From 32ec78bbb74df89564f3998fd32bc3411fca5613 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期二, 11 三月 2025 15:17:35 +0800
Subject: [PATCH] 基本功能调通
---
keil/uwb_app.c | 714 ++++++++++++++++++++++++++++++++++++++++------------------
1 files changed, 491 insertions(+), 223 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 650e466..54ec5b5 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -8,7 +8,8 @@
#include "dw_app_anchor.h"
#include "global_param.h"
#include "board.h"
-#include "lora_3029.h"
+#include "lora_1268.h"
+#include "PCA9555.h"
#define TAG_KEEPTIMES 30
#define REPORT_TAG_KEEPTIMES 1
@@ -62,11 +63,42 @@
extern Operation_step UWB_work_state;
extern int16_t first_search_flag;
+//**************************************************新增定义**********************************************************//
+void OpenUWB(void);
+void CloseUWB(void);
+
+typedef enum
+{
+ SEARCH,
+ CLOSE,
+ RANGE,
+}enumwltagstate;
+
+uint8_t uwb_rx_flag;
+uint16_t uwb_losttimer;
+
+uint8_t flag_temp2,flag_temp1;
+uint32_t uwbtasktimer=0,uwbtagsendtimer=0;
+int16_t temp_recdist_before_offset;
+float *sts_rssi=NULL;
+uint8_t flag_recsuccess;
+
+
+/************************************信号量 *******************************************************/
+typedef enum {
+ UWB_STATE_IDLE,
+ UWB_TX_STATE_BUSY,
+ UWB_RX_STATE_BUSY
+} UWB_State_t;
+// 全局状态变量
+volatile UWB_State_t UWB_STATE = UWB_STATE_IDLE;
+/************************************信号量 *******************************************************/
+//**************************************************新增定义**********************************************************//
/* 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 750U //yuan750 7500Haoyong
+#define POLL_RX_TO_RESP_TX_DLY_US 900U //yuan750 7500Haoyong
#define RESP_TX_TO_FINAL_RX_DLY_US 500U
@@ -202,15 +234,56 @@
}
/* RX done process handler. */
+//int8_t rssi;
+//static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
+//{
+// // Power off radio
+// power_off_radio();
+
+// /** 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;
+//
+// }
+// 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;
+
+// }
+//}
+/* RX done process handler. */
int8_t rssi;
+uint32_t range_timeout_us = 2000000;//yuan5000
+uint8_t flag_temp2,flag_temp1;
+uint16_t uwb_losttimer;
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
-{
+{ uint8_t valid_sts=0;
// Power off radio
power_off_radio();
/** UWB RX success */
if (rx_report->err_code == UWB_RX_OK)
{
+ UWB_STATE=UWB_STATE_IDLE;
/* Received data does not contain FCS */
rx_length = rx_report->pkt_len;
memcpy(rx_buf, rx_report->pkt_data, rx_length);
@@ -222,10 +295,26 @@
poll_rx_num++;
rssi = rx_report->rssi;
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();
+ }
+ #endif
}
else
{
+
/* UWB_PLD_ERR payload error */
/* UWB_PHR_ERR PHR error */
/* UWB_SFD_ERR Sfd error */
@@ -235,22 +324,32 @@
temp_count= phy_timer_count_get();
memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
rx_length = 0;
-
+ UWB_STATE=UWB_STATE_IDLE;
+ if(UWB_STATE==UWB_STATE_IDLE)
+ {
+ UWB_STATE=UWB_RX_STATE_BUSY;
+ 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. */
static void tx_int_callback(struct MAC_HW_REPORT_T *tx_report)
{
// Power off radio
power_off_radio();
-
+ UWB_STATE=UWB_STATE_IDLE;
/** UWB TX success */
if (tx_report->err_code == UWB_TX_OK)
{
+
temp_count= phy_timer_count_get();
temp_internal=temp_count;
resp_tx_num++;
+
+ UWB_STATE=UWB_RX_STATE_BUSY;
+ OpenUWB();//再次开启UWB接收
//gpio_pin_clr(IO_PIN_5);
//LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
}
@@ -298,6 +397,8 @@
//tagofflinetime[i] = 0;
return i;
}
+
+
static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts)
{
int i,ts2;
@@ -357,47 +458,94 @@
uint32_t temp_count7;
uint32_t timeceshi1;
uint32_t timeceshi2;
+//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
+//{
+// temp_count2=poll_rx_en_start_u32;
+
+// 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
+// send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
+
+// if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式自己为新基站
+// {
+// random_time = (phy_timer_count_get()%100);//多基站抢占一个位置时避免一个也收不到的情况就每一个随机错开几十uS
+// //resp_tx_time = (poll_rx_ts+((random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
+// // (resp_tx_en_start_u32) is the moment when TX enable
+// resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_num*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
+//
+// } else {
+// //resp_tx_time = (poll_rx_ts + ((rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
+// resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_num*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()
+// temp_count7=resp_tx_en_start_u32;
+// 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);
+// 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
+// temp_resp_i64=resp_tx_ts_i64;
+//// temp_count3= phy_timer_count_get();
+//// timeceshi2=phy_timer_count_get();
+// //uint32_t time_add=1000;
+// //resp_tx_en_start_u32=resp_tx_en_start_u32+time_add;
+// temp_count3= phy_timer_count_get();
+// flag1=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());
+// tagofflinetime[taglist_pos] = 0;
+// gpio_pin_clr(SCL_PIN);
+//}
+uint8_t 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
{
temp_count2=poll_rx_en_start_u32;
-
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
send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
- if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式自己为新基站
- {
- random_time = (phy_timer_count_get()%100);//多基站抢占一个位置时避免一个也收不到的情况就每一个随机错开几十uS
- //resp_tx_time = (poll_rx_ts+((random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
- // (resp_tx_en_start_u32) is the moment when TX enable
- resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_num*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
-
- } else {
- //resp_tx_time = (poll_rx_ts + ((rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
- resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_num*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()
- temp_count7=resp_tx_en_start_u32;
+// if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式自己为新基站
+// {
+// random_time = (phy_timer_count_get()%100);//多基站抢占一个位置时避免一个也收不到的情况就每一个随机错开几十uS
+// //resp_tx_time = (poll_rx_ts+((random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
+// // (resp_tx_en_start_u32) is the moment when TX enable
+// 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+rec_nearbase_num*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
+//
+// } else {
+// //resp_tx_time = (poll_rx_ts + ((rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
+// 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()
+ position=ancrec_nearbasepos;
+ temp_count1=phy_timer_count_get();
+ 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_en_start_u32 = temp_count1+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);
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
temp_resp_i64=resp_tx_ts_i64;
-// temp_count3= phy_timer_count_get();
-// timeceshi2=phy_timer_count_get();
- //uint32_t time_add=1000;
- //resp_tx_en_start_u32=resp_tx_en_start_u32+time_add;
- temp_count3= phy_timer_count_get();
- flag1=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());
- tagofflinetime[taglist_pos] = 0;
- gpio_pin_clr(SCL_PIN);
+ temp_count3= phy_timer_count_get();
+// temp_rx=uwb_rx(buf_1,0,10);
+// CloseUWB();
+// UWB_STATE==UWB_TX_STATE_BUSY;
+// gpio_pin_set(IO_PIN_1);
+// gpio_pin_clr(IO_PIN_1);
+ flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
+
+ tagofflinetime[taglist_pos] = 0;//更新标签通信
+ temp_count1=phy_timer_count_get();
+// temp_tx_flag=1;
+// Delay_Ms(2);
+
+// while(mac_is_busy());
+// gpio_pin_clr(SCL_PIN);
}
-uint16_t uwb_searchcount,range_timeout_us = 2000000;
+uint16_t uwb_searchcount= 2000000;
uint8_t flag_recsuccess;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
@@ -415,49 +563,13 @@
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);
- // time_count_dkjs=phy_timer_count_get();
-// gpio_pin_set(IO_PIN_5);//测试
-// gpio_pin_clr(IO_PIN_5);
+
uwb_rxflag=uwb_rx(0, 0, range_timeout_us);//开启接收
-// gpio_pin_clr(IO_PIN_5);
-// gpio_pin_clr(IO_PIN_5);//测试
- #ifdef DEBUG_BOXING
-// gpio_pin_clr(IO_PIN_5);//测试
-// gpio_pin_set(IO_PIN_5);//测试
- #endif
-// #ifdef DEBUG_BOXING
-// gpio_pin_set(IO_PIN_5);//测试
-// #endif
-// #ifdef DEBUG_BOXING
-// gpio_pin_set(IO_PIN_5);//测试
-// #endif
+
uwb_rxflag_num1++;
// while(mac_is_busy());
// temp_count2=phy_timer_count_get();
@@ -551,6 +663,7 @@
}
recev_error_num=0;
+
// sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
// LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度：%d.\r\n",g_com_map[BIND_DEV_ID],distance,rssi);
@@ -608,169 +721,324 @@
// Register rx interrupt callback function
mac_register_process_handler(tx_int_callback, rx_int_callback);
}
-//主函数绑定接受逻辑
-//int UwbSearch(void)
-//{
+uint16_t g_com_receive_id;
+void CloseUWB(void)
+{
+ uwb_rx_force_off(1);
+ uwb_rx_flag=0;
+ //LOG_INFO(TRACE_MODULE_APP,"关闭uwb_rx\r\n");
+}
+void OpenUWB(void)
+{
+ flag_temp1=uwb_rx(0, 0,range_timeout_us);//提交接收请求
+ uwb_rx_flag=1;
+ //LOG_INFO(TRACE_MODULE_APP,"打开uwb_rx\r\n");
+}
+void UWBOneSecondTask(void)
+{
+ TagListUpdate();//更新标签数
+ uwb_losttimer++;
+ if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
+ uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//防止溢出
+}
+void UWBIdleTask(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;
-// temp_count3=phy_timer_count_get();
-// gpio_pin_set(SCL_PIN);
-// 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)
+ if(HIDO_TimerGetTick()-uwbtasktimer >=1)
+ {
+ uwbtasktimer = HIDO_TimerGetTick();
+ UWBOneSecondTask();
+ }
+}
+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;
+}
+enumwltagstate wltag_state=RANGE;
+uint32_t wltag_statetimer,wltag_uwbtimer;
+int uwb_app_poll(void)
+{
+ switch(wltag_state)
+ {
+
+ case RANGE:
+// time_flag=HIDO_TimerGetTick()-wltag_uwbtimer;
+ if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
+ {
+ UWB_LED_ON;
+ wltag_uwbtimer = HIDO_TimerGetTick();
+ if(UWB_STATE==UWB_STATE_IDLE)
+ {
+ UWB_STATE=UWB_RX_STATE_BUSY;
+ OpenUWB();
+ }
+ }
+ else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1)
+ {
+// time_flag=HIDO_TimerGetTick()-wltag_uwbtimer;
+ UWB_LED_OFF;
+ wltag_uwbtimer = HIDO_TimerGetTick();
+ CloseUWB();
+ UWB_STATE=UWB_STATE_IDLE;
+ }
+ 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
+ {
+ if(UWB_STATE==UWB_STATE_IDLE)
+ {
+ UWB_STATE=UWB_RX_STATE_BUSY;
+ OpenUWB();
+ }
+ }
+ wltag_state = SEARCH;
+ }
+ break;
+ case SEARCH:
+ if(HIDO_TimerGetTick()-wltag_statetimer>1)
+ {
+ wltag_statetimer = HIDO_TimerGetTick();
+ wltag_state = CLOSE;
+ CloseUWB();
+ UWB_STATE=UWB_STATE_IDLE;
+ }
+ break;
+ case CLOSE:
+ if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
+ {
+ wltag_statetimer = HIDO_TimerGetTick();
+ wltag_state = SEARCH;
+ if(UWB_STATE==UWB_STATE_IDLE)
+ {
+ UWB_STATE=UWB_RX_STATE_BUSY;
+ OpenUWB();
+ }
+ }
+ break;
+ }
+ UWBIdleTask();
+}
+int Anchor_App(void)
+{
+ uint8_t i;
+ uint16_t tempid;
+ 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;
+ 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
+ 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++)
// {
-// break;
+// 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);
+// }
// }
-// }
-
-// 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
-// { 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++)
+// 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
// {
-// if(rec_ancidlist[i] == dev_id)
-// {
-// 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
+// seize_anchor=0; //非抢占。已存在列表中
// Anchor_RecNearPoll(i);
+// break;
// }
-// sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
-// gpio_pin_clr(SCL_PIN);//测试
-// return 1;//返回发送成功标志
// }
-// }
-// temp_count3=phy_timer_count_get();
-// uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
-
-// }
-// // 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:
-// { //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)
+// if(i==rec_nearbase_num)
// {
-// uwb_searchcount=0;
-// search_open_flag=1;
+// seize_anchor=1; //抢占anchor
+// Anchor_RecNearPoll(i);
// }
-// }
-// //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);
-//}
+ taglist_pos=CmpTagInList(tag_id_recv);
+ if(taglist_num>=ANC_MAX_NUM)
+ return 0;
+ for(i=0; i<rec_nearbase_num; i++)
+ {
+ memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
+ if(tempid==dev_id)
+ {
+ Anchor_RecNearPoll(i);
+ tagdist_list[taglist_pos]=rec_ancdistlist[i];
+ 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;
+ }
+ 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);
+ }
+ }
+ else{
+ if(UWB_STATE==UWB_STATE_IDLE)
+ {
+ UWB_STATE=UWB_RX_STATE_BUSY;
+ OpenUWB();
+ }
+ }
+
+
+}
+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();
+ #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 = {
+ .thres_fap_detect = 40,
+ .nth_scale_factor = 4,
+ .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 = 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);
+
+ #ifdef STS_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
+ // 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
+}
uint8_t GetUWBBindState(void)
{
if(UWB_work_state == UN_BIND)
--
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