加入缓冲可以1对一较准确判断但是比较慢

chen

2024-11-28 d532bd5e0ed482e4760af0bac690d4e84148169d

加入缓冲可以1对一较准确判断但是比较慢

 keil/JLinkLog.txt

ÎļþÌ«´ó

 keil/Listings/uwb_simple_example.map

ÎļþÌ«´ó

 keil/Objects/uwb_simple_example.build_log.htm

@@ -27,11 +27,11 @@
<h2>Output:</h2>
*** Using Compiler 'V6.14', folder: 'd:\Keil_v5\ARM\ARMCLANG\Bin'
Build target 'MK8000 Release'
compiling pin_config.c...
compiling uwb_app.c...
compiling main.c...
linking...
.\include\devices\MK800X\Source\ARM\MK800X_ac6_copy.sct(25): warning: L6314W: No section matches pattern *(.XIP_SECTION).
Program Size: Code=69800 RO-data=19440 RW-data=1360 ZI-data=31484  
Program Size: Code=69928 RO-data=19440 RW-data=1360 ZI-data=31536  
Finished: 0 information, 1 warning and 0 error messages.
FromELF: creating hex file...
After Build - User command #1: fromelf.exe --bincombined -o "Output\uwb_simple_example.bin" "D:\project chen\anbang_Anchor\ChinaUWBProject\keil\Objects\uwb_simple_example.axf"
@@ -49,7 +49,7 @@
  d:\Users\xookk\AppData\Local\Arm\Packs\MKSEMI\MK800X_DFP\1.0.3\Device\Include

<h2>Collection of Component Files used:</h2>
Build Time Elapsed:  00:00:02
Build Time Elapsed:  00:00:03
</pre>
</body>
</html>

 keil/Objects/uwb_simple_example.hex

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 keil/Objects/uwb_simple_example.htm

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 keil/Objects/uwb_simple_example_MK8000 Release.dep

@@ -671,7 +671,7 @@
I (include\drivers\mk_uwb.h)(0x67219694)

I (include\drivers\mk_mac.h)(0x67219694)

I (include\drivers\mk_phy.h)(0x67219694)

F (..\pin_config.c)(0x673D52E0)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-Id:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/pin_config.o -MD)

F (..\pin_config.c)(0x6746FA58)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-Id:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/pin_config.o -MD)

I (include\drivers\mk_io.h)(0x67219694)

I (include\drivers\mk_common.h)(0x67219693)

I (d:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72)

@@ -694,7 +694,7 @@
I (d:\Keil_v5\ARM\ARMCLANG\include\stdarg.h)(0x5DDFFD72)

I (include\drivers\mk_gpio.h)(0x67219694)

I (include\drivers\Usart.h)(0x67219693)

F (.\include\main\main.c)(0x6745880B)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-Id:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/main.o -MD)

F (.\include\main\main.c)(0x6746BF19)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-Id:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/main.o -MD)

I (include\drivers\mk_trace.h)(0x67219694)

I (include\drivers\mk_common.h)(0x67219693)

I (d:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72)

@@ -808,7 +808,7 @@
I (include\components\hido\Include\HIDO_Util.h)(0x673D52E0)

I (include\components\hido\Include\HIDO_TypeDef.h)(0x673D52E0)

I (include\drivers\global_param.h)(0x67454355)

F (.\uwb_app.c)(0x6745880E)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-Id:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/uwb_app.o -MD)

F (.\uwb_app.c)(0x6747DA28)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-Id:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/uwb_app.o -MD)

I (include\drivers\mk_trace.h)(0x67219694)

I (include\drivers\mk_common.h)(0x67219693)

I (d:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72)


 keil/include/main/main.c

@@ -322,8 +322,9 @@
        second_count = 0;
        MinuteTask();
    }
        TagListUpdate_person_num();
        LOG_INFO(TRACE_MODULE_APP,"车内：%d äºº,车外: %d äºº\r\n",get_in_num,get_out_num);
        TagListUpdate_person_num_car();
        in_table_log();
		
//        if(!power_low_flag)
//        Gps_change();
//        else{

 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 äºº 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)
{
@@ -566,6 +640,30 @@
                    }
                }
                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);
    }
    }
}
@@ -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 ä¿¡å·å¼ºåº¦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);

 keil/uwb_simple_example.uvguix.xookk

@@ -15,17 +15,17 @@
    <View>
      <WinId>38003</WinId>
      <ViewName>Registers</ViewName>
      <TableColWidths>140 100</TableColWidths>
      <TableColWidths>140 90</TableColWidths>
    </View>
    <View>
      <WinId>346</WinId>
      <ViewName>Code Coverage</ViewName>
      <TableColWidths>404 896</TableColWidths>
      <TableColWidths>579 100</TableColWidths>
    </View>
    <View>
      <WinId>204</WinId>
      <ViewName>Performance Analyzer</ViewName>
      <TableColWidths>1170 75 75 100</TableColWidths>
      <TableColWidths>1170 106 106 100</TableColWidths>
    </View>
  </SECTreeCtrl>

@@ -101,17 +101,17 @@
        <yPos>-1</yPos>
      </MaxPosition>
      <NormalPosition>
        <Top>403</Top>
        <Left>2222</Left>
        <Right>3518</Right>
        <Bottom>1309</Bottom>
        <Top>46</Top>
        <Left>43</Left>
        <Right>1339</Right>
        <Bottom>952</Bottom>
      </NormalPosition>
    </WindowPosition>
    <MDIClientArea>
      <RegID>0</RegID>
      <MDITabState>
        <Len>8788</Len>
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      <Doc>
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      <Doc>
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 keil/uwb_simple_example.uvoptx

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          <ItemText>anchor_id_out</ItemText>
        </Ww>
        <Ww>
          <count>17</count>
          <WinNumber>1</WinNumber>
          <ItemText>anchor_id_in</ItemText>
        </Ww>
        <Ww>
          <count>18</count>
          <WinNumber>1</WinNumber>
          <ItemText>get_in_num</ItemText>
        </Ww>
        <Ww>
          <count>19</count>
          <WinNumber>1</WinNumber>
          <ItemText>change_count,0x0A</ItemText>
        </Ww>
      </WatchWindow1>
      <WatchWindow2>
@@ -758,7 +773,7 @@
      <GroupNumber>4</GroupNumber>
      <FileNumber>33</FileNumber>
      <FileType>1</FileType>
      <tvExp>1</tvExp>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
      <PathWithFileName>.\dw_tag.c</PathWithFileName>