extern uint8_t bat_percent;
			double angle_temp;
			double angle_calculate(void)
			{
			double offset;
			// float pdoa[3];
			// pdoa[0] = pdoa_select_get(0, 3);
			// pdoa[1] = pdoa_select_get(1, 3);
			// pdoa[2] = pdoa_select_get(2, 3);
			//LOG_INFO(TRACE_MODULE_APP, "PDOA:%f,%f,%f\r\n", pdoa[0], pdoa[1], pdoa[2]);
			float *iq1 = sts_first_path_iq_get();
			//LOG_INFO(TRACE_MODULE_APP, "ANT0 IQ: %f %f\r\n", iq1[0], iq1[1]);
			//LOG_INFO(TRACE_MODULE_APP, "ANT1 IQ: %f %f\r\n", iq1[2], iq1[3]);
			//LOG_INFO(TRACE_MODULE_APP, "ANT2 IQ: %f %f\r\n", iq1[4], iq1[5]);
			//LOG_INFO(TRACE_MODULE_APP, "ANT3 IQ: %f %f\r\n", iq1[6], iq1[7]);
			float iq_re = iq1[2 * 0] * iq1[2 * 1] + iq1[2 * 0 + 1] * iq1[2 * 1 + 1];
			float iq_im = iq1[2 * 0] * iq1[2 * 1 + 1] - iq1[2 * 0 + 1] * iq1[2 * 1];
			double result=atan2f(iq_im, iq_re)/ M_PI;
			double angle=asin(result);
			angle =angle*57.3;
			offset=30;
			angle+=offset;
			if(angle>=90)
			angle-=180;
			else if(angle<=-90)
			{
			angle+=180;
			}
			//LOG_INFO(TRACE_MODULE_APP, "ANGLE_X: %lf \r\n", angle);
			float iq_re2 = iq1[2 * 2] * iq1[2 * 3] + iq1[2 * 2 + 1] * iq1[2 * 3 + 1];
			float iq_im2 = iq1[2 * 2] * iq1[2 * 3 + 1] - iq1[2 * 2 + 1] * iq1[2 * 3];
			double result2=atan2f(iq_im2, iq_re2)/ M_PI;
			double angle2=asin(result2);
			angle2 =angle2*57.3;
			if(angle2>=90)
			angle2-=180;
			else if(angle2<=-90)
			{
			angle2+=180;
			}
			return angle;
			}
			void buffer_construct(uint16_t tag_id,uint16_t distance_temp,int16_t angle1,uint8_t rssi1)
			{
			uint16_t checksum = 0;
			usart_send[0] = 0x55;
			usart_send[1] = 0xAA;
			usart_send[2] = 17+10; //length
			usart_send[3] = MSG_POS; //MSG_TYPE
			memcpy(&usart_send[4],&tag_id,2); //tag_id)
			memcpy(&usart_send[6],&distance_temp,2);
			memcpy(&usart_send[8],&angle1,2);
			usart_send[10] = (uint8_t)rssi1;
			usart_send[11] = 0; //BUTTON目前先不写
			usart_send[12] = bat_percent; //BATTARY目前先不写
			usart_send[13] = 0; //RESERVE1
			usart_send[14] = 0; //RESERVE2
			checksum = Checksum_u16(&usart_send[2], 13+10);
			memcpy(&usart_send[15+10], &checksum, 2);
			}
			static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
			{ uint8_t valid_sts=0;
			{
			// Power off radio
			power_off_radio();

			@@ -272,19 +335,7 @@
			poll_rx_num++;
			rssi = rx_report->rssi;
			receive_flag=1;
			valid_sts= sts_valid_check();
			if (valid_sts)
			{
			aoa_calculate(&elevation, &azimuth);
			aoa_fom_get(NULL, &fom);
			// float pdoa[3];
			// pdoa[0] = pdoa_select_get(0, 3);
			// pdoa[1] = pdoa_select_get(1, 3);
			// pdoa[2] = pdoa_select_get(2, 3);
			// LOG_INFO(TRACE_MODULE_APP, "PDOA: %f %f %f\r\n", pdoa[0], pdoa[1], pdoa[2]);

			sts_rssi = sts_rssi_output_get();
			}

			}
			else
			{
			@@ -511,11 +562,11 @@
			{
			uint32_t u32LogLen,datalenth;
			char acReadponse[200];
			u32LogLen = snprintf(acReadponse, sizeof(acReadponse), "车内：%d 人测距成功数：%d ID: ",get_in_num,success_num);

			//u32LogLen = snprintf(acReadponse, sizeof(acReadponse), "车内：%d 人测距成功数：%d ID: ",get_in_num,success_num);
			u32LogLen = snprintf(acReadponse, sizeof(acReadponse), "门内：%d 人 ID: ",get_in_num);
			for(uint16_t i=0;i<get_in_num;i++)
			{
			datalenth = sprintf((char*)&acReadponse[u32LogLen],",%04X",anchor_id_in[i]);
			datalenth = sprintf((char*)&acReadponse[u32LogLen],"%04X,",anchor_id_in[i]);
			u32LogLen += datalenth;
			}
			LOG_INFO(TRACE_MODULE_APP,"%s\r\n",acReadponse);
			@@ -772,12 +823,30 @@
			seize_anchor=1; //抢占anchor
			Anchor_RecNearPoll(i);
			}
			uint8_t valid_sts=0;
			valid_sts= sts_valid_check();
			if (valid_sts)
			{
			aoa_calculate(&elevation, &azimuth);
			aoa_fom_get(NULL, &fom);
			// float pdoa[3];
			// pdoa[0] = pdoa_select_get(0, 3);
			// pdoa[1] = pdoa_select_get(1, 3);
			// pdoa[2] = pdoa_select_get(2, 3);
			// LOG_INFO(TRACE_MODULE_APP, "PDOA: %f %f %f\r\n", pdoa[0], pdoa[1], pdoa[2]);
			angle_temp=angle_calculate();
			sts_rssi = sts_rssi_output_get();
			}
			buffer_construct(tag_id_recv,distance,(int16_t)angle_temp,rssi);
			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 包序%d\r\n",g_com_receive_id,distance,frame_seq_nb2);
			//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]);
			//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[1],sts_rssi[2]);
			check_if_in_or_out_car(g_com_receive_id,distance,sts_rssi[1],sts_rssi[2]);
			//LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d\r\n",g_com_receive_id,distance);
			uart_send(TRACE_PORT_UART0,usart_send,10+17,NULL);
			//LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 角度 :%lf\r\n",g_com_receive_id,distance,angle_temp);
			//check_if_in_or_out_car(g_com_receive_id,distance,sts_rssi[1],sts_rssi[2]);
			success_num++;

			//gpio_pin_clr(SCL_PIN);
			@@ -852,6 +921,7 @@
			phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
			#endif
			}

			//主函数绑定接受逻辑
			int UwbSearch(void)
			{