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 | 657 +++++++++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 561 insertions(+), 96 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 7d8709c..7f46dc1 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -10,18 +10,25 @@
#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
extern int simple_main(void);
extern int temp_main(void);
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*/
@@ -33,12 +40,16 @@
//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,tag_id_recv;
+static uint16_t anc_id_recv;
+static uint16_t tag_id_recv;
static int16_t rec_antdelay;
extern uint32_t dev_id;
-static uint16_t taglist_pos,tmp_time;
+static uint32_t taglist_pos,tmp_time;
extern uint16_t tag_frequency;
extern uint16_t disoffset;
static uint8_t frame_len,recpoll_len,current_syncid,new_tagid,seize_anchor,result,g_start_sync_flag;
@@ -48,6 +59,11 @@
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 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);
static uint8_t send_buffer[100];
@@ -67,6 +83,7 @@
extern uint8_t recev_error_num;
uint8_t uwb_rx_flag;
extern Operation_step UWB_work_state;
+void find_in_tag_id_authorization_list(uint32_t authorization_list_num);
extern int16_t first_search_flag;
typedef enum
{
@@ -147,7 +164,9 @@
.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 */
+ .phy_cfg.rx_main_ant = UWB_RX_ANT_3, /* UWB RX main antenna port */
+ .phy_cfg.rx_ant_mode = RX_ANT_PORTS_COMBINATION, /* UWB RX antenna mode */
+ .phy_cfg.pulse_shape = 0x2, /* 0x0: CCC pulse, 0x2: FiRa pulse */
};
#elif defined STS_MODE
static struct mk_uwb_configure config = {
@@ -163,7 +182,9 @@
.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 */
+ .phy_cfg.rx_main_ant = UWB_RX_ANT_3, /* UWB RX main antenna port */
+ .phy_cfg.rx_ant_mode = RX_ANT_PORTS_COMBINATION, /* UWB RX antenna mode */
+ .phy_cfg.pulse_shape = 0x2, /* 0x0: CCC pulse, 0x2: FiRa pulse */
};
/* Use the default key and IV specified in the IEEE 802.15.4z attachment */
static struct UWB_STS_KEY_CONFIG_T sts_iv_key = {
@@ -190,10 +211,40 @@
.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 */
+ .phy_cfg.rx_main_ant = UWB_RX_ANT_3, /* UWB RX main antenna port */
+ .phy_cfg.rx_ant_mode = RX_ANT_PORTS_COMBINATION, /* UWB RX antenna mode */
+ .phy_cfg.pulse_shape = 0x2, /* 0x0: CCC pulse, 0x2: FiRa pulse */
+};
+#elif defined STS_MODE_SQUARE
+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_main_ant = UWB_RX_ANT_3, /* UWB RX main antenna port */
+ .phy_cfg.rx_ant_mode = RX_ANT_PORTS_COMBINATION, /* UWB RX antenna mode */
+ .phy_cfg.pulse_shape = 0x2, /* 0x0: CCC pulse, 0x2: FiRa pulse */
+};
+/* 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,
};
#endif
-
static struct anchor_id_car{
uint16_t anchor_new_id;
uint16_t change_num;
@@ -256,7 +307,7 @@
int64_t tx_timestamp = ranging_tx_time(timestamp);
// correct antenna delay (TX using the same antenna as RX)
- tx_timestamp += ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;
+ tx_timestamp += ranging_ant_delays_get(config.phy_cfg.rx_main_ant) / 2;
return tx_timestamp;
}
@@ -272,7 +323,7 @@
int64_t rx_timestamp = ranging_rx_time(ind);
// correct antenna delay
- rx_timestamp -= ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;
+ rx_timestamp -= ranging_ant_delays_get(config.phy_cfg.rx_main_ant) / 2;
return rx_timestamp;
}
@@ -282,14 +333,59 @@
uint32_t range_timeout_us = 2000000;//yuan5000
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
power_off_radio();
-
+ sts_lsp_store_stop();
/** 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);
+
/* Received data does not contain FCS */
rx_length = rx_report->pkt_len;
memcpy(rx_buf, rx_report->pkt_data, rx_length);
@@ -300,23 +396,54 @@
poll_rx_ts_i64 = ranging_rx_time_correct(&rx_rpt);
poll_rx_num++;
rssi = rx_report->rssi;
- receive_flag=1;
+ //receive_flag=1;
Anchor_App();
- #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();
+ // // 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;
}
- #endif
+ }
+ 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]);
+
+// sts_rssi = sts_rssi_output_get();
+// }
+// #endif
}
else
{
@@ -329,9 +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. */
@@ -346,9 +473,12 @@
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;
+ }
}
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];
@@ -356,6 +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;
@@ -447,7 +580,7 @@
ts2 >>= 8;
}
}
-
+uint8_t tt5=0;
//void TagListUpdate(void)
//{
// uint8_t i,j=0;
@@ -461,6 +594,63 @@
// }
// anchordata_num=j;
//}
+uint8_t find_flag;
+uint16_t bind_distance,button_determinate_distance,change_by_frequency_distance;
+uint8_t tag_near_frequency;
+uint8_t tag_authorized_List[TAG_NUM_IN_SYS];
+extern uint32_t tag_id_authorization_list_num;
+void sort_tag_lists(void)
+{
+ if (taglist_num <= 1) {
+ return; // 无需排序
+ }
+// 使用冒泡排序（稳定排序，实现简单）
+ for (size_t i = 0; i < taglist_num - 1; i++) {
+ for (size_t j = 0; j < taglist_num - i - 1; j++) {
+ if (tagdist_list[j] > tagdist_list[j + 1]) {
+ // 交换距离值
+ uint16_t temp_dist = tagdist_list[j];
+ tagdist_list[j] = tagdist_list[j + 1];
+ tagdist_list[j + 1] = temp_dist;
+
+ // 同步交换标签ID
+ uint32_t temp_id = tagid_list[j];
+ 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
+ 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;
+
+ //同步交换在线时间
+ uint32_t temp_tag_offlinetime = tagofflinetime[j];
+ 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;
+ }
+ }
+ }
+}
+
+void change_button_state(void)
+{
+ if(tag_authorized_List[0]==1&&taglist_num>=1)//只有在有效判定范围内有授权的标签才会开启，否则都是关闭
+ {
+ if(tagdist_list[0]<button_determinate_distance)
+ {
+ gpio_pin_set(BUTTON_PIN);
+ }else{
+ gpio_pin_clr(BUTTON_PIN);
+ }
+ }else{
+ gpio_pin_clr(BUTTON_PIN);
+ }
+}
void TagListUpdate(void)
{
uint16_t i,j=0,k=0;
@@ -475,6 +665,11 @@
}
}
taglist_num=j;
+ sort_tag_lists();//增加距离小的排到前面逻辑
+ 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;
@@ -484,7 +679,7 @@
memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//组id
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
+ memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,4);//接受者id
send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
// if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式自己为新基站
@@ -506,10 +701,19 @@
resp_msg_set_ts(&send_buffer[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts_i64);
resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts_i64);//此处时间戳int64直接转换为uint64不知道会不会有错误
memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&disoffset,2);//差个修正offset,修正有符号但是这个com表为无符号的,传过去直接赋给Int16_t相当于还原了
+ if(tagdist_list[ancrec_nearbasepos]<=change_by_frequency_distance&&tag_authorized_List[ancrec_nearbasepos]==1)//授权才改变频率否则不改变
+ {
+ send_buffer[RESP_MSG_TAG_FREQUENCY]=tag_near_frequency;//新加入改变标签测距hz
+ }
+ else{
+ send_buffer[RESP_MSG_TAG_FREQUENCY]=1;//新加入改变标签测距hz
+ }
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
+ resp_tx_flag=1;//限制重复开启
tagofflinetime[taglist_pos] = 0;//更新标签通信
+ //phy_update_sts_iv_counter(0x00, sts_iv_key.sts_vcounter);//重置sts
// temp_count1=phy_timer_count_get();
//while(mac_is_busy());
//gpio_pin_clr(SCL_PIN);
@@ -644,16 +848,240 @@
// }
UWBIdleTask();
}
+
+extern uint8_t bind_flag;
+void bubble_sort(uint32_t *arr, uint32_t n)
+{
+ if (n <= 1) return; // 无需排序
+
+ uint32_t i, j;
+ uint8_t swapped; // 标记是否发生交换
+
+ for (i = 0; i < n - 1; i++) {
+ swapped = 0; // 重置交换标记
+
+ // 每轮将最大元素"冒泡"到末尾
+ for (j = 0; j < n - i - 1; j++) {
+ if (arr[j] > arr[j + 1]) {
+ // 交换相邻元素
+ uint32_t temp = arr[j];
+ arr[j] = arr[j + 1];
+ arr[j + 1] = temp;
+ swapped = 1; // 标记发生了交换
+ }
+ }
+
+ // 优化：如果本轮未发生交换，说明数组已排序
+ if (!swapped) break;
+ }
+}
+uint16_t tag_authorization_list_num_temp;
+void fliter_tag_id_authorization_list(uint16_t*tag_authorization_list_real_num)
+{
+ uint32_t filtered_count = 0;
+
+ // 遍历所有标签，将距离小于阈值的ID存入结果数组
+ for (uint32_t i = 0; i < taglist_num; i++) {
+ if (tagdist_list[i] < bind_distance&&tagid_list[i]!=0) {
+ fliter_tagid_list[filtered_count] = tagid_list[i];
+ filtered_count++;
+ }
+//fliter_tagid_list
+ }
+ *tag_authorization_list_real_num=filtered_count;
+}
+void copy_taglist_to_flash(void)
+{
+fliter_tag_id_authorization_list(&tag_authorization_list_num_temp);//过滤调id为0的标签和不满足绑定距离的标签
+memset(tag_id_authorization_list,0,sizeof(tag_id_authorization_list));//清空上一次数组防止重叠
+memcpy(&tag_id_authorization_list,&fliter_tagid_list,tag_authorization_list_num_temp*4);//复制满足条件数组
+bubble_sort(&tag_id_authorization_list,tag_authorization_list_num_temp);//进行排序后存入,为二分法做基础
+save_taglist_map_to_flash();//存入flash
+}
+
+void find_in_tag_id_authorization_list(uint32_t authorization_list_num)
+{
+// for (uint32_t i = 0; i < taglist_num; i++) {
+// uint32_t target = tagid_list[i];
+// uint32_t left = 0;
+// uint32_t right = authorization_list_num - 1; // 授权列表的最大索引
+// uint8_t found = 0;
+//
+// // 二分查找循环
+// while (left <= right) {
+// uint32_t mid = left + ((right - left) >> 1); // 防止整数溢出
+// uint32_t mid_val = tag_id_authorization_list[mid];
+//
+// if (mid_val == target) {
+// found = 1;
+// break; // 找到目标值，立即退出循环
+// } else if (mid_val < target) {
+// left = mid + 1;
+// } else {
+// right = mid - 1;
+// }
+// LOG_INFO(TRACE_MODULE_APP, "DEBUG: i=%u, left=%d, right=%d, found=%u\n", i, left, right, found);
+// }
+////
+//// // 存储查找结果
+//// tag_authorized_List[i] = found;
+// }
+{
+ // 如果授权列表为空，直接全部标记为0
+ if (authorization_list_num == 0) {
+ for (int i = 0; i < taglist_num; i++) {
+
+ tag_authorized_List[i] = 0;
+ }
+ return;
+ }
+
+ // 遍历需要查找的每个ID
+ for (int i = 0; i < taglist_num; i++) {
+ if (tag_authorized_List[i] != 2) {
+ continue; // 跳过不需要查找的项
+ }
+ int key = tagid_list[i];
+ int low = 0;
+ int high = authorization_list_num - 1;
+ int found = 0; // 标记是否找到
+
+ // 在授权列表中执行二分查找
+ while (low <= high) {
+ int mid = low + (high - low) / 2; // 防止整数溢出
+
+ if (tag_id_authorization_list[mid] == key) {
+ found = 1; // 找到匹配项
+ break;
+ } else if (tag_id_authorization_list[mid] < key) {
+ low = mid + 1; // 在右半部分继续查找
+ } else {
+ high = mid - 1; // 在左半部分继续查找
+ }
+ }
+
+ // 根据查找结果设置输出列表
+ tag_authorized_List[i] = found ? 1 : 0;
+ }
+}
+}
+#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;
uint16_t tempid;
+ //phy_update_sts_iv_counter(0x01, 0x00);//接受到后更新sts时间
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;
+ {
+ flag_recsuccess = 1;
wltag_state=RANGE;//成功后从search切换为range
memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
//temp_count2=phy_timer_count_get();
uwb_losttimer=0;//成功测距清0 lost时间
+
+// #if AOA_EN
+// // AOA caculation
+// aoa_calculate(&elevation, &azimuth);
+// aoa_fom_get(NULL, &fom);
+//#elif PDOA_3D_EN
+// // PDoA caculation
+// pdoa_3d_calculate(0, &elevation, &azimuth);
+// pdoa_fom_get(NULL, &fom);
+//#endif
+
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
@@ -661,30 +1089,7 @@
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);
-// }
+ allow_flag=1;
taglist_pos=CmpTagInList(tag_id_recv);
if(taglist_num>=ANC_MAX_NUM)
return 0;
@@ -696,22 +1101,23 @@
Anchor_RecNearPoll(i);
tagdist_list[taglist_pos]=rec_ancdistlist[i];
anchordata_bat[taglist_pos] = battary;//保存该基站电量
+ 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
- tagid_list[taglist_pos] = tag_id_recv;
-
+ tagid_list[taglist_pos] = tag_id_recv;//新增基站
}
break;
}
}
+
if((i==rec_nearbase_num&&taglist_pos==taglist_num)||(rec_nearbase_num==0&&!ExistInTagList(tag_id_recv)))//当基站不在标签列表中，标签也不在基站列表中时，随机找个时间片回复基站。
- {
- Anchor_RecNearPoll(rec_nearbase_num);
+ {
+ Anchor_RecNearPoll(rec_nearbase_num);
}
}
-
+
}
int UwbRange(void)
{
@@ -848,53 +1254,112 @@
return 0;
}
-void Uwb_init(void)
+void Uwb_init(void)//uwbinit修改了
{
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
uwb_calibration_params_set(config.phy_cfg.ch_num);
- #ifndef STS_MODE
- // set advanced parameters
- struct PHY_ADV_CONFIG_T adv_config = {
+
+ // set advanced parameters
+ struct PHY_ADV_CONFIG_T adv_config =
+ {
.thres_fap_detect = 40,
- .nth_scale_factor = 4,
+ .nth_scale_factor = 1,
.ranging_performance_mode = 0,
+#if RX_ANT_PORTS_NUM == 4
+ .skip_weakest_port_en = 1,
+#else
.skip_weakest_port_en = 0,
+#endif
};
- #else
- // 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,
- };
- #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
+ ranging_lib_init(config.phy_cfg.sts_pkt_cfg, CE_AUX_CH_PWR_NLOS_FOM);
+
+ // Register rx interrupt callback function
+ mac_register_process_handler(tx_int_callback, rx_int_callback);
+
+ // Reduce inter frame spacing (IFS) for non encrypted packets
+ mac_ifs_set(0, 0);
}
+#if PDOA_3D_EN
+#define PDOA_3D_SUPPORT_NUM 10
+#define PDOA_3D_TIMEOUT_MS 2000
+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();
+ // 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 = 1,
+ .ranging_performance_mode = 0,
+#if RX_ANT_PORTS_NUM == 4
+ .skip_weakest_port_en = 1,
+#else
+ .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);
+
+ ranging_lib_init(config.phy_cfg.sts_pkt_cfg, CE_AUX_CH_PWR_NLOS_FOM);
+
+ // Register rx interrupt callback function
+ mac_register_process_handler(tx_int_callback, rx_int_callback);
+
+ // Reduce inter frame spacing (IFS) for non encrypted packets
+ mac_ifs_set(0, 0);
+
+#if (ANT_PATTERN == ANT_PATTERN_SQUARE)
+ angle_span_t aoa_span;
+ aoa_span.Ndim = 2;
+ aoa_span.el_low = 90;
+ aoa_span.el_high = 90;
+ aoa_span.el_step = 1;
+ aoa_span.az_low = 0;
+ aoa_span.az_high = 359;
+ aoa_span.az_step = 1;
+ aoa_angle_search_span_set(&aoa_span);
+#endif
+
+#if AOA_EN
+ sts_param_config(config.phy_cfg.sts_pkt_cfg, STS_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM, STS_BUF_NUM, STS_BUF_SIZE);
+ aoa_steering_vector_set((const float *)((uint32_t)((config.phy_cfg.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) | SRAM_BASE));
+#else
+ sts_param_config(config.phy_cfg.sts_pkt_cfg, STS_AUX_ANT_IQ_RSSI, STS_BUF_NUM, STS_BUF_SIZE);
+#endif
+
+#if PDOA_3D_EN
+ pdoa_3d_param_config(ANT_PATTERN, ANT_LAYOUT, PDOA_3D_AMBIGUITY_LEVEL_NONE, mac_addr_cache, pdoa_data_cache, PDOA_3D_SUPPORT_NUM, PDOA_3D_TIMEOUT_MS);
+ // pdoa_angle_reverse_set(1, 0);
+#endif
+
+ // Set STS key and IV
+ 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);
+}
+
+
//主函数绑定接受逻辑
int UwbSearch(void)
{
@@ -938,8 +1403,8 @@
#ifdef STS_MODE
ranging_lib_init();
#endif
- ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
-
+ //ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);//新版本修改
+ ranging_lib_init(config.phy_cfg.sts_pkt_cfg, CE_AUX_CH_PWR_NLOS_FOM);
#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));
--
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