From 2c162b948f68bde8d17cb5e86d18a8972b5661f2 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期二, 22 七月 2025 18:18:05 +0800
Subject: [PATCH] 修改传aoa信息逻辑为读取指令发送时并且为自身id才给，取消发送区域显示逻辑，将信号质量改为角度置信度
---
keil/uwb_app.c | 81 +++++++++++++++++++++++++++++-----------
1 files changed, 59 insertions(+), 22 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index c35c51d..7e803c9 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -333,7 +333,7 @@
uint32_t range_timeout_us = 2000000;//yuan5000
uint8_t flag_temp2,flag_temp1;
uint16_t uwb_losttimer;
-uint8_t mac_error;
+//uint8_t mac_error;
uint8_t allow_flag;
uint8_t resp_tx_flag,poll_rx_error_num;
uint8_t tag_rssi[TAG_NUM_IN_SYS];
@@ -355,6 +355,7 @@
//}
}
float temp1,temp2;
+uint8_t aoa_fom[TAG_NUM_IN_SYS];
static void angle_result_filter(uint8_t *mac_addr, int16_t *angle, uint8_t type)
{
if (angle == NULL)
@@ -411,13 +412,14 @@
angle_result_filter(&mac_addr,&elevation, KF_DATA_TYPE_ELEVATION);
angle_azimuth[taglist_pos]=(uint16_t)mk_q7_to_s16(azimuth);
angle_elevation[taglist_pos]=(uint16_t)mk_q7_to_s16(elevation);
+ aoa_fom[taglist_pos]=fom;
//buffer_message_send();
//int16_t azimth=mk_q7_to_s16(azimuth),elevate=mk_q7_to_s16(elevation);
// // filter process
- LOG_INFO(TRACE_MODULE_APP, "PDoA 0x%04x Azimuth %d Elevation %d FoM %u area%#x\r\n",tag_id_recv, mk_q7_to_s16(azimuth),
- mk_q7_to_s16(elevation), fom,show_location[taglist_pos]);
+ LOG_INFO(TRACE_MODULE_APP, "PDoA 0x%04x Azimuth %d Elevation %d FoM %u \r\n",tag_id_recv, mk_q7_to_s16(azimuth),
+ mk_q7_to_s16(elevation), fom);
allow_flag=0;
}
}
@@ -477,7 +479,7 @@
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);
}else{
- mac_error=1;
+ //mac_error=1;
}
}
uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
@@ -485,8 +487,8 @@
extern uint32_t tag_id_authorization_list[1024];
static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
uint8_t anchordata_num = 0;
-static int32_t tagdist_list[TAG_NUM_IN_SYS];
-uint8_t rssi_quality[TAG_NUM_IN_SYS];
+static int16_t tagdist_list[TAG_NUM_IN_SYS];
+
uint16_t state_button[TAG_NUM_IN_SYS];
uint16_t pressure[TAG_NUM_IN_SYS];
uint16_t random_time;
@@ -618,7 +620,7 @@
tagid_list[j] = tagid_list[j + 1];
tagid_list[j + 1] = temp_id;
- //同步交换电量是否授权表和在线时间
+ //同步交换电量
uint32_t temp_bat = anchordata_bat[j];
anchordata_bat[j]=anchordata_bat[j+1];//电量随之更新
anchordata_bat[j+1]=temp_bat;
@@ -628,6 +630,38 @@
tagofflinetime[j]=tagofflinetime[j+1];//电量随之更新
tagofflinetime[j+1]=temp_tag_offlinetime;
+ //水平角度交换
+ uint16_t temp_tag_azimuth=angle_azimuth[j];
+ angle_azimuth[j]=angle_azimuth[j+1];
+ angle_azimuth[j+1]=temp_tag_azimuth;
+ //垂直角度交换
+ uint16_t temp_tag_elevation=angle_elevation[j];
+ angle_elevation[j]=angle_elevation[j+1];
+ angle_elevation[j+1]=temp_tag_elevation;
+ //信号强度交换
+ uint8_t rssi_temp=tag_rssi[j];
+ tag_rssi[j]=tag_rssi[j+1];
+ tag_rssi[j+1]=rssi_temp;
+ //角度置信度交换
+ uint8_t temp_fom=aoa_fom[j];
+ aoa_fom[j]=aoa_fom[j+1];
+ aoa_fom[j+1]=temp_fom;
+ //设备状态交换
+ uint16_t temp_state=state_button[j];
+ state_button[j]=state_button[j+1];
+ state_button[j+1]=temp_state;
+ //气压交换
+ uint16_t temp_pressure=pressure[j];
+ pressure[j]=pressure[j+1];
+ pressure[j+1]=temp_pressure;
+ //包序交换
+ uint8_t seq_temp=tag_seq[j];
+ tag_seq[j]=tag_seq[j+1];
+ tag_seq[j+1]=seq_temp;
+ //showbuffer交换
+ uint8_t show_location_temp=show_location[j];
+ show_location[j]=show_location[j+1];
+ show_location[j+1]=show_location_temp;
// //同步交换授权表
// uint8_t temp_tag_authorized = tag_authorized_List[j];
// tag_authorized_List[j]=tag_authorized_List[j+1];//电量随之更新
@@ -666,13 +700,12 @@
}
taglist_num=j;
sort_tag_lists();//增加距离小的排到前面逻辑
- update_show_buffer();//根据角度和距离判断区域位置
- gpio_pin_set(CHANGE_UART_PIN);//；拉高打印输出
- buffer_message_send();//发送测距报文信息
-// //delay_ms(10);
- buffer_485_send(show_location);//发送显示信息
- while(uart_tx_in_progress(UART_ID0));
- gpio_pin_clr(CHANGE_UART_PIN);//；拉低变接收
+ //update_show_buffer();//根据角度和距离判断区域位置
+// gpio_pin_set(CHANGE_UART_PIN);//；拉高打印输出
+ //buffer_message_send();//发送测距报文信息
+ //buffer_485_send(show_location);//发送显示信息
+// while(uart_tx_in_progress(UART_ID0));
+// gpio_pin_clr(CHANGE_UART_PIN);//；拉低变接收
}
uint8_t position;
@@ -791,6 +824,7 @@
uwb_rx_flag=1;
//LOG_INFO(TRACE_MODULE_APP,"打开uwb_rx\r\n");
}
+//uint8_t temp_tag_num;
void UWBOneSecondTask(void)
{
TagListUpdate();//更新标签数
@@ -978,11 +1012,11 @@
#define AREA_8 0xa8
uint8_t change_by_distance(uint8_t position,uint16_t distance)
{
-if(distance<1000){
+if(distance<g_com_map[ALARM_DISTANCE1]){
position=position;
-}else if (distance>1000&&distance<2000){
+}else if (distance>g_com_map[ALARM_DISTANCE1]&&distance<g_com_map[ALARM_DISTANCE2]){
position=position+16;
-}else if (distance>2000&&distance<3000){
+}else if (distance>g_com_map[ALARM_DISTANCE2]&&distance<g_com_map[ALARM_DISTANCE3]){
position=position+16;
}
return position;
@@ -1046,21 +1080,24 @@
memcpy(&usart0_send[4],&dev_id,2); //anchor_id
for(uint8_t i=0;i<taglist_num;i++)
{
- memcpy(&usart0_send[6+i*16],tagid_list[i],2);
- usart0_send[8+i*20] = tag_seq[i];//包序
+ memcpy(&usart0_send[6+i*16],&tagid_list[i],2);
+ usart0_send[8+i*16] = tag_seq[i];//包序
memcpy(&usart0_send[9+i*16],&tagdist_list[i],2); //distance
memcpy(&usart0_send[11+i*16],&angle_azimuth[i],2);//angle_azithum
memcpy(&usart0_send[13+i*16],&angle_elevation[i],2);//angle_elevation
memcpy(&usart0_send[15+i*16],&tag_rssi[i],1); //信号强度
- memcpy(&usart0_send[16+i*16],&rssi_quality[i],1); //信号质量预留
- usart0_send[17+i*20]=anchordata_bat[i];//标签电量
+ memcpy(&usart0_send[16+i*16],&aoa_fom[i],1); //信号质量预留
+ usart0_send[17+i*16]=anchordata_bat[i];//标签电量
memcpy(&usart0_send[18+i*16],&state_button[i],2); //设备状态
memcpy(&usart0_send[20+i*16],&pressure[i],2); //气压
}
memcpy(&usart0_send[6+taglist_num*16],&yuliu,4); //预留位4位
checksum = Checksum_u16(&usart0_send[2],8+16*taglist_num);
memcpy(&usart0_send[10+16*taglist_num], &checksum, 2);
+ gpio_pin_set(CHANGE_UART_PIN);//；拉高打印输出
uart_send(UART_ID0, usart0_send,12+16*taglist_num, NULL);
+ while(uart_tx_in_progress(UART_ID0));
+ gpio_pin_clr(CHANGE_UART_PIN);//；拉低变接收
}
int Anchor_App(void)
{
@@ -1301,7 +1338,7 @@
static struct KF_MAT_VALUE_CACHE_T kf_mat_value_cache[KF_SUPPORT_NUM];
void Anchor_uwb_aoa_square_init(void)
{
- uwb_open();
+
// Set calibration parameters
uwb_calibration_params_set(config.phy_cfg.ch_num);
--
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