From 31ac7dbd495f1ba57c91b602886f3baf5fa0735c Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期三, 09 七月 2025 16:59:15 +0800
Subject: [PATCH] 修改搬运tagid为2字节，修改55aaaoa包体内容和上传时机，增加距离和角度判断区域显示报文输出逻辑
---
keil/uwb_app.c | 272 +++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 216 insertions(+), 56 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index afcb3bb..7f46dc1 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -10,6 +10,8 @@
#include "global_param.h"
#include "board.h"
#include "lib_aoa.h"
+#include "lib_kf.h"
+#include "MK8000_kf_top.h"
#if PDOA_3D_EN
#include "lib_pdoa_3d.h"
#endif
@@ -18,12 +20,15 @@
void Calibration_Time(void);
void TagListUpdate(void);
void TagListUpdate_person_num(void);
+void buffer_message_send(void);
+void buffer_485_send(uint8_t* show_buffer);
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);
+extern uint8_t loc_kf_filter(float data_meas, enum KF_DATA_TYPE_T data_type, uint8_t *mac_addr, float *data_post);
extern void updata_led_power_state(void);
/*receive buffer*/
@@ -35,10 +40,13 @@
//resp变量
static uint8_t frame_seq_nb2,battary,button,rec_nearbase_num,ancidlist_num;
static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS];
+uint8_t show_location[TAG_NUM_IN_SYS];
+void buffer_485_construct(uint8_t* show_buffer);
static int16_t rec_ancdistlist[TAG_NUM_IN_SYS];
+void update_show_buffer(void);
extern uint8_t group_id;
static uint16_t anc_id_recv;
-static uint32_t tag_id_recv;
+static uint16_t tag_id_recv;
static int16_t rec_antdelay;
extern uint32_t dev_id;
static uint32_t taglist_pos,tmp_time;
@@ -50,7 +58,11 @@
//resp函数
void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary);//找到自己的id信息对应位置更新自己的交互信息
static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts);//用来对应位置放入时间戳
-static uint32_t tagid_list[TAG_NUM_IN_SYS];
+static uint16_t tagid_list[TAG_NUM_IN_SYS];
+uint8_t tag_seq[TAG_NUM_IN_SYS];
+uint16_t angle_azimuth[TAG_NUM_IN_SYS];
+uint16_t angle_elevation[TAG_NUM_IN_SYS];
+uint16_t angle_num;
uint32_t fliter_tagid_list[TAG_NUM_IN_SYS];
uint16_t CmpTagInList(uint16_t tagid);
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos);
@@ -206,7 +218,7 @@
#elif defined STS_MODE_SQUARE
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 */
@@ -322,7 +334,46 @@
uint8_t flag_temp2,flag_temp1;
uint16_t uwb_losttimer;
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];
+uint8_t tag_show_location[TAG_NUM_IN_SYS];
+void construct_show_buffer(uint8_t*tag_show_location,uint32_t tag_pos)
+{
+//if(angle_azimuth[tag_pos])
+//{
+//
+//}elseif(angle_azimuth[tag_pos])
+//{
+
+//}elseif(angle_azimuth[tag_pos])
+//{
+
+//}elseif(angle_azimuth[tag_pos])
+//{
+
+//}
+}
+float temp1,temp2;
+static void angle_result_filter(uint8_t *mac_addr, int16_t *angle, uint8_t type)
+{
+ if (angle == NULL)
+ {
+ return;
+ }
+
+ float post_angle;
+ float angle_meas = mk_q7_to_f32(*angle);
+ temp1=angle_meas;
+
+ // call filter
+ loc_kf_filter(angle_meas, (enum KF_DATA_TYPE_T)type, mac_addr, &post_angle);
+ temp2=post_angle;
+ // update angle
+ *angle = mk_f32_to_q7(post_angle);
+ temp1=*angle;
+ // LOG_INFO(TRACE_MODULE_APP, "Peer %X, $%d %d;\r\n", READ_SHORT(mac_addr), (int16_t)angle_meas,(int16_t)post_angle);
+}
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{ uint8_t valid_sts=0;
// Power off radio
@@ -334,8 +385,7 @@
// /* Received data does not contain FCS */
// rx_length = rx_report->pkt_len;
// memcpy(rx_buf, rx_report->pkt_data, rx_length);
-// if (sts_valid_check())
-// {
+
/* Received data does not contain FCS */
rx_length = rx_report->pkt_len;
memcpy(rx_buf, rx_report->pkt_data, rx_length);
@@ -348,32 +398,52 @@
rssi = rx_report->rssi;
//receive_flag=1;
Anchor_App();
-// // // PDoA caculation
-// pdoa_3d_calculate(0, &elevation, &azimuth);
-// pdoa_fom_get(NULL, &fom);
-// if(resp_tx_flag==0)
-// {
-// OpenUWB();
-// }
+ // // PDoA caculation
+ if (sts_valid_check())//为了避免影响时序放到了回包后进行操作
+ {
+ pdoa_3d_calculate(0, &elevation, &azimuth);
+ pdoa_fom_get(NULL, &fom);
+ if(allow_flag)
+ {
+ tag_rssi[taglist_pos]=rssi;
+ uint8_t mac_addr=0;
+ angle_result_filter(&mac_addr,&azimuth, KF_DATA_TYPE_AZIMUTH);
+ 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);
+ //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\r\n",tag_id_recv, mk_q7_to_s16(azimuth),
+ mk_q7_to_s16(elevation), fom);
+ allow_flag=0;
+ }
+ }
+ if(resp_tx_flag==0)
+ {
+ OpenUWB();
+ }
// }else{
// poll_rx_error_num++;
// rx_report->err_code |= UWB_STS_ERR;
// }
- #ifdef STS_MODE
- 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]);
+// #ifdef STS_MODE
+// 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();
- }
- #endif
+// sts_rssi = sts_rssi_output_get();
+// }
+// #endif
}
else
{
@@ -386,9 +456,9 @@
temp_count= phy_timer_count_get();
memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
rx_length = 0;
-// OpenUWB();//再次开启UWB接收
+ OpenUWB();//再次开启UWB接收
}
- OpenUWB();//再次开启UWB接收
+ //OpenUWB();//再次开启UWB接收
}
/* TX done process handler. */
@@ -403,8 +473,8 @@
temp_count= phy_timer_count_get();
temp_internal=temp_count;
resp_tx_num++;
-
-// OpenUWB();//再次开启UWB接收
+ resp_tx_flag=0;
+ 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;
@@ -416,6 +486,9 @@
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];
+uint16_t state_button[TAG_NUM_IN_SYS];
+uint16_t pressure[TAG_NUM_IN_SYS];
uint16_t random_time;
//anchor
int32_t hist_dist;
@@ -555,10 +628,10 @@
tagofflinetime[j]=tagofflinetime[j+1];//电量随之更新
tagofflinetime[j+1]=temp_tag_offlinetime;
- //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
- tag_authorized_List[j+1]=temp_tag_authorized;
+// //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
+// tag_authorized_List[j+1]=temp_tag_authorized;
}
}
}
@@ -593,13 +666,10 @@
}
taglist_num=j;
sort_tag_lists();//增加距离小的排到前面逻辑
- if(find_flag)
- {
- //if(tt5)
- find_in_tag_id_authorization_list(tag_id_authorization_list_num);
- find_flag=0;
- }
- change_button_state();
+ buffer_message_send();//发送测距报文信息
+ update_show_buffer();//根据角度和距离判断区域位置
+ //delay_ms(10);
+ buffer_485_send(show_location);//发送显示信息
}
uint8_t position;
@@ -895,7 +965,100 @@
}
}
}
-
+#define AREA_1 0xa1
+#define AREA_2 0xa2
+#define AREA_3 0xa3
+#define AREA_4 0xa4
+#define AREA_5 0xa5
+#define AREA_6 0xa6
+#define AREA_7 0xa7
+#define AREA_8 0xa8
+uint8_t change_by_distance(uint8_t position,uint16_t distance)
+{
+if(distance<1000){
+ position=position;
+}else if (distance>1000&&distance<2000){
+ position=position+16;
+}else if (distance>2000&&distance<3000){
+ position=position+16;
+}
+return position;
+}
+void update_show_buffer(void)
+{
+ uint8_t location_temp;
+ for(int i=0;i<taglist_num;i++)
+ {
+ if((int16_t)angle_azimuth[i]>=-22.5&&(int16_t)angle_azimuth[i]<=22.5)
+ {
+ location_temp=change_by_distance(AREA_1,tagdist_list[i]);
+ }else if((int16_t)angle_azimuth[i]>=22.5&&(int16_t)angle_azimuth[i]<=67.5){
+ location_temp=change_by_distance(AREA_8,tagdist_list[i]);
+ }else if((int16_t)angle_azimuth[i]>=67.5&&(int16_t)angle_azimuth[i]<=112.5){
+ location_temp=change_by_distance(AREA_7,tagdist_list[i]);
+ }else if((int16_t)angle_azimuth[i]>=112.5&&(int16_t)angle_azimuth[i]<=157.5){
+ location_temp=change_by_distance(AREA_6,tagdist_list[i]);
+ }else if(((int16_t)angle_azimuth[i]>=157.5&&(int16_t)angle_azimuth[i]<=180)||((int16_t)angle_azimuth[i]>=-180&&(int16_t)angle_azimuth[i]<=-157.5)){
+ location_temp=change_by_distance(AREA_5,tagdist_list[i]);
+ }else if((int16_t)angle_azimuth[i]>=-157.5&&(int16_t)angle_azimuth[i]<=-112.5){
+ location_temp=change_by_distance(AREA_4,tagdist_list[i]);
+ }else if((int16_t)angle_azimuth[i]>=-112.5&&(int16_t)angle_azimuth[i]<=-67.5){
+ location_temp=change_by_distance(AREA_3,tagdist_list[i]);
+ }else if((int16_t)angle_azimuth[i]>=-67.5&&(int16_t)angle_azimuth[i]<=-22.5){
+ location_temp=change_by_distance(AREA_2,tagdist_list[i]);
+ }
+ show_location[i]=location_temp;
+ }
+}
+void buffer_485_send(uint8_t* show_buffer)
+{ static uint8_t usart_send[100];
+ uint16_t checksum = 0;
+ usart_send[0] = 0x55;
+ usart_send[1] = 0xAA;
+ usart_send[2] = 0x50;
+ usart_send[3] = 9+5*taglist_num; //length
+ memcpy(&usart_send[4],&dev_id,2); //anchor_id)
+ usart_send[6]=taglist_num; //区域数量
+ memcpy(&usart_send[7],show_buffer,taglist_num);//区域位置
+ memcpy(&usart_send[7+taglist_num],&tagid_list,2*taglist_num);//tag_idlist
+ memcpy(&usart_send[7+taglist_num+2*taglist_num],&tagdist_list,2*taglist_num); //tag_distlist
+ usart_send[7+5*taglist_num]=0;//保留4位RESERVE1
+ usart_send[7+5*taglist_num+1]=0;
+ usart_send[7+5*taglist_num+2]=0;
+ usart_send[7+5*taglist_num+3]=0;
+
+ checksum = Checksum_u16(&usart_send[2],9+5*taglist_num);
+ memcpy(&usart_send[7+5*taglist_num+4], &checksum, 2);
+ while(uart_is_busy(UART_ID0));
+ uart_send(UART_ID0, usart_send,13+5*taglist_num, NULL);
+}
+void buffer_message_send(void)
+{ static uint8_t usart0_send[1024];
+ uint16_t checksum = 0;
+ uint32_t yuliu=0;
+ usart0_send[0] = 0x55;
+ usart0_send[1] = 0xAA;
+ usart0_send[2] = 0x51;
+ usart0_send[3] = 8+16*taglist_num; //length
+ 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[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[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);
+ uart_send(UART_ID0, usart0_send,12+16*taglist_num, NULL);
+}
int Anchor_App(void)
{
uint8_t i;
@@ -922,11 +1085,11 @@
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],4);
+ 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);
-
+ allow_flag=1;
taglist_pos=CmpTagInList(tag_id_recv);
if(taglist_num>=ANC_MAX_NUM)
return 0;
@@ -938,15 +1101,7 @@
Anchor_RecNearPoll(i);
tagdist_list[taglist_pos]=rec_ancdistlist[i];
anchordata_bat[taglist_pos] = battary;//保存该基站电量
-// if(tag_authorized_List[taglist_pos]==1)
-// {
-// if(tagdist_list[taglist_pos]<button_determinate_distance)
-// {
-// gpio_pin_set(BUTTON_PIN);
-// }else{
-// gpio_pin_clr(BUTTON_PIN);
-// }
-// }
+ tag_seq[taglist_pos]=frame_seq_nb2;
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
@@ -961,10 +1116,8 @@
Anchor_RecNearPoll(rec_nearbase_num);
}
}
-// //phy_update_sts_iv_counter(0x00, sts_iv_key.sts_vcounter);//新增sts
-// LOG_INFO(TRACE_MODULE_APP, "PDoA Azimuth %d Elevation %d FoM %u\r\n", mk_q7_to_s16(azimuth),
-// mk_q7_to_s16(elevation), fom);
+
}
int UwbRange(void)
{
@@ -1138,6 +1291,11 @@
static struct PDOA_3D_MAC_ADDR_T mac_addr_cache[PDOA_3D_SUPPORT_NUM];
static struct PDOA_3D_PDOA_DATA_T pdoa_data_cache[PDOA_3D_SUPPORT_NUM];
#endif
+#define KF_SUPPORT_NUM 3
+#define KF_TIMEOUT_MS 2000
+static struct KF_MAC_ADDR_T kf_mac_addr_cache[KF_SUPPORT_NUM];
+static struct KF_CHANNEL_CACHE_T kf_channel_cache[KF_SUPPORT_NUM];
+static struct KF_MAT_VALUE_CACHE_T kf_mat_value_cache[KF_SUPPORT_NUM];
void Anchor_uwb_aoa_square_init(void)
{
uwb_open();
@@ -1197,6 +1355,8 @@
phy_sts_key_configure(&sts_iv_key);
phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
+ //初始化滤波空间
+ loc_post_kf_config(1000, kf_mac_addr_cache, kf_channel_cache, kf_mat_value_cache, KF_SUPPORT_NUM, KF_TIMEOUT_MS);
}
--
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