From 99cdcc0b1000fab7d279fbea8a731e1fa22ec4ac Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期四, 26 九月 2024 17:47:57 +0800
Subject: [PATCH] 尝试解决误报
---
keil/uwb_app.c | 77 ++++++++++++++++++++++++++------------
1 files changed, 52 insertions(+), 25 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 2e708f4..16e516b 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -102,7 +102,7 @@
/* Default communication configuration. */
static struct mk_uwb_configure config = {
.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
- .phy_cfg.ch_num = 9, /* Channel number. */
+ .phy_cfg.ch_num = 5, /* Channel number. */
.phy_cfg.code_index = 9, /* TX preamble code. */
.phy_cfg.mean_prf = MEAN_PRF_64M, /* Data rate 6.8M */
.phy_cfg.data_bit_rate = DATA_BR_6M8, /* data rate 6.8M. */
@@ -216,7 +216,7 @@
poll_rx_num++;
rssi = rx_report->rssi;
receive_flag=1;
- recev_error_num=0;
+
}
else
{
@@ -226,6 +226,7 @@
/* UWB_BD_ERR Preamble detection error */
/* UWB_TO_ERR Receive timeout */
/* UWB_STS_ERR STS error */
+ temp_count= phy_timer_count_get();
memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
rx_length = 0;
@@ -254,6 +255,7 @@
static int32_t tagdist_list[TAG_NUM_IN_SYS];
uint16_t random_time;
//anchor
+int32_t hist_dist;
void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary)
{
uint8_t i;
@@ -274,8 +276,8 @@
anchordata_dist[i] = dist;
anchordata_bat[i] = battary;
tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
- //if(dist>0)
- distance=dist;
+// if(dist>0)
+ distance=dist*0.5+distance*0.5;
}
uint16_t CmpTagInList(uint16_t tagid)
{ uint16_t i;
@@ -345,7 +347,8 @@
while(mac_is_busy());
gpio_pin_clr(SCL_PIN);
}
-uint16_t uwb_searchcount;
+uint16_t uwb_searchcount,range_timeout_us = 5000;
+uint8_t flag_recsuccess;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
int UwbRange(void)
{
@@ -376,24 +379,36 @@
mac_register_process_handler(tx_int_callback, rx_int_callback);
receive_flag = 0;
+ flag_recsuccess = 0;
temp_count3=phy_timer_count_get();
gpio_pin_set(SCL_PIN);
- uwb_rx(0, 0, RX_SYNC_WIN_US);//开启接收
- while(mac_is_busy());
- temp_count2=phy_timer_count_get();
-// start_receive_count=phy_timer_count_get();
-// poll_timeout=rec_nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(DELAY_DEFAULT);//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)
-// {end_receive_count-=UINT32_MAX;}
-// current_count=phy_timer_count_get();
-// 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
-// {
+ 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();
+ poll_timeout=US_TO_PHY_TIMER_COUNT(range_timeout_us);//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)
+ {end_receive_count-=UINT32_MAX;}
+ current_count=phy_timer_count_get();
+ 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
+ {
+ current_count=phy_timer_count_get();
+ while(mac_is_busy())
+ {
+ IdleTask();
+ current_count=phy_timer_count_get();
+ if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
+ {
+ break;
+ }
+ }
if(receive_flag==1)//成功接收
{
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
- { temp_count2=phy_timer_count_get();
+ { flag_recsuccess = 1;
+ temp_count2=phy_timer_count_get();
frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
battary = rx_buf[BATTARY_IDX];
rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX]; //标签传过来的他与基站交互的基站id数目
@@ -426,10 +441,19 @@
Anchor_RecNearPoll(i);
}
+ recev_error_num=0;
+ sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
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);
- }
+ break;
+ }
} else {
- LOG_INFO(TRACE_MODULE_APP,"测距失败\r\n");
+ uwb_rx(0, 0, range_timeout_us);
+ }
+ }
+ if(!flag_recsuccess)
+ {
+ sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-3));//测试
+ LOG_INFO(TRACE_MODULE_APP,"测距失败，计数：%d\r\n",recev_error_num);
if(recev_error_num++>5)
{
recev_error_num=0;
@@ -437,8 +461,7 @@
uwb_searchcount = 0;
search_open_flag = 1;
}
- }
- sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
+ }
gpio_pin_clr(SCL_PIN);
}
@@ -483,11 +506,12 @@
{
end_receive_count-=UINT32_MAX;
}
-
+ current_count=phy_timer_count_get();
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())
{
+ IdleTask();
current_count=phy_timer_count_get();
if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
{
@@ -536,19 +560,19 @@
}
}
-
+ temp_count3=phy_timer_count_get();
uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
}
+ // LOG_INFO(TRACE_MODULE_APP,"超时定时器：%x,%x,%x\r\n",start_receive_count,end_receive_count,current_count);
gpio_pin_clr(SCL_PIN);//测试
return 0;//返回绑定失败标志
}
//}
-#define SEARCH_TIMESTEMP 120
+#define SEARCH_TIMESTEMP 20
void UWBPoll(void)
{
- LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
switch(UWB_work_state)
{
case LINK_SUCCESS:
@@ -571,6 +595,8 @@
uwb_led_off();
if(link_success_flag)
UWB_work_state=LINK_SUCCESS;
+ }else{
+ LOG_INFO(TRACE_MODULE_APP,"等待进入搜索模式：%d\r\n",SEARCH_TIMESTEMP-uwb_searchcount);
}
}
@@ -600,6 +626,7 @@
//link_error_count=0;
update_led_power_state();//更新灯状态
}
+ LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
}
uint8_t GetUWBBindState(void)
--
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