From 7f6ea7b60ba9e752355cdbb136304e03dbfc7187 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期三, 26 三月 2025 13:52:49 +0800
Subject: [PATCH] 做了室内室外的基本判断，现在室内一分钟上传一次心跳包
---
keil/uwb_app.c | 92 ++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 88 insertions(+), 4 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 4358095..2b3c21b 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -11,6 +11,7 @@
#include "board.h"
#include "lib_aoa.h"
#include "WS2812.h"
+#include "PCA9555.h"
extern int simple_main(void);
extern int temp_main(void);
void Calibration_Time(void);
@@ -37,7 +38,7 @@
extern uint8_t group_id;
static uint16_t anc_id_recv,tag_id_recv;
static int16_t rec_antdelay;
-extern uint32_t dev_id;
+extern uint16_t dev_id;
static uint16_t taglist_pos,tmp_time;
extern uint16_t tag_frequency;
extern uint16_t disoffset;
@@ -343,7 +344,7 @@
memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
rx_length = 0;
receive_error_flag=1;
- OpenUWB();//再次开启UWB接收
+ OpenUWB();//再次开启UWB接收
}
// CloseUWB();
// OpenUWB();//再次开启UWB接收
@@ -371,6 +372,7 @@
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];
static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
+static int8_t anchor_rssi[TAG_NUM_IN_SYS];
uint8_t anchordata_num = 0;
static int16_t tagdist_list[TAG_NUM_IN_SYS];
uint16_t random_time;
@@ -478,6 +480,9 @@
// }
// anchordata_num=j;
//}
+extern uint8_t in_the_room_flag;
+extern uint8_t lounei_flag;
+uint8_t ceju_onlinetime;
void TagListUpdate(void)
{
uint16_t i,j=0,k=0;
@@ -488,8 +493,17 @@
tagid_list[j]=tagid_list[i];
tagdist_list[j] = tagdist_list[i];
anchordata_bat[j]=anchordata_bat[i];//电量随之更新
+ anchor_rssi[j]=anchor_rssi[i];
tagofflinetime[j++]=tagofflinetime[i];
+ in_the_room_flag=0;
+ ceju_onlinetime++;
}
+
+ }
+ if(ceju_onlinetime>0||taglist_num==0)
+ {
+ ceju_onlinetime=0;
+ in_the_room_flag=1;
}
taglist_num=j;
}
@@ -626,15 +640,19 @@
{
uint16_t id,dist;
uint8_t bat;
+ int8_t rssi1;
id = tagid_list[j];
dist = tagdist_list[j];
bat = anchordata_bat[j];
+ rssi1=anchor_rssi[j];
tagid_list[j] = tagid_list[j+1];
tagdist_list[j] = tagdist_list[j+1];
anchordata_bat[j] = anchordata_bat[j+1];
+ anchor_rssi[j] = anchor_rssi[j+1];
tagid_list[j+1] = id;
tagdist_list[j+1] = dist;
anchordata_bat[j+1] = bat;
+ anchor_rssi[j+1] = rssi1;
}
}
@@ -698,10 +716,63 @@
UWBSendUDPTask();
}
}
+//int uwb_app_poll(void)
+//{
+//
+// UWBIdleTask();
+//}
+//enumwltagstate wltag_state=RANGE;
+uint32_t wltag_statetimer,wltag_uwbtimer;
int uwb_app_poll(void)
{
+ switch(wltag_state)
+ {
+
+ case RANGE:
+// time_flag=HIDO_TimerGetTick()-wltag_uwbtimer;
+ 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)
+ {
+// time_flag=HIDO_TimerGetTick()-wltag_uwbtimer;
+ 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();
}
+uint8_t in_the_room_flag=0;
int Anchor_App(void)
{
uint8_t i;
@@ -755,11 +826,24 @@
Anchor_RecNearPoll(i);
tagdist_list[taglist_pos]=rec_ancdistlist[i];
anchordata_bat[taglist_pos] = battary;//保存该基站电量
+ anchor_rssi[taglist_pos]=rssi;
+// in_the_room_flag=1;
+// if(dev_id==g_com_map[DOOR_UWB_1])
+// {
+//
+// }
+// if(dev_id==g_com_map[DOOR_UWB_2])
+// {
+//
+// }
+// if(dev_id==g_com_map[DOOR_UWB_3])
+// {
+// IN_THE_ROOM_FLAG=1;
+// }
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;
-
+ tagid_list[taglist_pos] = tag_id_recv;
}
break;
}
--
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