From 56336ce608d00c214057e430517762deff487122 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期二, 01 七月 2025 18:14:26 +0800
Subject: [PATCH] 修改了一些授权判断逻辑，授权查找未修改
---
keil/uwb_app.c | 397 +++++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 320 insertions(+), 77 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index c81a59b..cc0c45c 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -35,10 +35,11 @@
static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS];
static int16_t rec_ancdistlist[TAG_NUM_IN_SYS];
extern uint8_t group_id;
-static uint16_t anc_id_recv,tag_id_recv;
+static uint16_t anc_id_recv;
+static uint32_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;
@@ -47,7 +48,8 @@
//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 uint16_t tagid_list[TAG_NUM_IN_SYS];
+static uint32_t tagid_list[TAG_NUM_IN_SYS];
+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 +69,7 @@
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
{
@@ -78,7 +81,7 @@
#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 550U //yuan600 success 并且不卡busy
+#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan550极限
#define RESP_TX_TO_FINAL_RX_DLY_US 500U
@@ -352,6 +355,7 @@
}
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];
+extern uint32_t tag_id_authorization_list[1024];
static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
uint8_t anchordata_num = 0;
static int32_t tagdist_list[TAG_NUM_IN_SYS];
@@ -392,17 +396,35 @@
// }
}
+//uint16_t CmpTagInList(uint16_t tagid)
+//{ uint16_t i;
+// for(i=0; i<taglist_num; i++)
+// {
+// if(memcmp(&tagid,&anchordata_id[i],2)==0)
+// break;
+// }
+// if(i==taglist_num)
+// return taglist_num;
+// //tagofflinetime[i] = 0;
+// return i;
+//}yuan
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)
@@ -428,21 +450,84 @@
ts2 >>= 8;
}
}
-
-void TagListUpdate(void)
+uint8_t tt5=0;
+//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;
+//}
+uint8_t find_flag;
+uint16_t bind_distance,button_determinate_distance,change_by_frequency_distance;
+uint8_t tag_near_frequency;
+extern uint32_t tag_id_authorization_list_num;
+void sort_tag_lists(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];
+ 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;
+ }
}
}
- anchordata_num=j;
}
-
+uint8_t tag_authorized_List[TAG_NUM_IN_SYS];
+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;
+ for(i=0; i<taglist_num; i++)
+ {
+ if(tagofflinetime[i]++<TAG_KEEPTIMES)
+ {
+ tagid_list[j]=tagid_list[i];
+ tagdist_list[j] = tagdist_list[i];
+ anchordata_bat[j]=anchordata_bat[i];//电量随之更新
+ tagofflinetime[j++]=tagofflinetime[i];
+ }
+ }
+ 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();
+}
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
@@ -451,7 +536,7 @@
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
@@ -473,9 +558,17 @@
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
+ 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);
@@ -515,7 +608,7 @@
&&!((end_receive_count-current_count_calibration<=MS_TO_PHY_TIMER_COUNT(200))||(end_receive_count+(UINT32_MAX-current_count_calibration)<=MS_TO_PHY_TIMER_COUNT(200))))
{
start_receive_count_calibration=current_count_calibration;//更新开始时间
-// MotorPoll();
+
if(secondtask_search_count++%2==0)
{
@@ -542,13 +635,13 @@
{
uwb_rx_force_off(1);
uwb_rx_flag=0;
- LOG_INFO(TRACE_MODULE_APP,"关闭uwb_rx\r\n");
+ //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");
+ //LOG_INFO(TRACE_MODULE_APP,"打开uwb_rx\r\n");
}
void UWBOneSecondTask(void)
{
@@ -571,51 +664,166 @@
// switch(wltag_state)
// {
// case RANGE:
-// if(HIDO_TimerGetTick()-wltag_uwbtimer>0&&uwb_rx_flag==0)
+// if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
// {
// wltag_uwbtimer = HIDO_TimerGetTick();
// OpenUWB();
// }
-// else if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==1)
+// else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1)
// {
// wltag_uwbtimer = HIDO_TimerGetTick();
// CloseUWB();
// }
-//// 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
-//// {
-//// OpenUWB();
-//// }
-//// wltag_state = SEARCH;
-//// }
+// 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
+// {
+// OpenUWB();
+// }
+// wltag_state = SEARCH;
+// }
// break;
-//// case SEARCH:
-//// if(HIDO_TimerGetTick()-wltag_statetimer>1)
-//// {
-//// wltag_statetimer = HIDO_TimerGetTick();
-//// wltag_state = CLOSE;
-//// CloseUWB();
-//// }
-//// break;
-//// case CLOSE:
-//// if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
-//// {
-//// wltag_statetimer = HIDO_TimerGetTick();
-//// wltag_state = SEARCH;
-//// OpenUWB();
-//// }
-//// break;
+// case SEARCH:
+// if(HIDO_TimerGetTick()-wltag_statetimer>1)
+// {
+// wltag_statetimer = HIDO_TimerGetTick();
+// wltag_state = CLOSE;
+// CloseUWB();
+// }
+// break;
+// case CLOSE:
+// if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
+// {
+// wltag_statetimer = HIDO_TimerGetTick();
+// wltag_state = SEARCH;
+// OpenUWB();
+// }
+// break;
// }
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++) {
+ 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;
+ }
+}
+}
+
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;
+ {
+ 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();
@@ -623,38 +831,73 @@
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(&tag_id_recv,&rx_buf[TAG_ID_IDX],4);
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;
- }
- }
+// 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);
- }
- }else{
- // OpenUWB();//接收到不是自己的包再次开启UWB接收
+// 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
+// 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
+ tagid_list[taglist_pos] = tag_id_recv;//新增基站
+ find_flag=1;
+ }
+ 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)
{
--
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