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 | 908 +++++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 793 insertions(+), 115 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index def6e7f..cc0c45c 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -5,14 +5,21 @@
#include "mk_power.h"
#include "mk_sleep_timer.h"
#include "lib_ranging.h"
+#include "lib_aoa.h"
#include "dw_app_anchor.h"
#include "global_param.h"
#include "board.h"
-
+#include "lib_aoa.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);
@@ -28,19 +35,21 @@
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;
-extern uint8_t gps_power_state,motor_power_state,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state;
+extern uint8_t gps_power_state,motor_power_state,uwb_state,air780_power_state,gps_success_state,red_charge_state,green_charge_state,air780_success_state;
int poll_rx_num,resp_tx_num;
//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];
@@ -49,18 +58,30 @@
uint32_t temp_count1=0;
uint32_t temp_count2=0;
uint32_t temp_count3=0;
+uint32_t temp_count7=0;
uint32_t temp_internal=0;
+int16_t elevation = 0;
+int16_t azimuth = 0;
+uint8_t fom = 0;
int32_t distance;
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;
+void find_in_tag_id_authorization_list(uint32_t authorization_list_num);
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 450U //yuan750 7500Haoyong
+#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan550极限
#define RESP_TX_TO_FINAL_RX_DLY_US 500U
@@ -79,7 +100,7 @@
/* RX window open in advance */
#define RX_WIN_IN_ADVANCE_US (150)
-#define DELAY_BETWEEN_TWO_FRAME_UUS 400
+#define DELAY_BETWEEN_TWO_FRAME_UUS 500 //yuan1400
/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -99,7 +120,66 @@
struct UWB_CONFIG_T phy_cfg;
};
-/* Default communication configuration. */
+///* 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 */
+//};
+#ifdef DW1000
+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 = 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 */
+ .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 */
+};
+#elif defined STS_MODE
+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 */
+};
+/* 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,
+};
+#elif defined MK_MODE
static struct mk_uwb_configure config = {
.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
.phy_cfg.ch_num = 9, /* Channel number. */
@@ -113,9 +193,14 @@
.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_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
};
+#endif
+static struct anchor_id_car{
+ uint16_t anchor_new_id;
+ uint16_t change_num;
+};
/* Buffer to store received frame */
/* Frames used in the ranging process
@@ -197,8 +282,11 @@
/* 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();
@@ -216,7 +304,22 @@
poll_rx_num++;
rssi = rx_report->rssi;
receive_flag=1;
- recev_error_num=0;
+ 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
{
@@ -226,10 +329,12 @@
/* 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;
-
+ // OpenUWB();//再次开启UWB接收
}
+ OpenUWB();//再次开启UWB接收
}
/* TX done process handler. */
@@ -244,17 +349,21 @@
temp_count= phy_timer_count_get();
temp_internal=temp_count;
resp_tx_num++;
+ // 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);
}
}
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];
+ 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];
uint16_t random_time;
//anchor
int32_t hist_dist;
+int16_t temp_recdist_before_offset;
+int16_t dist_temp;
void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary)
{
uint8_t i;
@@ -272,24 +381,65 @@
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
- if(dist>0)
- distance=dist*0.5+distance*0.5;
+ dist_temp=dist;
+// if(dist>0)
+
+// 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)
+// 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,&tagid_list[i],2)==0)
+ break;
+ }
+ 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==taglist_num)
- return taglist_num;
+ if(i==anchordata_num)
+ return anchordata_num;
//tagofflinetime[i] = 0;
return i;
}
+
static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts)
{
int i,ts2;
@@ -300,61 +450,462 @@
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
{
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
+ 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
- {
- random_time = (phy_timer_count_get()%1000);//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 = random_time+phy_timer_count_get()+ US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+rec_nearbase_num*US_TO_PHY_TIMER_COUNT(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(POLL_RX_TO_RESP_TX_DLY_US)+(ancrec_nearbasepos+1)*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//后面的需要根据已有基站数量进行更改,自己非抢占
- }//此处设置绝对时间将poll u32改为phy_timer_count_get()
-
+// 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;
+ 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);
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();
- 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);
+ 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);
}
+
uint16_t uwb_searchcount;
-extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
+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();
+ if((current_count_calibration-start_receive_count_calibration>=MS_TO_PHY_TIMER_COUNT(500)||current_count_calibration+(UINT32_MAX-start_receive_count_calibration)>=MS_TO_PHY_TIMER_COUNT(500))
+ &&!((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
+
+
+ if(secondtask_search_count++%2==0)
+ {
+ secondtask_search_flag = 1;
+ }else{
+ secondtask_search_flag = 0;
+ }
+ if(secondtask_search_flag)//更新S时间TICK
+ {
+ HIDO_TimerTick();
+ TagListUpdate();
+// GPS_Poll();
+// if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
+// nomove_count++;
+// else{
+// nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
+// }
+ }
+// update_led_power_state();//更新等状态防止震动卡死在搜索
+ }
+}
+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)
+{
+
+ if(HIDO_TimerGetTick()-uwbtasktimer >=1)
+ {
+ uwbtasktimer = HIDO_TimerGetTick();
+ UWBOneSecondTask();
+ }
+}
+int uwb_app_poll(void)
+{
+// switch(wltag_state)
+// {
+// case RANGE:
+// if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
+// {
+// wltag_uwbtimer = HIDO_TimerGetTick();
+// OpenUWB();
+// }
+// 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;
+// }
+// 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;
+ 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],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;
+// }
+// }
+
+// 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)
{
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();
+ //uwb_open();
// // Set calibration parameters
// uwb_calibration_params_set(config.phy_cfg.ch_num);
@@ -374,27 +925,48 @@
// 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;
temp_count3=phy_timer_count_get();
gpio_pin_set(SCL_PIN);
- uwb_rx(0, 0, RX_SYNC_WIN_US);//开启接收
- while(mac_is_busy());
- temp_count2=phy_timer_count_get();
-// start_receive_count=phy_timer_count_get();
-// poll_timeout=rec_nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(DELAY_DEFAULT);//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
-// {
+ sts_lsp_store();
+ flag_temp1=uwb_rx(0, 0, range_timeout_us);//开启接收
+
+ // while(mac_is_busy());
+ // temp_count2=phy_timer_count_get();
+ start_receive_count=phy_timer_count_get();
+ poll_timeout=US_TO_PHY_TIMER_COUNT(range_timeout_us);//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
+ {
+ current_count=phy_timer_count_get();
+ while(mac_is_busy())
+ {
+ Calibration_Time();
+ 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();
+
+
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();
+ //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
+ { flag_recsuccess = 1;
+ memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
+// sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
+ 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
@@ -405,7 +977,7 @@
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);
}
@@ -425,60 +997,151 @@
{
seize_anchor=1; //抢占anchor
Anchor_RecNearPoll(i);
-
}
- 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);
- }
- } else {
- sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
- LOG_INFO(TRACE_MODULE_APP,"测距失败，计数：%d\r\n",recev_error_num);
- if(recev_error_num++>5)
- {
- recev_error_num=0;
- UWB_work_state=SEARCH_DEV;
- uwb_searchcount = 0;
- search_open_flag = 1;
- }
- }
+ 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 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);
+ }
+ 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
+// //LOG_INFO(TRACE_MODULE_APP,"测距失败，计数：%d\r\n",recev_error_num);
+// if(recev_error_num++>5)
+// {
+// recev_error_num=0;
+// UWB_work_state=SEARCH_DEV;
+// uwb_searchcount = 0;
+// search_open_flag = 1;
+// }
+ //}
+
- gpio_pin_clr(SCL_PIN);
+
+ return 0;
}
-
-
-//主函数绑定接受逻辑
-int UwbSearch(void)
+void Uwb_init(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();
-
+ 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);
-
- // set advanced parameters
+ #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)
+{
+ 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);
- uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收
+ 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;
@@ -498,12 +1161,18 @@
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
- { temp_count2=phy_timer_count_get();
+// 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
@@ -515,6 +1184,8 @@
{
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);
}
}
@@ -534,23 +1205,27 @@
seize_anchor=1; //抢占anchor
Anchor_RecNearPoll(i);
}
- sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
+
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
}
}
-
- uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
-
+ 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
}
//}
-#define SEARCH_TIMESTEMP 120
+#define SEARCH_TIMESTEMP 20
void UWBPoll(void)
{
switch(UWB_work_state)
@@ -565,19 +1240,22 @@
}
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);
- }
+ {
+ UWB_work_state=LINK_SUCCESS;
+ Uwb_init();
+// //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;
@@ -604,9 +1282,9 @@
//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
+ // update_led_power_state();//更新灯状态
}
- LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
+ //LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
}
uint8_t GetUWBBindState(void)
--
Gitblit v1.9.3