v1.9 增加蜂鸣，测试1标签对10基站稳定

yincheng.zhong

2024-03-08 d67d922c6345042cb3dfaedd621a2120fe808b70

 Src/application/dw_ancapp.c

@@ -83,18 +83,18 @@
extern uint16_t g_Resttimer;
static int32_t filter_dist,g_Tagdist[TAG_NUM_IN_SYS];
double LOS(dwt_rxdiag_t *dia) {
     F1 = dia->firstPathAmp1;
     F2 = dia->firstPathAmp2;
     F3 = dia->firstPathAmp3;
     N = dia->rxPreamCount;
     C = dia->maxGrowthCIR;
    
    F1 = dia->firstPathAmp1;
    F2 = dia->firstPathAmp2;
    F3 = dia->firstPathAmp3;
    N = dia->rxPreamCount;
    C = dia->maxGrowthCIR;

    firstpath_power=10* log10((F1*F1+F2*F2+F3*F3)/(N*N))-A;
    rx_power=10*log10(C*B/(N*N))-A;

 //   min_power =  - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
//   min_power =  - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
    return min_power;
  }
}
static uint64_t get_tx_timestamp_u64(void)
{
    uint8_t ts_tab[5];
@@ -144,26 +144,26 @@
}
void TagListUpdate(void)
{
   uint16_t i,j=0,temp[TAG_NUM_IN_SYS];
   for(i=0;i<taglist_num;i++)
   {
      if(tagofflinetime[i]++<QUIT_SLOT_TIME)
      {
         tagid_list[j]=tagid_list[i];
         tagofflinetime[j++]=tagofflinetime[i];
      }
   }
   taglist_num=j;
    uint16_t i,j=0,temp[TAG_NUM_IN_SYS];
    for(i=0; i<taglist_num; i++)
    {
        if(tagofflinetime[i]++<QUIT_SLOT_TIME)
        {
            tagid_list[j]=tagid_list[i];
            tagofflinetime[j++]=tagofflinetime[i];
        }
    }
    taglist_num=j;
}
uint16_t CmpTagInList(uint16_t tagid)
{uint16_t i;
   for(i=0;i<taglist_num;i++)
   {
      if(memcmp(&tagid,&tagid_list[i],2)==0)
         break;
   }
{   uint16_t i;
    for(i=0; i<taglist_num; i++)
    {
        if(memcmp(&tagid,&tagid_list[i],2)==0)
            break;
    }
    tagofflinetime[i] = 0;
   return i;
    return i;
}
static void resp_msg_set_ts(uint8_t *ts_field, const uint64_t ts)
{
@@ -185,44 +185,44 @@
{
    uint8_t motorstate;
//         tmp_time=TIM3->CNT;
            temp_nearbaspos = ancrec_nearbasepos;
            memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);
         memcpy(&send_buffer[ANCTIMEMS],&basesystimer,2);
    temp_nearbaspos = ancrec_nearbasepos;
    memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);
    memcpy(&send_buffer[ANCTIMEMS],&basesystimer,2);
//         memcpy(&send_buffer[ANCTIMEUS],&tmp_time,2);
         send_buffer[TAGFREQ_IDX] = tag_frequency;
         memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);
         poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
    send_buffer[TAGFREQ_IDX] = tag_frequency;
    memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);
    poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2

    if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式
    {
        random_time = (GetLPTime()%100);
           resp_tx_time = (poll_rx_ts+((/*value+*/random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
  
    }else{
           resp_tx_time = (poll_rx_ts + ((/*value+ */rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
        resp_tx_time = (poll_rx_ts+((/*value+*/random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。

    } else {
        resp_tx_time = (poll_rx_ts + ((/*value+ */rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
    }
            dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
         //dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
         //dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
            resp_tx_ts = (((uint64_t)(resp_tx_time & 0xFFFFFFFEUL)) << 8) ;
    dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
    //dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
    //dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
    resp_tx_ts = (((uint64_t)(resp_tx_time & 0xFFFFFFFEUL)) << 8) ;

            /* 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);
            resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts);
            memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&g_com_map[DIST_OFFSET],2);
    /* 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);
    resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts);
    memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&g_com_map[DIST_OFFSET],2);


            send_buffer[GROUP_ID_IDX] = group_id;
    send_buffer[GROUP_ID_IDX] = group_id;
//         send_buffer[MAINBASE_INDEX]=flag_syncbase;
         send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
         send_buffer[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
         send_buffer[MOTORSTATE_INDEX]&=0x0f;
            remotesend_state = 0;
          
            dwt_forcetrxoff();
            dwt_writetxdata(38, send_buffer, 0);//写入发送数据
            dwt_writetxfctrl(38, 0);//设定发送长度
            result = dwt_starttx(DWT_START_TX_DELAYED);
    send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
    send_buffer[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
    send_buffer[MOTORSTATE_INDEX]&=0x0f;
    remotesend_state = 0;

    dwt_forcetrxoff();
    dwt_writetxdata(38, send_buffer, 0);//写入发送数据
    dwt_writetxfctrl(38, 0);//设定发送长度
    result = dwt_starttx(DWT_START_TX_DELAYED);
//           if(remotesend_state==0)
//           {
//                dwt_writetxdata(38, send_buffer, 0);//写入发送数据
@@ -231,18 +231,18 @@
////               uwb_timeout = 0;
//               if(result == 0)
//               {
             uwb_timeout=lp_time;
               while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & SYS_STATUS_TXFRS ))///不断查询芯片状态直到接收成功或者出现错误
         {
    uwb_timeout=lp_time;
    while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & SYS_STATUS_TXFRS ))///不断查询芯片状态直到接收成功或者出现错误
    {

//                        current_time=HAL_LPTIM_ReadCounter(&hlptim1);
//        if(current_time>end_time+((32768/1000)*3)||current_time<end_time+15000)
//        { 
//        {
////        printf("debug2 timec:%d timee:%d\r\n",current_time,end_time);
//        break;}
                    if(lp_time-uwb_timeout>2)
                        break;
            };
        if(lp_time-uwb_timeout>2)
            break;
    };
//        }
//            dwt_rxenable(0);

@@ -257,52 +257,54 @@
uint16_t RX_TIMEOUTs_UWB;
void Anchor_App(void)
{
	
   u8 send_len,i;
   u16 tempid;
   uint32_t rec_syncid;
   uint16_t checksum;
   uint8_t kk;
    

    u8 send_len,i;
    u16 tempid;
    uint32_t rec_syncid;
    uint16_t checksum;
    uint8_t kk;

    dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
   dwt_rxenable(0);//打开接收
    
    
    
    dwt_rxenable(0);//打开接收



    start_time=HAL_LPTIM_ReadCounter(&hlptim1);
        end_time=start_time+((32768/1000)*2);
        if(end_time>=32768)
       {end_time-=32768;}
        current_time=HAL_LPTIM_ReadCounter(&hlptim1);
    end_time=start_time+((32768/1000)*2);
    if(end_time>=32768)
    {
        end_time-=32768;
    }
    current_time=HAL_LPTIM_ReadCounter(&hlptim1);
    while(current_time<end_time||current_time>end_time+15000)
    {
        current_time=HAL_LPTIM_ReadCounter(&hlptim1);
        while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到接收成功或者出现错误
        {
            current_time=HAL_LPTIM_ReadCounter(&hlptim1);
            while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到接收成功或者出现错误
            { 
                        current_time=HAL_LPTIM_ReadCounter(&hlptim1);
                                 if(current_time>=end_time&&current_time<end_time+15000)
                                        break;
            };
	
   if (status_reg & SYS_STATUS_RXFCG && status_reg!=0xffffffff)//成功接收
      {
            if(current_time>=end_time&&current_time<end_time+15000)
                break;
        };

        if (status_reg & SYS_STATUS_RXFCG && status_reg!=0xffffffff)//成功接收
        {
            uint16_t tag_recv_interval;
            float temp_tagpos;
             
        dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);                        
      frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
        recpoll_len = frame_len;
      dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
        dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
      dwt_rxenable(0);
      memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
      //将收到的tag_id分别写入各次通讯的包中，为多标签通讯服务，防止一次通讯中接收到不同ID标签的数据
      memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);

            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);
            frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
            recpoll_len = frame_len;
            dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
            dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
            dwt_rxenable(0);
            memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
            //将收到的tag_id分别写入各次通讯的包中，为多标签通讯服务，防止一次通讯中接收到不同ID标签的数据
            memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);

//        HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET);
//        printf("ID %x\r\n",tag_id_recv);            
      switch(rx_buffer[MESSAGE_TYPE_IDX])
      {uint8_t target_tagi;
//        printf("ID %x\r\n",tag_id_recv);
            switch(rx_buffer[MESSAGE_TYPE_IDX])
            {   uint8_t target_tagi;
            case MBX_REG:
//                dwt_readdiagnostics(&d1);
//                LOS(&d1);
@@ -317,56 +319,56 @@
//                memcpy(&usart_send[22],&checksum,2);
//                HexToAsciiSendUDP(usart_send,24);
                break;
         case MBX_POLL:
              if(group_id==rx_buffer[GROUP_ID_IDX])
              {   
//                printf("timec:%d timee:%d\r\n",current_time,end_time);                  
                dwt_readdiagnostics(&d1);
                LOS(&d1);
                if(firstpath_power<-100)
            case MBX_POLL:
                if(group_id==rx_buffer[GROUP_ID_IDX])
                {
                    break;
                }
                frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
                battary = rx_buffer[BATTARY_IDX];
                button = rx_buffer[BUTTON_IDX];
                rec_nearbase_num=rx_buffer[FZ_NEARBASENUM_INDEX];                
            memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
                memcpy(&rec_ancidlist,&rx_buffer[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
                memcpy(&rec_ancdistlist,&rx_buffer[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
                memcpy(&rec_antdelay,&rx_buffer[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
                uwb_losttimer = 0;
//                printf("timec:%d timee:%d\r\n",current_time,end_time);
                    dwt_readdiagnostics(&d1);
                    LOS(&d1);
                    if(firstpath_power<-100)
                    {
                        break;
                    }
                    frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
                    battary = rx_buffer[BATTARY_IDX];
                    button = rx_buffer[BUTTON_IDX];
                    rec_nearbase_num=rx_buffer[FZ_NEARBASENUM_INDEX];
                    memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
                    memcpy(&rec_ancidlist,&rx_buffer[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
                    memcpy(&rec_ancdistlist,&rx_buffer[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
                    memcpy(&rec_antdelay,&rx_buffer[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
                    uwb_losttimer = 0;
//                wltag_state=RANGE;
                for(u8 i=0;i<rec_nearbase_num;i++)
                {
                    if(rec_ancidlist[i] == dev_id)
                    {   
                        for(kk=0;kk<Lora_tx_ancnum;kk++)
                    for(u8 i=0; i<rec_nearbase_num; i++)
                    {
                        if(rec_ancidlist[i] == dev_id)
                        {
                          if(Lora_tx_ancid[kk]==tag_id_recv)
                          {
                            for(kk=0; kk<Lora_tx_ancnum; kk++)
                            {
                                if(Lora_tx_ancid[kk]==tag_id_recv)
                                {
//                          Lora_tx_ancnum--;
                          Lora_tx_ancdist[kk]=rec_ancdistlist[i];
                              Lora_tx_anc_electricity[kk]=battary;
                              break_flag=1;
                              break;
                          }
                        }
                        if(break_flag)
                        {
                            break_flag=0;
                            break;
                        }
                        Lora_tx_ancid[Lora_tx_ancnum]=tag_id_recv;
                        Lora_tx_ancdist[Lora_tx_ancnum]=rec_ancdistlist[i];
                        Lora_tx_anc_electricity[Lora_tx_ancnum]=battary;
                                    Lora_tx_ancdist[kk]=rec_ancdistlist[i];
                                    Lora_tx_anc_electricity[kk]=battary;
                                    break_flag=1;
                                    break;
                                }
                            }
                            if(break_flag)
                            {
                                break_flag=0;
                                break;
                            }
                            Lora_tx_ancid[Lora_tx_ancnum]=tag_id_recv;
                            Lora_tx_ancdist[Lora_tx_ancnum]=rec_ancdistlist[i];
                            Lora_tx_anc_electricity[Lora_tx_ancnum]=battary;
//                        printf("接收到uwb测距:%d",Lora_tx_ancdist[0]);
                        Lora_tx_ancnum++;
                        RX_TIMEOUTs_UWB++;
                     }
                }
                            Lora_tx_ancnum++;
                            RX_TIMEOUTs_UWB++;
                        }
                    }
////            #ifdef USART_ALL_OUTPUT
//                    usart_send[2] = 0x12;//正常模式 
//                    usart_send[2] = 0x12;//正常模式
//               usart_send[3] = 8+rec_nearbase_num*4;//数据段长度
//                    memcpy(&usart_send[4],&tag_id_recv,2);
//               usart_send[6] = frame_seq_nb2;//包序
@@ -376,64 +378,64 @@
//                    usart_send[8] = lora_yingda_flag;//lora等待应答位
//                    usart_send[9] = rec_nearbase_num;//lora等待应答位
////                    usart_send[9] = lora_yingda_flag;
//               memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);				
//               memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);
//               memcpy(&usart_send[10+rec_nearbase_num*2],&rec_ancdistlist,2*rec_nearbase_num);
//               checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
//               memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
////               UART_PushFrame(usart_send,12+rec_nearbase_num*4);
////            #endif

            taglist_pos=CmpTagInList(tag_id_recv);
                if(taglist_num>=TAG_NUM_IN_SYS)
                    break;
            if(taglist_pos==taglist_num)
            {
               taglist_pos=taglist_num;
               tagid_list[taglist_num++]=tag_id_recv;
					
               new_tagid=1;
            }else{
               new_tagid=0;
            }
                temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
            tagpos_rec[(uint8_t)temp_tagpos]=1;
				
			
            if(rec_nearbase_num>ancidlist_num)
               {
                  ancidlist_num=rec_nearbase_num;
                  memcpy(ancidlist_rec,&rx_buffer[FZ_NEARBASEID_INDEX],rec_nearbase_num*2);
               }
					
            for(i=0;i<rec_nearbase_num;i++)
            {
                memcpy(&tempid,&rx_buffer[FZ_NEARBASEID_INDEX+i*2],2);
               if(tempid==dev_id)
               {
                  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);	
               }
                    taglist_pos=CmpTagInList(tag_id_recv);
                    if(taglist_num>=TAG_NUM_IN_SYS)
                        break;
                    if(taglist_pos==taglist_num)
                    {
                        taglist_pos=taglist_num;
                        tagid_list[taglist_num++]=tag_id_recv;

                        new_tagid=1;
                    } else {
                        new_tagid=0;
                    }
                    temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
                    tagpos_rec[(uint8_t)temp_tagpos]=1;


                    if(rec_nearbase_num>ancidlist_num)
                    {
                        ancidlist_num=rec_nearbase_num;
                        memcpy(ancidlist_rec,&rx_buffer[FZ_NEARBASEID_INDEX],rec_nearbase_num*2);
                    }

                    for(i=0; i<rec_nearbase_num; i++)
                    {
                        memcpy(&tempid,&rx_buffer[FZ_NEARBASEID_INDEX+i*2],2);
                        if(tempid==dev_id)
                        {
                            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);
                    }
                }
				
            break;		
      }	
    
   }else{

                break;
            }

        } else {
//        printf("debug4 timec:%d timee:%d\r\n",current_time,end_time);
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
        dwt_rxenable(0);
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
            dwt_rxenable(0);
        }
    }
        dwt_forcetrxoff();
        dwt_entersleep();
    dwt_forcetrxoff();
    dwt_entersleep();

}