From 2ea6286cc6eeb393d57ace3022634a9e86e7e01d Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期一, 16 六月 2025 14:24:45 +0800
Subject: [PATCH] 这个版本专门测试周围基站数量的 通过串口打印 波特率921600 如果要升级读取等功能用上个版本
---
keil/uwb_app.c | 189 +++++++++++++++++------------------------------
1 files changed, 69 insertions(+), 120 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 756d73d..3e9d378 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -116,27 +116,10 @@
uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
struct UWB_CONFIG_T phy_cfg;
};
-
-///* Default communication configuration. */
-//static struct mk_uwb_configure config = {//原来的基站非110k代码
-// .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
-// .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. */
-// .phy_cfg.sync_sym = PREAM_LEN_128, /* Preamble duration, length of preamble 128 */
-// .phy_cfg.sfd_sym = BPRF_NSFD2_8, /* Identifier for SFD sequence */
-// .phy_cfg.ranging_bit = 1, /* ranging bit set. */
-// .phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF, /* 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 */
-//};
-#ifdef DW1000
+extern uint8_t uwb_ch;
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, /* 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 */
@@ -149,50 +132,7 @@
.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 */
};
-#elif defined STS_MODE
-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_128, /* Preamble duration, length of preamble 128 */
- .phy_cfg.sfd_sym = BPRF_NSFD2_8, /* Identifier for SFD sequence */
- .phy_cfg.ranging_bit = 1, /* ranging bit set 1 */
- .phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF, /* IEEE802.15.4z - BPRF mode */
- .phy_cfg.sts_pkt_cfg = STS_PKT_CFG_1, /* SP1 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 */
-};
-/* Use the default key and IV specified in the IEEE 802.15.4z attachment */
-static struct UWB_STS_KEY_CONFIG_T sts_iv_key = {
- .sts_vcounter = 0x1F9A3DE4,
- .sts_vupper0 = 0xD37EC3CA,
- .sts_vupper1 = 0xC44FA8FB,
- .sts_vupper2 = 0x362EEB34,
- .sts_key0 = 0x14EB220F,
- .sts_key1 = 0xF86050A8,
- .sts_key2 = 0xD1D336AA,
- .sts_key3 = 0x14148674,
-};
-#elif defined MK_MODE
-static struct mk_uwb_configure config = {
- .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
- .phy_cfg.ch_num = 9, /* 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. */
- .phy_cfg.sync_sym = PREAM_LEN_128, /* Preamble duration, length of preamble 128 */
- .phy_cfg.sfd_sym = BPRF_NSFD2_8, /* Identifier for SFD sequence */
- .phy_cfg.ranging_bit = 1, /* ranging bit set. */
- .phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF, /* 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
+
static struct anchor_id_car{
uint16_t anchor_new_id;
@@ -290,6 +230,8 @@
extern uint16_t mubiao_anchor_ID;
uint8_t Lora_qingqiu_flag;
extern uint16_t Lora_qingqiu_bao;
+uint8_t shengji_flag;
+extern uint8_t Dtu_shengji_jindu[20];
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{ uint8_t valid_sts=0;
uint16_t checksum1 = 0,dest_id;
@@ -311,7 +253,8 @@
rssi = rx_report->rssi;
receive_flag=1;
// uart_send(UART_ID0, rx_buf,rx_length, NULL);
- if(rx_buf[MESSAGE_TYPE_IDX]==MBX_POLL)
+ gpio_pin_toggle(IO_PIN_4);
+ if(rx_buf[MESSAGE_TYPE_IDX]==MBX_POLL&&!shengji_flag)
{
Anchor_App();
}
@@ -324,6 +267,7 @@
{
if(!memcmp(&dev_id,&dest_id,2)/*||dest_id==0xffff||(dest_id==0xfffe&&get_channel==5)*/)
{
+ shengji_flag=1;
switch(rx_buf[MSG_TYPE_IDX])
{
case LORA_MSGTYPE_UPDATE_CONFIRM:
@@ -345,8 +289,13 @@
break;
case 0x99:
- LOG_INFO(TRACE_MODULE_APP, "收到结束升级请求\r\n",Lora_qingqiu_bao);
- delay_ms(500);
+// LOG_INFO(TRACE_MODULE_APP, "收到结束升级请求\r\n",Lora_qingqiu_bao);
+ delay_ms(200);
+ Dtu_shengji_jindu[4]=100;
+ memcpy(&Dtu_shengji_jindu[5],&mubiao_anchor_ID,2);
+ uart_send(UART_ID0, Dtu_shengji_jindu,9, NULL);
+
+ delay_ms(1000);
// Lora_upanc_flag=0;
Lora_qingqiu_flag=0;
NVIC_SystemReset();
@@ -377,7 +326,7 @@
// }
}
}
-
+
#ifdef STS_MODE
valid_sts= sts_valid_check();
if (valid_sts)
@@ -434,8 +383,9 @@
uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
int16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
+static uint16_t anchordata_version[TAG_NUM_IN_SYS];
uint8_t anchordata_num = 0;
-static int32_t tagdist_list[TAG_NUM_IN_SYS];
+static int16_t tagdist_list[TAG_NUM_IN_SYS];
uint16_t random_time;
//anchor
int32_t hist_dist;
@@ -477,7 +427,7 @@
{ uint16_t i;
for(i=0; i<taglist_num; i++)
{
- if(memcmp(&tagid,&anchordata_id[i],2)==0)
+ if(memcmp(&tagid,&tagid_list[i],2)==0)
break;
}
if(i==taglist_num)
@@ -522,7 +472,7 @@
//void TagListUpdate(void)
//{
// uint8_t i,j=0;
-// for(i=0; i<anchordata_num; i++)
+// for(i=0; i<taglist_num; i++)
// {
// if(tagofflinetime[i]++<QUIT_SLOT_TIME)
// {
@@ -530,18 +480,19 @@
// tagofflinetime[j++]=tagofflinetime[i];
// }
// }
-// anchordata_num=j;
+// taglist_num=j;
//}
void TagListUpdate(void)
{
uint16_t i,j=0,k=0;
for(i=0; i<taglist_num; i++)
{
- if(tagofflinetime[i]++<TAG_KEEPTIMES)
+ if(tagofflinetime[i]++<10)
{
tagid_list[j]=tagid_list[i];
tagdist_list[j] = tagdist_list[i];
- anchordata_bat[j]=anchordata_bat[i];//电量随之更新
+ anchordata_bat[j]=anchordata_bat[i];//电量随之更新
+ anchordata_version[j]=anchordata_version[i];
tagofflinetime[j++]=tagofflinetime[i];
}
}
@@ -576,6 +527,11 @@
//while(mac_is_busy());
gpio_pin_clr(SCL_PIN);
cmd_flag=1;
+ if(send_buffer[RW_FLAG_IDX]==0x01)
+ {
+ delay_ms(100);
+ NVIC_SystemReset();
+ }
break;
}
}
@@ -695,13 +651,40 @@
if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//防止溢出
}
-uint8_t uwbsend[200];
+uint8_t uwbsend[1000];
void UWBIdleTask(void)
{
if(HIDO_TimerGetTick()-uwbtasktimer >=1)
{
+
+ for(uint16_t i=0;i<taglist_num-1;i++)
+ {
+ for(uint16_t j=0;j<taglist_num-1-i;j++)
+ {
+ if(tagdist_list[j]>tagdist_list[j+1])
+ {
+ uint16_t id,dist,version;
+ uint8_t bat;
+ id = tagid_list[j];
+ dist = tagdist_list[j];
+ version = anchordata_version[j];
+ tagid_list[j] = tagid_list[j+1];
+ tagdist_list[j] = tagdist_list[j+1];
+ anchordata_version[j] = anchordata_version[j+1];
+ tagid_list[j+1] = id;
+ tagdist_list[j+1] = dist;
+ anchordata_version[j+1] = version;
+ }
+ }
+
+ }
+
+// if(taglist_num>6)
+// {
+// taglist_num=6;
+// }
uwbtasktimer = HIDO_TimerGetTick();
UWBOneSecondTask();
uwbsend[0]=0x55;
@@ -710,55 +693,18 @@
uwbsend[3]=taglist_num;
memcpy(&uwbsend[4],&tagid_list,taglist_num*2);
memcpy(&uwbsend[4+taglist_num*2],&tagdist_list,taglist_num*2);
- uart_send(UART_ID0, uwbsend,taglist_num*4+4, NULL);
-// for(int i=0;i<anchordata_num;i++)
-// {
-// LOG_INFO(TRACE_MODULE_APP,"当前测距基站ID:%x,距离:%d.\r\n",anchordata_id[i],anchordata_dist[i]);
-// }
+ memcpy(&uwbsend[4+taglist_num*4],&anchordata_version,taglist_num*2);
+// uart_send(UART_ID0, uwbsend,taglist_num*6+4, NULL);
+ // taglist_num=0;
+ LOG_INFO(TRACE_MODULE_APP,"当前测距基站数量%d.\r\n",taglist_num);
+ for(int i=0;i<taglist_num;i++)
+ {
+ LOG_INFO(TRACE_MODULE_APP,"当前测距基站ID:%x,距离:%d.\r\n",tagid_list[i],tagdist_list[i]);
+ }
}
}
int uwb_app_poll(void)
{
-// switch(wltag_state)
-// {
-// case RANGE:
-// if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
-// {
-// wltag_uwbtimer = HIDO_TimerGetTick();
-// OpenUWB();
-// }
-// else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1)
-// {
-// wltag_uwbtimer = HIDO_TimerGetTick();
-// CloseUWB();
-// }
-// if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
-// {
-// wltag_statetimer = HIDO_TimerGetTick();
-// if(uwb_rx_flag==0)//若要切换到搜索模式时没有开启则开启UWB
-// {
-// OpenUWB();
-// }
-// wltag_state = SEARCH;
-// }
-// break;
-// case SEARCH:
-// if(HIDO_TimerGetTick()-wltag_statetimer>1)
-// {
-// wltag_statetimer = HIDO_TimerGetTick();
-// wltag_state = CLOSE;
-// CloseUWB();
-// }
-// break;
-// case CLOSE:
-// if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
-// {
-// wltag_statetimer = HIDO_TimerGetTick();
-// wltag_state = SEARCH;
-// OpenUWB();
-// }
-// break;
-// }
UWBIdleTask();
}
int Anchor_App(void)
@@ -813,6 +759,8 @@
Anchor_RecNearPoll(i);
tagdist_list[taglist_pos]=rec_ancdistlist[i];
anchordata_bat[taglist_pos] = battary;//保存该基站电量
+// anchordata_version[taglist_pos] = battary;//保存该基站版本号
+ memcpy(& anchordata_version[taglist_pos],&rx_buf[7],2);
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
@@ -876,7 +824,7 @@
current_count=phy_timer_count_get();
while(mac_is_busy())
{
- Calibration_Time();
+// Calibration_Time();
IdleTask();
current_count=phy_timer_count_get();
if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
@@ -974,6 +922,7 @@
phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
#endif
// Set calibration parameters
+// config.phy_cfg.ch_num=g_com_map[NEARBASE_ID1];
uwb_calibration_params_set(config.phy_cfg.ch_num);
#ifndef STS_MODE
// set advanced parameters
--
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