From 5e02aaa74bd161d42cd3a48dc5d6f89491ea29ef Mon Sep 17 00:00:00 2001 From: chen <15335560115@163.com> Date: 星期二, 31 十二月 2024 16:17:51 +0800 Subject: [PATCH] 新测距算法加入,稳定测距版本 --- keil/uwb_simple_example.uvoptx | 285 ++++++++++++++++++++++++++++++++++++++++++-------------- 1 files changed, 214 insertions(+), 71 deletions(-) diff --git a/keil/uwb_simple_example.uvoptx b/keil/uwb_simple_example.uvoptx index 4ee6eb7..bdea9f0 100644 --- a/keil/uwb_simple_example.uvoptx +++ b/keil/uwb_simple_example.uvoptx @@ -120,7 +120,6 @@ <SetRegEntry> <Number>0</Number> <Key>DLGUARM</Key> - <Name>d</Name> </SetRegEntry> <SetRegEntry> <Number>0</Number> @@ -153,134 +152,206 @@ <Ww> <count>0</count> <WinNumber>1</WinNumber> - <ItemText>nomove_count</ItemText> + <ItemText>valid_sts</ItemText> </Ww> <Ww> <count>1</count> <WinNumber>1</WinNumber> - <ItemText>gps_timeout_flag</ItemText> + <ItemText>rx_buf</ItemText> </Ww> <Ww> <count>2</count> <WinNumber>1</WinNumber> - <ItemText>gps_wait_count,0x0A</ItemText> + <ItemText>resp_tx_en_start_u32,0x0A</ItemText> </Ww> <Ww> <count>3</count> <WinNumber>1</WinNumber> - <ItemText>moter_open_uwb_flag</ItemText> + <ItemText>poll_rx_en_start_u32,0x0A</ItemText> </Ww> <Ww> <count>4</count> <WinNumber>1</WinNumber> - <ItemText>motor_open_air_flag</ItemText> + <ItemText>rec_nearbase_num</ItemText> </Ww> <Ww> <count>5</count> <WinNumber>1</WinNumber> - <ItemText>motor_power_state</ItemText> + <ItemText>\\uwb_simple_example\../keil/uwb_app.c\temp_count1,0x0A</ItemText> </Ww> <Ww> <count>6</count> <WinNumber>1</WinNumber> - <ItemText>gps_need_data_flag</ItemText> + <ItemText>tagofflinetime[0],0x0A</ItemText> </Ww> <Ww> <count>7</count> <WinNumber>1</WinNumber> - <ItemText>UWB_Work_State</ItemText> + <ItemText>tagofflinetime[1],0x0A</ItemText> </Ww> <Ww> <count>8</count> <WinNumber>1</WinNumber> - <ItemText>distance,0x0A</ItemText> + <ItemText>rec_ancdistlist,0x0A</ItemText> </Ww> <Ww> <count>9</count> <WinNumber>1</WinNumber> - <ItemText>anchordata_num</ItemText> + <ItemText>get_out_num,0x0A</ItemText> </Ww> <Ww> <count>10</count> <WinNumber>1</WinNumber> - <ItemText>mUsart2ReceivePack_now,0x0A</ItemText> + <ItemText>anchor_id_out</ItemText> </Ww> <Ww> <count>11</count> <WinNumber>1</WinNumber> - <ItemText>gps_uwb_flag</ItemText> + <ItemText>change_count,0x0A</ItemText> </Ww> <Ww> <count>12</count> <WinNumber>1</WinNumber> - <ItemText>gps_power_state</ItemText> + <ItemText>poll_rx_en_start_u32,0x0A</ItemText> </Ww> <Ww> <count>13</count> <WinNumber>1</WinNumber> - <ItemText>mUsart2ReceivePack</ItemText> + <ItemText>statistic_num</ItemText> </Ww> <Ww> <count>14</count> <WinNumber>1</WinNumber> - <ItemText>uwb_state</ItemText> + <ItemText>wltag_uwbtimer</ItemText> </Ww> <Ww> <count>15</count> <WinNumber>1</WinNumber> - <ItemText>receive_flag</ItemText> + <ItemText>wltag_statetimer</ItemText> </Ww> <Ww> <count>16</count> <WinNumber>1</WinNumber> - <ItemText>recev_error_num,0x0A</ItemText> + <ItemText>pca9555writedata_polarity[0],0x10</ItemText> </Ww> <Ww> <count>17</count> <WinNumber>1</WinNumber> - <ItemText>rx_rpt</ItemText> + <ItemText>rx_buf[5],0x0A</ItemText> </Ww> <Ww> <count>18</count> <WinNumber>1</WinNumber> - <ItemText>g_com_map</ItemText> + <ItemText>rx_buf[6]</ItemText> </Ww> <Ww> <count>19</count> <WinNumber>1</WinNumber> - <ItemText>UWB_work_state</ItemText> + <ItemText>rx_buf,0x0A</ItemText> </Ww> <Ww> <count>20</count> <WinNumber>1</WinNumber> - <ItemText>recev_error_num,0x0A</ItemText> + <ItemText>resp_tx_en_start_u32,0x0A</ItemText> </Ww> <Ww> <count>21</count> <WinNumber>1</WinNumber> - <ItemText>poll_rx_ts_i64</ItemText> + <ItemText>tag_id_recv</ItemText> </Ww> <Ww> <count>22</count> <WinNumber>1</WinNumber> - <ItemText>resp_tx_ts_i64</ItemText> + <ItemText>rx_buf,0x10</ItemText> </Ww> <Ww> <count>23</count> <WinNumber>1</WinNumber> - <ItemText>motor_power_state</ItemText> + <ItemText>resp_tx_en_start_u32,0x0A</ItemText> </Ww> <Ww> <count>24</count> <WinNumber>1</WinNumber> - <ItemText>gps_power_state</ItemText> + <ItemText>rx_rpt</ItemText> + </Ww> + <Ww> + <count>25</count> + <WinNumber>1</WinNumber> + <ItemText>tagofflinetime[0],0x0A</ItemText> + </Ww> + <Ww> + <count>26</count> + <WinNumber>1</WinNumber> + <ItemText>rec_nearbase_num,0x0A</ItemText> + </Ww> + <Ww> + <count>27</count> + <WinNumber>1</WinNumber> + <ItemText>tagdist_list[0],0x10</ItemText> + </Ww> + <Ww> + <count>28</count> + <WinNumber>1</WinNumber> + <ItemText>rec_nearbase_num</ItemText> + </Ww> + <Ww> + <count>29</count> + <WinNumber>1</WinNumber> + <ItemText>taglist_pos</ItemText> + </Ww> + <Ww> + <count>30</count> + <WinNumber>1</WinNumber> + <ItemText>tagid_list[0]</ItemText> + </Ww> + <Ww> + <count>31</count> + <WinNumber>1</WinNumber> + <ItemText>uwbtasktimer</ItemText> + </Ww> + <Ww> + <count>32</count> + <WinNumber>1</WinNumber> + <ItemText>wltag_statetimer</ItemText> + </Ww> + <Ww> + <count>33</count> + <WinNumber>1</WinNumber> + <ItemText>TAG_KEEPTIMES</ItemText> </Ww> </WatchWindow1> + <WatchWindow2> + <Ww> + <count>0</count> + <WinNumber>2</WinNumber> + <ItemText>rec_ancdistlist[0],0x0A</ItemText> + </Ww> + <Ww> + <count>1</count> + <WinNumber>2</WinNumber> + <ItemText>rec_ancdistlist[1]</ItemText> + </Ww> + <Ww> + <count>2</count> + <WinNumber>2</WinNumber> + <ItemText>tagofflinetime[0]</ItemText> + </Ww> + <Ww> + <count>3</count> + <WinNumber>2</WinNumber> + <ItemText>tagofflinetime[1]</ItemText> + </Ww> + <Ww> + <count>4</count> + <WinNumber>2</WinNumber> + <ItemText>tag_id_recv</ItemText> + </Ww> + </WatchWindow2> <MemoryWindow1> <Mm> <WinNumber>1</WinNumber> <SubType>8</SubType> - <ItemText>_u8Data</ItemText> + <ItemText>\\uwb_simple_example\include/drivers/Usart.c\m_EUART_DMA_RXBuf</ItemText> <AccSizeX>0</AccSizeX> </Mm> </MemoryWindow1> @@ -290,7 +361,7 @@ <DebugFlag> <trace>0</trace> <periodic>1</periodic> - <aLwin>0</aLwin> + <aLwin>1</aLwin> <aCover>0</aCover> <aSer1>0</aSer1> <aSer2>0</aSer2> @@ -308,7 +379,7 @@ <aPa1>0</aPa1> <AscS4>0</AscS4> <aSer4>0</aSer4> - <StkLoc>0</StkLoc> + <StkLoc>1</StkLoc> <TrcWin>0</TrcWin> <newCpu>0</newCpu> <uProt>0</uProt> @@ -407,7 +478,7 @@ <Group> <GroupName>Driver</GroupName> - <tvExp>0</tvExp> + <tvExp>1</tvExp> <tvExpOptDlg>0</tvExpOptDlg> <cbSel>0</cbSel> <RteFlg>0</RteFlg> @@ -478,8 +549,8 @@ <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> <bDave2>0</bDave2> - <PathWithFileName>.\include\drivers\mk_clock.c</PathWithFileName> - <FilenameWithoutPath>mk_clock.c</FilenameWithoutPath> + <PathWithFileName>.\include\drivers\mk_dma.c</PathWithFileName> + <FilenameWithoutPath>mk_dma.c</FilenameWithoutPath> <RteFlg>0</RteFlg> <bShared>0</bShared> </File> @@ -490,8 +561,8 @@ <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> <bDave2>0</bDave2> - <PathWithFileName>.\include\drivers\mk_dma.c</PathWithFileName> - <FilenameWithoutPath>mk_dma.c</FilenameWithoutPath> + <PathWithFileName>.\include\drivers\mk_clock.c</PathWithFileName> + <FilenameWithoutPath>mk_clock.c</FilenameWithoutPath> <RteFlg>0</RteFlg> <bShared>0</bShared> </File> @@ -687,6 +758,54 @@ <RteFlg>0</RteFlg> <bShared>0</bShared> </File> + <File> + <GroupNumber>3</GroupNumber> + <FileNumber>29</FileNumber> + <FileType>1</FileType> + <tvExp>0</tvExp> + <tvExpOptDlg>0</tvExpOptDlg> + <bDave2>0</bDave2> + <PathWithFileName>.\include\drivers\PCA9555.c</PathWithFileName> + <FilenameWithoutPath>PCA9555.c</FilenameWithoutPath> + <RteFlg>0</RteFlg> + <bShared>0</bShared> + </File> + <File> + <GroupNumber>3</GroupNumber> + <FileNumber>30</FileNumber> + <FileType>5</FileType> + <tvExp>0</tvExp> + <tvExpOptDlg>0</tvExpOptDlg> + <bDave2>0</bDave2> + <PathWithFileName>.\include\drivers\PCA9555.h</PathWithFileName> + <FilenameWithoutPath>PCA9555.h</FilenameWithoutPath> + <RteFlg>0</RteFlg> + <bShared>0</bShared> + </File> + <File> + <GroupNumber>3</GroupNumber> + <FileNumber>31</FileNumber> + <FileType>1</FileType> + <tvExp>0</tvExp> + <tvExpOptDlg>0</tvExpOptDlg> + <bDave2>0</bDave2> + <PathWithFileName>.\include\drivers\WS2812.c</PathWithFileName> + <FilenameWithoutPath>WS2812.c</FilenameWithoutPath> + <RteFlg>0</RteFlg> + <bShared>0</bShared> + </File> + <File> + <GroupNumber>3</GroupNumber> + <FileNumber>32</FileNumber> + <FileType>5</FileType> + <tvExp>0</tvExp> + <tvExpOptDlg>0</tvExpOptDlg> + <bDave2>0</bDave2> + <PathWithFileName>.\include\drivers\WS2812.h</PathWithFileName> + <FilenameWithoutPath>WS2812.h</FilenameWithoutPath> + <RteFlg>0</RteFlg> + <bShared>0</bShared> + </File> </Group> <Group> @@ -697,7 +816,7 @@ <RteFlg>0</RteFlg> <File> <GroupNumber>4</GroupNumber> - <FileNumber>29</FileNumber> + <FileNumber>33</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -709,7 +828,7 @@ </File> <File> <GroupNumber>4</GroupNumber> - <FileNumber>30</FileNumber> + <FileNumber>34</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -721,7 +840,7 @@ </File> <File> <GroupNumber>4</GroupNumber> - <FileNumber>31</FileNumber> + <FileNumber>35</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -733,7 +852,7 @@ </File> <File> <GroupNumber>4</GroupNumber> - <FileNumber>32</FileNumber> + <FileNumber>36</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -745,7 +864,19 @@ </File> <File> <GroupNumber>4</GroupNumber> - <FileNumber>33</FileNumber> + <FileNumber>37</FileNumber> + <FileType>1</FileType> + <tvExp>0</tvExp> + <tvExpOptDlg>0</tvExpOptDlg> + <bDave2>0</bDave2> + <PathWithFileName>.\dw_tag.c</PathWithFileName> + <FilenameWithoutPath>dw_tag.c</FilenameWithoutPath> + <RteFlg>0</RteFlg> + <bShared>0</bShared> + </File> + <File> + <GroupNumber>4</GroupNumber> + <FileNumber>38</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -757,7 +888,7 @@ </File> <File> <GroupNumber>4</GroupNumber> - <FileNumber>34</FileNumber> + <FileNumber>39</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -769,7 +900,7 @@ </File> <File> <GroupNumber>4</GroupNumber> - <FileNumber>35</FileNumber> + <FileNumber>40</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -781,7 +912,7 @@ </File> <File> <GroupNumber>4</GroupNumber> - <FileNumber>36</FileNumber> + <FileNumber>41</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -793,7 +924,7 @@ </File> <File> <GroupNumber>4</GroupNumber> - <FileNumber>37</FileNumber> + <FileNumber>42</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -805,7 +936,7 @@ </File> <File> <GroupNumber>4</GroupNumber> - <FileNumber>38</FileNumber> + <FileNumber>43</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -817,7 +948,7 @@ </File> <File> <GroupNumber>4</GroupNumber> - <FileNumber>39</FileNumber> + <FileNumber>44</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -829,7 +960,7 @@ </File> <File> <GroupNumber>4</GroupNumber> - <FileNumber>40</FileNumber> + <FileNumber>45</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -841,13 +972,25 @@ </File> <File> <GroupNumber>4</GroupNumber> - <FileNumber>41</FileNumber> + <FileNumber>46</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> <bDave2>0</bDave2> <PathWithFileName>.\uwb_app.c</PathWithFileName> <FilenameWithoutPath>uwb_app.c</FilenameWithoutPath> + <RteFlg>0</RteFlg> + <bShared>0</bShared> + </File> + <File> + <GroupNumber>4</GroupNumber> + <FileNumber>47</FileNumber> + <FileType>1</FileType> + <tvExp>0</tvExp> + <tvExpOptDlg>0</tvExpOptDlg> + <bDave2>0</bDave2> + <PathWithFileName>.\uwb_tag.c</PathWithFileName> + <FilenameWithoutPath>uwb_tag.c</FilenameWithoutPath> <RteFlg>0</RteFlg> <bShared>0</bShared> </File> @@ -861,7 +1004,7 @@ <RteFlg>0</RteFlg> <File> <GroupNumber>5</GroupNumber> - <FileNumber>42</FileNumber> + <FileNumber>48</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -873,7 +1016,7 @@ </File> <File> <GroupNumber>5</GroupNumber> - <FileNumber>43</FileNumber> + <FileNumber>49</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -885,7 +1028,7 @@ </File> <File> <GroupNumber>5</GroupNumber> - <FileNumber>44</FileNumber> + <FileNumber>50</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -897,7 +1040,7 @@ </File> <File> <GroupNumber>5</GroupNumber> - <FileNumber>45</FileNumber> + <FileNumber>51</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -909,7 +1052,7 @@ </File> <File> <GroupNumber>5</GroupNumber> - <FileNumber>46</FileNumber> + <FileNumber>52</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -921,7 +1064,7 @@ </File> <File> <GroupNumber>5</GroupNumber> - <FileNumber>47</FileNumber> + <FileNumber>53</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -933,7 +1076,7 @@ </File> <File> <GroupNumber>5</GroupNumber> - <FileNumber>48</FileNumber> + <FileNumber>54</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -945,7 +1088,7 @@ </File> <File> <GroupNumber>5</GroupNumber> - <FileNumber>49</FileNumber> + <FileNumber>55</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -957,7 +1100,7 @@ </File> <File> <GroupNumber>5</GroupNumber> - <FileNumber>50</FileNumber> + <FileNumber>56</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -969,7 +1112,7 @@ </File> <File> <GroupNumber>5</GroupNumber> - <FileNumber>51</FileNumber> + <FileNumber>57</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -989,7 +1132,7 @@ <RteFlg>0</RteFlg> <File> <GroupNumber>6</GroupNumber> - <FileNumber>52</FileNumber> + <FileNumber>58</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -1001,7 +1144,7 @@ </File> <File> <GroupNumber>6</GroupNumber> - <FileNumber>53</FileNumber> + <FileNumber>59</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -1013,7 +1156,7 @@ </File> <File> <GroupNumber>6</GroupNumber> - <FileNumber>54</FileNumber> + <FileNumber>60</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -1041,7 +1184,7 @@ <RteFlg>0</RteFlg> <File> <GroupNumber>8</GroupNumber> - <FileNumber>55</FileNumber> + <FileNumber>61</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -1053,7 +1196,7 @@ </File> <File> <GroupNumber>8</GroupNumber> - <FileNumber>56</FileNumber> + <FileNumber>62</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -1073,7 +1216,7 @@ <RteFlg>0</RteFlg> <File> <GroupNumber>9</GroupNumber> - <FileNumber>57</FileNumber> + <FileNumber>63</FileNumber> <FileType>4</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -1093,7 +1236,7 @@ <RteFlg>0</RteFlg> <File> <GroupNumber>10</GroupNumber> - <FileNumber>58</FileNumber> + <FileNumber>64</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -1105,7 +1248,7 @@ </File> <File> <GroupNumber>10</GroupNumber> - <FileNumber>59</FileNumber> + <FileNumber>65</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -1117,7 +1260,7 @@ </File> <File> <GroupNumber>10</GroupNumber> - <FileNumber>60</FileNumber> + <FileNumber>66</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -1129,7 +1272,7 @@ </File> <File> <GroupNumber>10</GroupNumber> - <FileNumber>61</FileNumber> + <FileNumber>67</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -1141,7 +1284,7 @@ </File> <File> <GroupNumber>10</GroupNumber> - <FileNumber>62</FileNumber> + <FileNumber>68</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -1153,7 +1296,7 @@ </File> <File> <GroupNumber>10</GroupNumber> - <FileNumber>63</FileNumber> + <FileNumber>69</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -1165,7 +1308,7 @@ </File> <File> <GroupNumber>10</GroupNumber> - <FileNumber>64</FileNumber> + <FileNumber>70</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> @@ -1185,7 +1328,7 @@ <RteFlg>0</RteFlg> <File> <GroupNumber>11</GroupNumber> - <FileNumber>65</FileNumber> + <FileNumber>71</FileNumber> <FileType>1</FileType> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> -- Gitblit v1.9.3