From 3ddda900487f55bec506562fffd9f38e419a3ecd Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期六, 12 七月 2025 16:34:10 +0800
Subject: [PATCH] 成功调好485串口接和收逻辑，usb串口用于查看log输出和上位机配置，需要注意在打印彻底完成后进行切换
---
keil/uwb_app.c | 209 ++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 154 insertions(+), 55 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index a72330d..c35c51d 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
@@ -18,14 +20,15 @@
void Calibration_Time(void);
void TagListUpdate(void);
void TagListUpdate_person_num(void);
-void buffer_message_send(uint32_t tag_pos,uint8_t rssi_quality,uint16_t pressure,uint16_t state_button);
-
+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*/
@@ -37,8 +40,10 @@
//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 uint16_t tag_id_recv;
@@ -213,7 +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 */
@@ -332,6 +337,43 @@
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
@@ -363,11 +405,20 @@
pdoa_fom_get(NULL, &fom);
if(allow_flag)
{
- tag_rssi[taglist_pos]=rssi;
+ 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(taglist_pos,0,0,0);
- allow_flag=0;
+ //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 area%#x\r\n",tag_id_recv, mk_q7_to_s16(azimuth),
+ mk_q7_to_s16(elevation), fom,show_location[taglist_pos]);
+ allow_flag=0;
}
}
if(resp_tx_flag==0)
@@ -435,7 +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;
@@ -575,10 +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;
}
}
}
@@ -613,13 +666,13 @@
}
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();
+ update_show_buffer();//根据角度和距离判断区域位置
+ gpio_pin_set(CHANGE_UART_PIN);//；拉高打印输出
+ buffer_message_send();//发送测距报文信息
+// //delay_ms(10);
+ buffer_485_send(show_location);//发送显示信息
+ while(uart_tx_in_progress(UART_ID0));
+ gpio_pin_clr(CHANGE_UART_PIN);//；拉低变接收
}
uint8_t position;
@@ -915,7 +968,52 @@
}
}
}
-void buffer_485_construct(uint8_t* show_buffer)
+#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;
@@ -924,9 +1022,9 @@
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],&ancidlist_rec,2*taglist_num);//tag_idlist
- memcpy(&usart_send[7+taglist_num+2*taglist_num],&rec_ancdistlist,2*taglist_num); //tag_distlist
+ 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;
@@ -934,31 +1032,35 @@
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(uint32_t tag_pos,uint8_t rssi_quality,uint16_t pressure,uint16_t state_button)
-{ static uint8_t usart_send[100];
+void buffer_message_send(void)
+{ static uint8_t usart0_send[1024];
uint16_t checksum = 0;
uint32_t yuliu=0;
- usart_send[0] = 0x55;
- usart_send[1] = 0xAA;
- usart_send[2] = 0x51;
- usart_send[3] = 24; //length
- usart_send[4] = tag_seq[tag_pos];//包序
- memcpy(&usart_send[5],&dev_id,2); //anchor_id
- memcpy(&usart_send[7],&tagid_list[tag_pos],2); //tag_id
- memcpy(&usart_send[9],&tagdist_list[tag_pos],2); //distance
- memcpy(&usart_send[11],&angle_azimuth[tag_pos],2);//angle_azithum
- memcpy(&usart_send[13],&angle_elevation[tag_pos],2);//angle_elevation
- memcpy(&usart_send[15],&tag_rssi[tag_pos],1); //信号强度
- memcpy(&usart_send[16],&rssi_quality,1); //信号质量预留
- usart_send[17]=anchordata_bat[taglist_pos];//标签电量
- memcpy(&usart_send[18],&state_button,2); //设备状态
- memcpy(&usart_send[20],&pressure,2); //气压
- memcpy(&usart_send[22],&yuliu,4); //预留位4位
- checksum = Checksum_u16(&usart_send[2],24);
- memcpy(&usart_send[26], &checksum, 2);
- uart_send(UART_ID0, usart_send,28, NULL);
+ 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)
{
@@ -986,7 +1088,7 @@
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);
@@ -1003,15 +1105,6 @@
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(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);
-// }
-// }
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
@@ -1027,8 +1120,7 @@
}
}
- 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);
+
}
int UwbRange(void)
{
@@ -1202,6 +1294,11 @@
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();
@@ -1261,6 +1358,8 @@
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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