From 3b7f39134908d81041e9550f75169d671f95d0e5 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期五, 06 六月 2025 15:57:29 +0800
Subject: [PATCH] V1.1铁鞋专属升级工卡，修改uwb配置参数为64len并且修改回包时间让其能测距升级
---
keil/uwb_app.c | 556 +++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 419 insertions(+), 137 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index d124c3a..adb1757 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -10,12 +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);
@@ -61,14 +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 1100U //yuan600 success 并且不卡busy
#define RESP_TX_TO_FINAL_RX_DLY_US 500U
@@ -87,7 +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
@@ -106,31 +116,14 @@
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. */
.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.sync_sym = PREAM_LEN_64, /* Preamble duration, length of preamble 128 */
.phy_cfg.sfd_sym = NON_STD_NSFD5_8, /* Identifier for SFD sequence */
.phy_cfg.ranging_bit = 1, /* ranging bit set 1 */
.phy_cfg.trx_mode = TRX_MODE_15_4A, /* IEEE802.15.4z - BPRF mode */
@@ -139,33 +132,11 @@
.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;
};
/* Buffer to store received frame */
@@ -248,8 +219,22 @@
/* RX done process handler. */
int8_t rssi;
+uint32_t range_timeout_us = 2000000;//yuan5000
+uint8_t flag_temp2,flag_temp1;
+uint16_t uwb_losttimer;
+uint8_t lorarec_usart_send[200]={0x55,0xaa};
+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];
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{ uint8_t valid_sts=0;
+ uint16_t checksum1 = 0,dest_id;
// Power off radio
power_off_radio();
@@ -267,6 +252,82 @@
poll_rx_num++;
rssi = rx_report->rssi;
receive_flag=1;
+// uart_send(UART_ID0, rx_buf,rx_length, NULL);
+ gpio_pin_toggle(IO_PIN_4);
+ if(rx_buf[MESSAGE_TYPE_IDX]==MBX_POLL&&!shengji_flag)
+ {
+ Anchor_App();
+ }
+ else
+ {
+ memcpy(&lorarec_tagid,&rx_buf[SOURCE_ID_IDX],2);
+ memcpy(&dest_id,&rx_buf[DEST_ID_IDX],2);
+ checksum1=Checksum_u16(rx_buf,rx_length-4);
+ if(!memcmp(&checksum1,&rx_buf[rx_length-4],2)) //CRC16校验是否通过
+ {
+ if(!memcmp(&dev_id,&dest_id,2)/*||dest_id==0xffff||(dest_id==0xfffe&&get_channel==5)*/)
+ {
+ shengji_flag=1;
+ switch(rx_buf[MSG_TYPE_IDX])
+ {
+ case LORA_MSGTYPE_UPDATE_CONFIRM:
+ memset(&send_lora_data,0,sizeof(send_lora_data));
+// Lora_upanc_flag=1; //升级信号启动
+ update_tag_time=20;
+ mubiao_anchor_ID=lorarec_tagid;
+ LOG_INFO(TRACE_MODULE_APP, "收到基站发送来的升级请求\r\n");
+ break;
+ case LORA_MSGTYPE_UPDATEFILE_REQUEST:
+ Lora_upanc_time=0;//数清零,不清零10次后重启
+
+ memcpy(&Lora_qingqiu_bao,&rx_buf[MUQIAN_BAG],2);
+ // Lora_qingqiu_bao=rx_buffer[MUQIAN_BAG];//看基站请求的哪一包
+ Lora_qingqiu_flag= 1; //准备发送标志位1
+ update_tag_time=20;
+// LOG_INFO(TRACE_MODULE_APP, "标签正在请求第%d包\r\n",Lora_qingqiu_bao);
+ Lora_upanc_ing_Poll();
+ break;
+
+ case 0x99:
+// LOG_INFO(TRACE_MODULE_APP, "收到结束升级请求\r\n",Lora_qingqiu_bao);
+ delay_ms(200);
+ Dtu_shengji_jindu[4]=100;
+ memcpy(&Dtu_shengji_jindu[5],&mubiao_anchor_ID,2);
+ uart_send(UART_ID0, Dtu_shengji_jindu,9, NULL);
+
+ delay_ms(1000);
+// Lora_upanc_flag=0;
+ Lora_qingqiu_flag=0;
+ NVIC_SystemReset();
+ break;
+
+ }
+ }
+ }
+ else
+ {
+// switch(rx_buf[MSG_TYPE_IDX])
+// {
+// case LORA_MSGTYPE_READPARARESP:
+ if(rx_buf[MSG_TYPE_IDX]==LORA_MSGTYPE_READPARARESP)
+ {
+ memcpy(&lorarec_usart_send[2],rx_buf,rx_length);
+ uart_send(UART_ID0, lorarec_usart_send,rx_length+2, NULL);
+ for(uint8_t i=0; i<PWTAG_MAXGROUPNUM; i++)
+ {
+ if(pwtag.groupid[i][0]<=lorarec_tagid&&lorarec_tagid<=pwtag.groupid[i][1])
+ {
+ pwtag.remain_time[i] = 0;
+ }
+ }
+// break;
+ }
+
+// }
+ }
+ }
+
+ #ifdef STS_MODE
valid_sts= sts_valid_check();
if (valid_sts)
{
@@ -280,6 +341,7 @@
sts_rssi = sts_rssi_output_get();
}
+ #endif
}
else
{
@@ -292,8 +354,10 @@
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
+// LOG_INFO(TRACE_MODULE_APP,"RXdone_uwb_rx打开\r\n");
}
/* TX done process handler. */
@@ -308,14 +372,20 @@
temp_count= phy_timer_count_get();
temp_internal=temp_count;
resp_tx_num++;
+// if(update_tag_time>0)
+// {
+// OpenUWB();//再次开启UWB接收
+// LOG_INFO(TRACE_MODULE_APP,"TXdone_uwb_rx打开\r\n");
+// }
//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;
-static 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;
@@ -338,27 +408,52 @@
anchordata_num++;
}
anchordata_id[i] = ancid;//与之通信的标签id存入当前表中
+ distance=dist*0.5+(int16_t)anchordata_dist[i]*0.5;
anchordata_dist[i] = dist;
anchordata_bat[i] = battary;
tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
dist_temp=dist;
// if(dist>0)
- if(temp_recdist_before_offset!=0&&distance!=0x1ffff)
- {
- distance=dist*0.5+distance*0.5;
- }else{
- distance=dist;
- }
+
+// if(temp_recdist_before_offset!=0&&distance!=0x1ffff)
+// {
+// distance=dist*0.5+distance*0.5;
+// }else{
+// distance=dist;
+// }
+
}
uint16_t CmpTagInList(uint16_t tagid)
{ 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)
return taglist_num;
+ //tagofflinetime[i] = 0;
+ 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++)
+ {
+ if(memcmp(&tagid,&anchordata_id[i],2)==0)
+ break;
+ }
+ if(i==anchordata_num)
+ return anchordata_num;
//tagofflinetime[i] = 0;
return i;
}
@@ -374,22 +469,75 @@
}
}
+//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
@@ -409,7 +557,8 @@
// 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);
@@ -418,20 +567,41 @@
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;
uint32_t start_receive_count_calibration;
uint32_t current_count_calibration;
uint32_t get_in_num,get_out_num;
+struct anchor_id_car anchor_id_in_car[TAG_NUM_IN_SYS],anchor_id_out_car[TAG_NUM_IN_SYS];
+int16_t change_count[TAG_NUM_IN_SYS];
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;
+enumwltagstate wltag_state=RANGE;
+uint32_t wltag_statetimer,wltag_uwbtimer;
+uint32_t uwbtasktimer=0,uwbtagsendtimer=0;
+
+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 Calibration_Time(void)
{
current_count_calibration=phy_timer_count_get();
@@ -461,69 +631,149 @@
// 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 Uwb_One_Shot(void)
+
+void CloseUWB(void)
{
-
+ uwb_rx_force_off(1);
+ uwb_rx_flag=0;
+// LOG_INFO(TRACE_MODULE_APP,"关闭uwb_rx\r\n");
}
-void check_if_in_or_out(uint16_t receive_success_id,int32_t distance_from_tag,float rssi_ant0,float rssi_ant2)
+void OpenUWB(void)
{
- 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
- {
+ 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)
+{
+ 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[200];
- 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
- {
+void UWBIdleTask(void)
+{
- break;
- }
- }
- if(i==get_out_num)
+ if(HIDO_TimerGetTick()-uwbtasktimer >=1)
+ {
+
+ for(uint16_t i=0;i<taglist_num-1;i++)
{
- 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;
+ for(uint16_t j=0;j<taglist_num-1-i;j++)
+ {
+ if(tagdist_list[j]>tagdist_list[j+1])
+ {
+ uint16_t id,dist,version;
+ uint8_t bat;
+ id = tagid_list[j];
+ dist = tagdist_list[j];
+ version = anchordata_version[j];
+ tagid_list[j] = tagid_list[j+1];
+ tagdist_list[j] = tagdist_list[j+1];
+ anchordata_version[j] = anchordata_version[j+1];
+ tagid_list[j+1] = id;
+ tagdist_list[j+1] = dist;
+ anchordata_version[j+1] = version;
+ }
+ }
+
}
+
+ if(taglist_num>6)
+ {
+ taglist_num=6;
+ }
+ uwbtasktimer = HIDO_TimerGetTick();
+ UWBOneSecondTask();
+ uwbsend[0]=0x55;
+ 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++)
+// {
+// LOG_INFO(TRACE_MODULE_APP,"当前测距基站ID:%x,距离:%d.\r\n",tagid_list[0],tagdist_list[0]);
+// }
}
+}
+int uwb_app_poll(void)
+{
+ 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++)
+// {
+// 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);
+// }
+ 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];
+ anchordata_bat[taglist_pos] = battary;//保存该基站电量
+// anchordata_version[taglist_pos] = battary;//保存该基站版本号
+ memcpy(& anchordata_version[taglist_pos],&rx_buf[7],2);
+ if(taglist_pos==taglist_num)// taglist_pos==taglist_num 说明这个基站不在当前列表中
+ { //tempid==dev_id 说明基站下发测距报文有这个标签的信息
+ taglist_num++; //满足上述两种情况才会添加基站ID进入列表中，否则会出现标签不在基站列表中，标签也不响应的情况
+ 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);
+ }
+ }
}
int UwbRange(void)
{
@@ -531,7 +781,7 @@
uint16_t tempid;
// The following peripherals will be initialized in the uwb_open function
// phy/mac/aes/lsp/phy timers initialized
- uwb_open();
+ //uwb_open();
// // Set calibration parameters
// uwb_calibration_params_set(config.phy_cfg.ch_num);
@@ -551,7 +801,7 @@
// 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);
+ //mac_register_process_handler(tx_int_callback, rx_int_callback);
receive_flag = 0;
flag_recsuccess = 0;
@@ -626,14 +876,15 @@
}
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(g_com_receive_id,distance,sts_rssi[0],sts_rssi[2]);
- LOG_INFO(TRACE_MODULE_APP,"车内：%d 人,车外: %d 人\r\n",get_in_num,get_out_num);
+ //LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 包序%d\r\n",g_com_receive_id,distance,frame_seq_nb2);
+
+
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);
@@ -641,6 +892,7 @@
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
@@ -660,36 +912,51 @@
}
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 = 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);
-
+ #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)
@@ -699,36 +966,51 @@
// 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);
--
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