From 28f37df5dd32d6630dbcc23dca88f6a3ae063d7f Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期五, 23 五月 2025 18:03:21 +0800
Subject: [PATCH] 移植了国产加速度计的计步逻辑，逻辑是30s没有步数进入休眠模式1分钟上传一次
---
keil/uwb_app.c | 90 +++++++++++++++++++++++++++++++++++++++------
1 files changed, 78 insertions(+), 12 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index ba131ee..75ff6dd 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -11,6 +11,8 @@
#include "board.h"
#include "lib_aoa.h"
#include "WS2812.h"
+#include "TCPClient.h"
+
extern int simple_main(void);
extern int temp_main(void);
void Calibration_Time(void);
@@ -62,6 +64,7 @@
int16_t elevation = 0;
int16_t azimuth = 0;
uint8_t fom = 0;
+extern CountState_t current_state;
int32_t distance;
uint8_t taglist_num;
float *sts_rssi=NULL;
@@ -75,14 +78,17 @@
CLOSE,
RANGE,
}enumwltagstate;
+#define TAGFREQ_IDX 7
+
/* Ranging period */
#define RANGING_PERIOD_MS (1000)
/* This is the delay from Frame RX POLL frame to send RESP Frame */
#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan550极限
+//#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan550极限
#define RESP_TX_TO_FINAL_RX_DLY_US 500U
-
+//#define RESP_TX_TO_FINAL_RX_DLY_US 500U
/* RX sync window size 50 ms*/
#define RX_SYNC_WIN_US 5000U //yuan1000 7000success
@@ -99,6 +105,7 @@
#define RX_WIN_IN_ADVANCE_US (150)
#define DELAY_BETWEEN_TWO_FRAME_UUS 500 //yuan1400
+//#define DELAY_BETWEEN_TWO_FRAME_UUS 500 //yuan1400
/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -111,6 +118,9 @@
#define MSG_COMMON_LEN 10
#define UWB_DELAY_TIME_US 496
+
+
+
uint8_t receive_flag=0;
struct mk_uwb_configure
{
@@ -134,7 +144,7 @@
// .phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
// .phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
//};
-#ifdef DW1000
+#ifdef UWB_MK8000_XB
static struct mk_uwb_configure config = {
.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
.phy_cfg.ch_num = 5, /* Channel number. */
@@ -150,6 +160,43 @@
.phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
.phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
};
+#endif
+#ifdef UWB_DW1000_MBXJZ_OLD
+static struct mk_uwb_configure config = {
+ .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
+ .phy_cfg.ch_num = 5, /* Channel number. */
+ .phy_cfg.code_index = 9, /* TRX preamble code */
+ .phy_cfg.mean_prf = MEAN_PRF_64M, /* Mean prf 64/128/256M */
+ .phy_cfg.data_bit_rate = DATA_BR_6M8, /* Data rate 6.8M */
+ .phy_cfg.sync_sym = PREAM_LEN_64, /* Preamble duration, length of preamble 128 */
+ .phy_cfg.sfd_sym = NON_STD_NSFD5_8, /* Identifier for SFD sequence */
+ .phy_cfg.ranging_bit = 1, /* ranging bit set 1 */
+ .phy_cfg.trx_mode = TRX_MODE_15_4A, /* IEEE802.15.4z - BPRF mode */
+ .phy_cfg.sts_pkt_cfg = STS_PKT_CFG_0, /* SP0 Frame */
+ .phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1, /* Number of STS segments in the frame */
+ .phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
+ .phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
+};
+#endif
+
+#ifdef DW1000
+
+//static struct mk_uwb_configure config = {
+// .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
+// .phy_cfg.ch_num = 5, /* Channel number. */
+// .phy_cfg.code_index = 9, /* TRX preamble code */
+// .phy_cfg.mean_prf = MEAN_PRF_64M, /* Mean prf 64/128/256M */
+// .phy_cfg.data_bit_rate = DATA_BR_6M8, /* Data rate 6.8M */
+// .phy_cfg.sync_sym = PREAM_LEN_64, /* Preamble duration, length of preamble 128 */
+// .phy_cfg.sfd_sym = NON_STD_NSFD5_8, /* Identifier for SFD sequence */
+// .phy_cfg.ranging_bit = 1, /* ranging bit set 1 */
+// .phy_cfg.trx_mode = TRX_MODE_15_4A, /* IEEE802.15.4z - BPRF mode */
+// .phy_cfg.sts_pkt_cfg = STS_PKT_CFG_0, /* SP0 Frame */
+// .phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1, /* Number of STS segments in the frame */
+// .phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
+// .phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
+//};
+
#elif defined STS_MODE
static struct mk_uwb_configure config = {
.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
@@ -309,10 +356,10 @@
poll_rx_num++;
rssi = rx_report->rssi;
receive_flag=1;
- Anchor_App();
+ Anchor_App();
if(resp_tx_flag==0)
{
- OpenUWB();
+ OpenUWB();
}
// #ifdef STS_MODE
// valid_sts= sts_valid_check();
@@ -343,7 +390,10 @@
memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
rx_length = 0;
receive_error_flag=1;
- OpenUWB();//再次开启UWB接收
+
+ OpenUWB();
+
+// OpenUWB();//再次开启UWB接收
}
// CloseUWB();
// OpenUWB();//再次开启UWB接收
@@ -363,10 +413,13 @@
temp_count= phy_timer_count_get();
temp_internal=temp_count;
resp_tx_num++;
-// OpenUWB();//再次开启UWB接收
+
+ OpenUWB();
+
+// OpenUWB();//再次开启UWB接收
//LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
}
- OpenUWB();//再次开启UWB接收
+// OpenUWB();//再次开启UWB接收
}
uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
uint16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
@@ -506,6 +559,7 @@
memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);//自身id
memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);//接受者id
send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
+ memcpy(&send_buffer[TAGFREQ_IDX],&tag_frequency,2);
position=ancrec_nearbasepos;
resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+ancrec_nearbasepos*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//加入帧间隔
@@ -656,8 +710,8 @@
// }
// Set4LEDColor(uwbled,rtkled,led4g,powerled);
- if(taglist_num>20) //最多上传20个基站数据，距离最近的20个
- taglist_num = 20;
+ if(taglist_num>14) //最多上传20个基站数据，距离最近的20个
+ taglist_num = 14;
usart_send[0]= 0x55;
usart_send[1]= 0xaa;
usart_send[2] = 0x12;//正常模式
@@ -681,9 +735,10 @@
checksum = Checksum_u16(&usart_send[2],15+5*taglist_num);
memcpy(&usart_send[17+5*taglist_num],&checksum,2);
HexToAsciiSendUDP(usart_send,19+5*taglist_num);
- taglist_num = 0;
+// taglist_num = 0;
// rxnum=0;
}
+extern uint32_t step_count;
void UWBIdleTask(void)
{
// if(receive_flag)
@@ -699,19 +754,28 @@
// }
if(HIDO_TimerGetTick()-uwbtasktimer >=1)
{
+ step_count = mir3da_get_step(); // 获取步数
uwbtasktimer = HIDO_TimerGetTick();
UWBOneSecondTask();
- UWBSendUDPTask();
+ if(g_com_map[UWBFrequency]==1)
+ {
+ UWBSendUDPTask();
+ }
}
}
int uwb_app_poll(void)
{
UWBIdleTask();
}
+extern uint8_t uwb_offtime_count;
int Anchor_App(void)
{
uint8_t i;
uint16_t tempid;
+ uwb_offtime_count=0;
+ #ifdef CEJU_ZIUMIAN
+ current_state = STATE_NORMAL;
+ #endif
if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//判断是否是和自己是同一组通讯的且为poll包
{ flag_recsuccess = 1;
wltag_state=RANGE;//成功后从search切换为range
@@ -726,6 +790,8 @@
memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
uwbled=BLUE;
+
+
// for(i=0; i<rec_nearbase_num; i++)
// {
// if(rec_ancidlist[i] == dev_id)
@@ -761,7 +827,7 @@
Anchor_RecNearPoll(i);
tagdist_list[taglist_pos]=rec_ancdistlist[i];
anchordata_bat[taglist_pos] = battary;//保存该基站电量
- anchor_rssi[taglist_pos]=rssi;
+ anchor_rssi[taglist_pos]=rssi;
if(taglist_pos==taglist_num)// taglist_pos==taglist_num 说明这个基站不在当前列表中
{ //tempid==dev_id 说明基站下发测距报文有这个标签的信息
taglist_num++; //满足上述两种情况才会添加基站ID进入列表中，否则会出现标签不在基站列表中，标签也不响应的情况
--
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