From 2ee355706fb52cd610000dfa89ad244656428d72 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期四, 14 八月 2025 18:23:46 +0800
Subject: [PATCH] 开发完成 先提交 适配纽扣电池
---
keil/uwb_app.c | 861 ++++++++++++--------------------------------------------
1 files changed, 187 insertions(+), 674 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index befa0c1..8400434 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -10,13 +10,16 @@
#include "global_param.h"
#include "board.h"
#include "lib_aoa.h"
-
+#include <serial_at_cmd_app.h>
extern int simple_main(void);
extern int temp_main(void);
void Calibration_Time(void);
void TagListUpdate(void);
void TagListUpdate_person_num(void);
void Uwb_init(void);
+void OpenUWB(void);
+void CloseUWB(void);
+int Anchor_App(void);
extern void IO_LED_control_change(uint8_t data);
extern void IO_control_init(void);
@@ -62,14 +65,20 @@
uint8_t taglist_num;
float *sts_rssi=NULL;
extern uint8_t recev_error_num;
-
+uint8_t uwb_rx_flag;
extern Operation_step UWB_work_state;
extern int16_t first_search_flag;
+typedef enum
+{
+ SEARCH,
+ CLOSE,
+ RANGE,
+}enumwltagstate;
/* 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 4000U //yuan670 with urt 3000success
+#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan600 success 并且不卡busy
#define RESP_TX_TO_FINAL_RX_DLY_US 500U
@@ -88,7 +97,7 @@
/* RX window open in advance */
#define RX_WIN_IN_ADVANCE_US (150)
-#define DELAY_BETWEEN_TWO_FRAME_UUS 300 //yuan1400
+#define DELAY_BETWEEN_TWO_FRAME_UUS 500 //yuan1400
/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -107,24 +116,7 @@
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 */
-//};
-#ifndef STS_MODE
+extern uint8_t uwb_ch;
static struct mk_uwb_configure config = {
.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
.phy_cfg.ch_num = 5, /* Channel number. */
@@ -140,34 +132,8 @@
.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 */
};
-#else
-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 */
-};
-#endif
-/* 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,
-};
+
+
static struct anchor_id_car{
uint16_t anchor_new_id;
uint16_t change_num;
@@ -189,9 +155,6 @@
* - byte 14 - 17: response message reception timestamp.
* - byte 18 - 21: final message transmission timestamp.
*/
-static uint8_t rx_poll_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x02};
-static uint8_t tx_resp_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x4D, 0x49, 0x53, 0x45, 0x03, 0x07};
-static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x04, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
/* Count value of phy counter when transmitting and receiving frames */
static uint32_t poll_rx_en_start_u32;
@@ -253,74 +216,26 @@
/* RX done process handler. */
int8_t rssi;
-static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
-{ uint8_t valid_sts=0;
- // Power off radio
- power_off_radio();
+uint32_t range_timeout_us = 2000000;//yuan5000
+uint8_t flag_temp2,flag_temp1;
+uint16_t uwb_losttimer;
+uint16_t lorarec_tagid;
+extern uint8_t send_lora_data[250];
+uint8_t Lora_upanc_time;
+uint8_t update_tag_time;
+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];
+extern uint8_t shengji_flag;
- /** UWB RX success */
- if (rx_report->err_code == UWB_RX_OK)
- {
- /* Received data does not contain FCS */
- rx_length = rx_report->pkt_len;
- memcpy(rx_buf, rx_report->pkt_data, rx_length);
- memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
- /* Calculate rx timestamp */
- temp_count= phy_timer_count_get();
- poll_rx_en_start_u32 = rx_rpt.timestamp - phy_shr_duration();
- poll_rx_ts_i64 = ranging_rx_time_correct(&rx_rpt);
- poll_rx_num++;
- rssi = rx_report->rssi;
- receive_flag=1;
- valid_sts= sts_valid_check();
- if (valid_sts)
- {
- aoa_calculate(&elevation, &azimuth);
- aoa_fom_get(NULL, &fom);
-// float pdoa[3];
-// pdoa[0] = pdoa_select_get(0, 3);
-// pdoa[1] = pdoa_select_get(1, 3);
-// pdoa[2] = pdoa_select_get(2, 3);
-// LOG_INFO(TRACE_MODULE_APP, "PDOA: %f %f %f\r\n", pdoa[0], pdoa[1], pdoa[2]);
-
- sts_rssi = sts_rssi_output_get();
- }
- }
- else
- {
- /* UWB_PLD_ERR payload error */
- /* UWB_PHR_ERR PHR error */
- /* UWB_SFD_ERR Sfd error */
- /* 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;
-
- }
-}
-
-/* TX done process handler. */
-static void tx_int_callback(struct MAC_HW_REPORT_T *tx_report)
-{
- // Power off radio
- power_off_radio();
-
- /** UWB TX success */
- if (tx_report->err_code == UWB_TX_OK)
- {
- temp_count= phy_timer_count_get();
- temp_internal=temp_count;
- resp_tx_num++;
- //LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
- }
-}
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];
+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;
@@ -362,7 +277,7 @@
{ 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)
@@ -371,6 +286,15 @@
return i;
}
+uint16_t ExistInTagList(uint16_t tagid)
+{ uint16_t i;
+ for(i=0; i<taglist_num; i++)
+ {
+ if(memcmp(&tagid,&tagid_list[i],2)==0)
+ return 1;
+ }
+ return 0;
+}
uint16_t CmpCarInExistList(uint16_t tagid)
{ uint16_t i;
for(i=0; i<anchordata_num; i++)
@@ -395,24 +319,75 @@
}
}
+//void TagListUpdate(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];
+// }
+// }
+// anchordata_num=j;
+//}
void TagListUpdate(void)
{
- uint8_t i,j=0;
- for(i=0; i<anchordata_num; i++)
+uint16_t i,j=0,k=0;
+ for(i=0; i<taglist_num; i++)
{
- if(tagofflinetime[i]++<QUIT_SLOT_TIME)
+ if(tagofflinetime[i]++<TAG_KEEPTIMES)
{
- anchordata_id[j]=anchordata_id[i];
+ 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_version[j]=anchordata_version[i];
tagofflinetime[j++]=tagofflinetime[i];
}
- }
- anchordata_num=j;
+ }
+ taglist_num=j;
}
-
-
-uint8_t flag_temp2,flag_temp1;
+uint16_t g_com_receive_id;
+uint8_t cmd_flag,position;;
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos)//根据自己是否为新基站定制消息去发送，根据是否抢占判断
{
+ cmd_flag=0;
+ uint16_t checksum1 = 0;
+ for(uint8_t i=0; i<PWTAG_MAXGROUPNUM; i++)
+ {
+ if(pwtag.remain_time[i]!=0)
+ {
+ lorarec_tagid=g_com_receive_id;
+ if(pwtag.groupid[i][0]<=lorarec_tagid&&lorarec_tagid<=pwtag.groupid[i][1])
+ {
+ send_buffer[MSG_TYPE_IDX] = LORA_MSGTYPE_WGRESPTAG;
+ send_buffer[MSG_LENGTH] = 14;
+ memcpy(&send_buffer[SOURCE_ID_IDX],&dev_id,2);
+ memcpy(&send_buffer[DEST_ID_IDX],&lorarec_tagid,2);
+ send_buffer[RW_FLAG_IDX] = pwtag.duorxie[i];
+ send_buffer[WRITE_IDX_IDX] = pwtag.index[i];
+ memcpy(&send_buffer[WRITE_VALUE_IDX],pwtag.value[i],pwtag.len[i]);
+
+ checksum1=Checksum_u16(send_buffer,pwtag.len[i]+WRITE_VALUE_IDX);
+ memcpy(&send_buffer[pwtag.len[i]+WRITE_VALUE_IDX],&checksum1,2);
+ resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US);
+ flag_temp2=uwb_tx(send_buffer, pwtag.len[i]+WRITE_VALUE_IDX+2,1 ,resp_tx_en_start_u32);//立即发送测试size大小
+ // temp_count1=phy_timer_count_get();
+ //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;
+ }
+ }
+ }
+ if(cmd_flag==0)
+ {
temp_count2=poll_rx_en_start_u32;
memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//组id
@@ -432,7 +407,8 @@
// resp_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS);//后面的需要根据已有基站数量进行更改，如果是抢占自己最后一个回复，要有底数
// //这里应该有问题问一下钟工
// }//此处设置绝对时间将poll u32改为phy_timer_count_get()
- resp_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US);
+ 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
resp_tx_ts_i64 = ranging_tx_time_correct(resp_tx_en_start_u32 + phy_shr_duration());//修正时间戳
/* Write all timestamps in the final message. See NOTE 8 below. */
resp_msg_set_ts(&send_buffer[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts_i64);
@@ -441,11 +417,14 @@
temp_resp_i64=resp_tx_ts_i64;
temp_count3= phy_timer_count_get();
flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
- temp_count1=phy_timer_count_get();
- while(mac_is_busy());
- gpio_pin_clr(SCL_PIN);
+ tagofflinetime[taglist_pos] = 0;//更新标签通信
+// temp_count1=phy_timer_count_get();
+ //while(mac_is_busy());
+ //gpio_pin_clr(SCL_PIN);
+ }
+
}
-uint32_t range_timeout_us = 5000;//yuan5000
+
uint16_t uwb_searchcount;
uint8_t flag_recsuccess;
@@ -457,582 +436,116 @@
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)
+enumwltagstate wltag_state=RANGE;
+uint32_t wltag_statetimer,wltag_uwbtimer;
+uint32_t uwbtasktimer=0,uwbtagsendtimer=0;
+void UWBOneSecondTask(void)
{
- uint8_t i,j=0;
- for(i=0; i<anchordata_num; i++)
+ uwb_losttimer++;
+ TagListUpdate();
+ 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[100];
+
+void UWBIdleTask(void)
+{
+
+ if(HIDO_TimerGetTick()-uwbtasktimer >=1)
+ {
+
+ for(uint16_t i=0;i<taglist_num-1;i++)
{
- if(tagofflinetime[i]++<QUIT_SLOT_TIME)
+ for(uint16_t j=0;j<taglist_num-1-i;j++)
{
- anchordata_id[j]=anchordata_id[i];
- tagofflinetime[j++]=tagofflinetime[i];
- }else{
-// for(int h=0;h<get_in_num;h++)//消除车内离线id
-// {
-// if(anchordata_id[i]==anchor_id_in[h])
-// {
-// for(int k=h+1;k<get_in_num;k++)
-// {
-// anchor_id_in[k-1]=anchor_id_in[k];//缺个数量--
-// }
-// get_in_num--;//车内不删除
-// }
-// }
- for(int h=0;h<get_out_num;h++)//消除车外离线id
- {
- if(anchordata_id[i]==anchor_id_out[h])
- {
- for(int k1=h+1;k1<get_out_num;k1++)
- {
- anchor_id_out[k1-1]=anchor_id_out[k1];//缺个数量--
- }
- get_out_num--;
- }
- }
- }
- }
- anchordata_num=j;
-
-}
-void in_table_log(void)
-{
- uint32_t u32LogLen,datalenth;
- char acReadponse[200];
- u32LogLen = snprintf(acReadponse, sizeof(acReadponse), "车内：%d 人 ID:",get_in_num,get_out_num);
- for(uint16_t i=0;i<get_in_num;i++)
+ if(tagdist_list[j]>tagdist_list[j+1])
{
- 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();
- if((current_count_calibration-start_receive_count_calibration>=MS_TO_PHY_TIMER_COUNT(500)||current_count_calibration+(UINT32_MAX-start_receive_count_calibration)>=MS_TO_PHY_TIMER_COUNT(500))
- &&!((end_receive_count-current_count_calibration<=MS_TO_PHY_TIMER_COUNT(200))||(end_receive_count+(UINT32_MAX-current_count_calibration)<=MS_TO_PHY_TIMER_COUNT(200))))
- {
- start_receive_count_calibration=current_count_calibration;//更新开始时间
-// MotorPoll();
-
- if(secondtask_search_count++%2==0)
- {
- secondtask_search_flag = 1;
- }else{
- secondtask_search_flag = 0;
- }
- if(secondtask_search_flag)//更新S时间TICK
- {
- HIDO_TimerTick();
- TagListUpdate();
-// GPS_Poll();
-// if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
-// nomove_count++;
-// else{
-// nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
-// }
- }
-// update_led_power_state();//更新等状态防止震动卡死在搜索
- }
-}
-uint16_t g_com_receive_id;
-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)
-{
- uint8_t i;
- if(rssi_ant0>rssi_ant2&&distance_from_tag<200)
- {
- for(i=0; i<get_in_num; i++)
- {
- if(anchor_id_in[i] == receive_success_id)//查询标签是否在自己已通讯列表中
- {
-
- break;
- }
- }
- if(i==get_in_num)
- {
- if(get_in_num<TAG_NUM_IN_SYS-1)
- get_in_num++;
- for(i=0;i<get_out_num;i++)//消除车外id
- {
- if(receive_success_id==anchor_id_out[i])
- {
- for(i=i+1;i<get_out_num;i++)
- {
- anchor_id_out[i-1]=anchor_id_out[i];//缺个数量--
- }
- get_out_num--;
- }
- }
- anchor_id_in[get_in_num-1]=receive_success_id;
- }
- }else if(rssi_ant0<rssi_ant2&&distance_from_tag<200)
- {
- for(i=0; i<get_out_num; i++)
- {
- if(anchor_id_out[i] == receive_success_id)//查询标签是否在自己已通讯列表中
- {
-
- break;
- }
- }
- if(i==get_out_num)
- {
- if(get_out_num<TAG_NUM_IN_SYS-1)
- get_out_num++;
- for(i=0;i<get_in_num;i++)//消除车内id
- {
- if(receive_success_id==anchor_id_in[i])
- {
- for(i=i+1;i<get_in_num;i++)
- {
- anchor_id_in[i-1]=anchor_id_in[i];//缺个数量--
- }
- get_in_num--;
- }
- }
- 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);
- }
- }
-}
-int UwbRange(void)
-{
- uint8_t i;
- uint16_t tempid;
- // The following peripherals will be initialized in the uwb_open function
- // phy/mac/aes/lsp/phy timers initialized
- uwb_open();
-
-// // Set calibration parameters
-// uwb_calibration_params_set(config.phy_cfg.ch_num);
-
-// // set advanced parameters
-// struct PHY_ADV_CONFIG_T adv_config = {
-// .thres_fap_detect = 40,
-// .nth_scale_factor = 4,
-// .ranging_performance_mode = 0,
-// .skip_weakest_port_en = 0,
-// };
-// phy_adv_params_configure(&adv_config);
-
-// // uwb configure
-// uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);
-
-// ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
-
- // Register rx interrupt callback function
- 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);
- sts_lsp_store();
- flag_temp1=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())
- {
- Calibration_Time();
- IdleTask();
- current_count=phy_timer_count_get();
- if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
- {
- break;
+ 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;
}
}
- sts_lsp_store_stop();
-
-
- 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
- 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;
- memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
-// sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
- 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
- memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
- memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
- 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);
- for(i=0; i<rec_nearbase_num; i++)
- {
- if(rec_ancidlist[i] == dev_id)
- { temp_recdist_before_offset=rec_ancdistlist[i];
- rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
- PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
- }
- }
- for(i=0; i<rec_nearbase_num; i++)
- {
- memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
- if(tempid==dev_id)//也是比id如果有就更新没有就抢占
- {
- seize_anchor=0; //非抢占。已存在列表中
- Anchor_RecNearPoll(i);
- break;
- }
- }
-
- if(i==rec_nearbase_num)
- {
- seize_anchor=1; //抢占anchor
- Anchor_RecNearPoll(i);
- }
- 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 信号强度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_car(g_com_receive_id,distance,sts_rssi[0],sts_rssi[2]);
-
-
- gpio_pin_clr(SCL_PIN);
- //break;去掉break变为一对多
- }
- }
- sts_lsp_store();
-
- break;
- //失败或者接受被高发射机打断都会再次开启接收
- //flag_temp1=uwb_rx(0, 0, range_timeout_us);
- }
- delay_us(1);
- sts_lsp_store_stop();
- uwb_rx_force_off(1);
-
-// 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)
+
+ }
+
+ if(taglist_num>6)
+ {
+ taglist_num=6;
+ }
+ uwbtasktimer = HIDO_TimerGetTick();
+ UWBOneSecondTask();
+ uwbsend[0]=0x55;
+ uwbsend[1]=0xaa;
+ uwbsend[2]=0x40;
+ uwbsend[3]=taglist_num;
+ memcpy(&uwbsend[4],&tagid_list,taglist_num*2);
+ memcpy(&uwbsend[4+taglist_num*2],&tagdist_list,taglist_num*2);
+ memcpy(&uwbsend[4+taglist_num*4],&anchordata_version,taglist_num*2);
+ uart_send(UART_ID0, uwbsend,taglist_num*6+4, NULL);
+ taglist_num=0;
+// for(int i=0;i<anchordata_num;i++)
// {
-// recev_error_num=0;
-// UWB_work_state=SEARCH_DEV;
-// uwb_searchcount = 0;
-// search_open_flag = 1;
+// LOG_INFO(TRACE_MODULE_APP,"当前测距基站ID:%x,距离:%d.\r\n",tagid_list[0],tagdist_list[0]);
// }
- //}
-
-
-
- return 0;
+ }
+}
+int uwb_app_poll(void)
+{
+ UWBIdleTask();
}
void Uwb_init(void)
{
+ uwb_open();
+ #ifdef STS_MODE
// Set STS key and IV
phy_sts_key_configure(&sts_iv_key);
// which RX ports will be used for AoA/PDoA
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
struct PHY_ADV_CONFIG_T adv_config = {
.thres_fap_detect = 40,
.nth_scale_factor = 4,
- .ranging_performance_mode = 3,
+ .ranging_performance_mode = 0,
.skip_weakest_port_en = 0,
};
+ #else
+ // set advanced parameters
+ struct PHY_ADV_CONFIG_T adv_config = {
+ .thres_fap_detect = 40,
+ .nth_scale_factor = 4,
+ .ranging_performance_mode = 0,
+ .skip_weakest_port_en = 0,
+ };
+ #endif
phy_adv_params_configure(&adv_config);
// uwb configure
uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);
-
+ #if (defined STS_MODE) || (defined MK_MODE)
ranging_lib_init();
+ #endif
ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
-
+ #ifdef STS_MODE
aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM);
aoa_steering_vector_set((const float *)((uint32_t)((config.phy_cfg.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) | SRAM_BASE));
aoa_param_config();
phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
+ #endif
+// mac_register_process_handler(tx_int_callback, rx_int_callback);//初始化回调
}
-//主函数绑定接受逻辑
-int UwbSearch(void)
-{
- uint8_t i;
- uint16_t tempid;
- // The following peripherals will be initialized in the uwb_open function
- // phy/mac/aes/lsp/phy timers initialized
- uwb_open();
- // Set STS key and IV
- phy_sts_key_configure(&sts_iv_key);
-
- // which RX ports will be used for AoA/PDoA
- phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
-
- // Set calibration parameters
- uwb_calibration_params_set(config.phy_cfg.ch_num);
-
- // set advanced parameters
- struct PHY_ADV_CONFIG_T adv_config = {
- .thres_fap_detect = 40,
- .nth_scale_factor = 4,
- .ranging_performance_mode = 3,
- .skip_weakest_port_en = 0,
- };
- phy_adv_params_configure(&adv_config);
-
- // uwb configure
- uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);
-
- ranging_lib_init();
- ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
-
- aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM);
- aoa_steering_vector_set((const float *)((uint32_t)((config.phy_cfg.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) | SRAM_BASE));
-
- aoa_param_config();
-
- phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
- // Register rx interrupt callback function
- mac_register_process_handler(tx_int_callback, rx_int_callback);
-
- receive_flag = 0;
- temp_count3=phy_timer_count_get();
- gpio_pin_set(SCL_PIN);
- sts_lsp_store();
- flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收
- start_receive_count=phy_timer_count_get();
- poll_timeout=US_TO_PHY_TIMER_COUNT(2000000);//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
- {
- 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;
- }
- }
- sts_lsp_store_stop();
-
-
- temp_count2=phy_timer_count_get();
- 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
- 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
- {
- sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-13));//测试
- range_timeout_us=20000;//将下次range开启后超时时间设为20ms之后再range里恢复
- 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
- memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
- memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
- 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);
- for(i=0; i<rec_nearbase_num; i++)
- {
- if(rec_ancidlist[i] == dev_id)
- {
- temp_recdist_before_offset=rec_ancdistlist[i];
- rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
- PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
- }
- }
- for(i=0; i<rec_nearbase_num; i++)
- {
- memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
- if(tempid==dev_id)//也是比id如果有就更新没有就抢占
- {
- seize_anchor=0; //非抢占。已存在列表中
- Anchor_RecNearPoll(i);
- break;
- }
- }
-
- if(i==rec_nearbase_num)
- {
- seize_anchor=1; //抢占anchor
- Anchor_RecNearPoll(i);
- }
-
- gpio_pin_clr(SCL_PIN);//测试
- LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度ANT0:%f,信号强度ANT2: %f\r\n",g_com_map[BIND_DEV_ID],distance,sts_rssi[0],sts_rssi[2]);
- return 1;//返回发送成功标志
- }
-
- }
- temp_count3=phy_timer_count_get();
- sts_lsp_store();
- flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
- }
- delay_us(2);
- sts_lsp_store_stop();
- uwb_rx_force_off(1);
- // 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 20
-void UWBPoll(void)
-{
- switch(UWB_work_state)
- {
- case LINK_SUCCESS:
- { //连接成功进行轮询测距
-
- uwb_led_on();
- UwbRange();
- uwb_led_off();
-
- }
- break;
- case SEARCH_DEV:
- {
- UWB_work_state=LINK_SUCCESS;
- Uwb_init();
-// //接包不成功或者通讯失败进入搜索模式
-// if(search_open_flag)
-// {
-// LOG_INFO(TRACE_MODULE_APP,"开启搜索\r\n");
-// search_open_flag=0;
-// uwb_led_on();
-// link_success_flag=UwbSearch();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
-// 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);
-// }
-
- }
- break;
- case UN_BIND:
- {
- uwb_led_off();//关闭uwb指示灯
- }
- break;
- }
- if(UWB_work_state==LINK_SUCCESS)
- { //成功时清0错误计数
- uwb_searchcount=0;
- }
- if(UWB_work_state==SEARCH_DEV)
- {
- if(!search_open_flag)
- {
- if(uwb_searchcount++>SEARCH_TIMESTEMP)
- {
- uwb_searchcount=0;
- search_open_flag=1;
- }
- }
- //link_error_count+=g_com_map[COM_INTERVAL];
- //if(link_error_count>=g_com_map[4G_INTERNAL])
- //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)
-{
- if(UWB_work_state == UN_BIND)
- {
- return 0;
- }
- return 1;
-}
-
--
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