From 76dfec4622c64f983570f33588e81e63187fd809 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期五, 15 十一月 2024 15:16:15 +0800
Subject: [PATCH] 增加了uwb_app配置
---
keil/uwb_app.c | 63 +++++++++++++++++++++++++++----
1 files changed, 55 insertions(+), 8 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 2be8e51..2144422 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -13,6 +13,7 @@
extern int simple_main(void);
extern int temp_main(void);
+void Calibration_Time(void);
void TagListUpdate(void);
extern void IO_LED_control_change(uint8_t data);
extern void IO_control_init(void);
@@ -51,8 +52,12 @@
uint32_t temp_count2=0;
uint32_t temp_count3=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;
extern Operation_step UWB_work_state;
@@ -241,7 +246,7 @@
/* RX done process handler. */
int8_t rssi;
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
-{
+{ uint8_t valid_sts=0;
// Power off radio
power_off_radio();
@@ -259,7 +264,19 @@
poll_rx_num++;
rssi = rx_report->rssi;
receive_flag=1;
-
+ 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();
+ }
}
else
{
@@ -405,11 +422,40 @@
uint16_t uwb_searchcount;
uint8_t flag_recsuccess;
uint8_t flag_temp2,flag_temp1;
- uint8_t valid_sts = 0;
-int16_t elevation = 0;
-int16_t azimuth = 0;
-uint8_t fom = 0;
+uint32_t start_receive_count_calibration;
+uint32_t current_count_calibration;
+uint8_t secondtask_search_count,secondtask_search_flag;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag,flag_secondtask;
+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
+// MotorPoll();
+
+ 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
+ }
+}
+
int UwbRange(void)
{
uint8_t i;
@@ -457,6 +503,7 @@
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)
@@ -505,7 +552,7 @@
}
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 信号强度：%d.\r\n",g_com_map[BIND_DEV_ID],distance,rssi);
+ LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度ANT0:%d,信号强度ANT2:%d\r\n",g_com_map[BIND_DEV_ID],distance,sts_rssi[0],sts_rssi[2]);
gpio_pin_clr(SCL_PIN);
break;
}
@@ -641,7 +688,7 @@
}
gpio_pin_clr(SCL_PIN);//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);
+ LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度ANT0:%d,信号强度ANT2:%d\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
}
--
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