From 6905adcb1e7e19e9ee7c451491ed8c059fd5fdc4 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期六, 28 九月 2024 23:27:13 +0800
Subject: [PATCH] V1.9版本，优化误报逻辑，保证异常状态一定alarm，对alarm有10S缓冲，优化断线重连测距过滤
---
keil/uwb_app.c | 33 +++++++++++++++++++++++++--------
1 files changed, 25 insertions(+), 8 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 547ce27..75f6d14 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -79,7 +79,7 @@
/* 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 1400
/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -291,7 +291,12 @@
anchordata_bat[i] = battary;
tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
// if(dist>0)
+ if(distance!=0x1ffff&&distance!=0)
+ {
distance=dist*0.5+distance*0.5;
+ }else{
+ distance=dist;
+ }
}
uint16_t CmpTagInList(uint16_t tagid)
{ uint16_t i;
@@ -344,11 +349,11 @@
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 = random_time+poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num)+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
+ resp_tx_en_start_u32 = poll_rx_en_start_u32+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 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num)+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,自己非抢占
+ resp_tx_en_start_u32 = poll_rx_en_start_u32+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
//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()
@@ -364,7 +369,8 @@
while(mac_is_busy());
gpio_pin_clr(SCL_PIN);
}
-uint16_t uwb_searchcount,range_timeout_us = 5000;
+uint32_t range_timeout_us = 5000;
+uint16_t uwb_searchcount;
uint8_t flag_recsuccess;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
int UwbRange(void)
@@ -400,7 +406,7 @@
temp_count3=phy_timer_count_get();
gpio_pin_set(SCL_PIN);
uwb_rx(0, 0, range_timeout_us);//开启接收
- // while(mac_is_busy());
+ // 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
@@ -420,11 +426,13 @@
break;
}
}
+
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
{ flag_recsuccess = 1;
+ 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];
@@ -459,7 +467,7 @@
}
recev_error_num=0;
- 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);
break;
}
@@ -467,6 +475,8 @@
uwb_rx(0, 0, range_timeout_us);
}
}
+ delay_us(1);
+ uwb_rx_force_off(1);
if(!flag_recsuccess)
{
sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-3));//测试
@@ -479,7 +489,10 @@
search_open_flag = 1;
}
}
+
gpio_pin_clr(SCL_PIN);
+
+ return 0;
}
@@ -540,7 +553,9 @@
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();
+ {
+ sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-1));//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
@@ -571,7 +586,7 @@
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
return 1;//返回发送成功标志
}
@@ -581,6 +596,8 @@
uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
}
+ delay_us(1);
+ 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
--
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