From 93175ede1cf9777495df57f1e2552944e4b75bfb Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期二, 15 十月 2024 15:25:20 +0800
Subject: [PATCH] 安邦车载手环V1.10版本，提前search模式sleeptimeropen的时间，并修改distance的过滤逻辑，解决测距不稳定时测距变小问题，解决2分钟或更长搜不到标签的问题
---
keil/uwb_app.c | 28 +++++++++++++++++++---------
1 files changed, 19 insertions(+), 9 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index e61a15f..1652d93 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -270,6 +270,7 @@
uint16_t random_time;
//anchor
int32_t hist_dist;
+int16_t temp_recdist_before_offset;
void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary)
{
uint8_t i;
@@ -291,7 +292,12 @@
anchordata_bat[i] = battary;
tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
// if(dist>0)
+ if(temp_recdist_before_offset!=0x1ffff&&temp_recdist_before_offset!=0&&temp_recdist_before_offset!=0x7fff&&distance!=0x1ffff)
+ {
distance=dist*0.5+distance*0.5;
+ }else{
+ distance=dist;
+ }
}
uint16_t CmpTagInList(uint16_t tagid)
{ uint16_t i;
@@ -367,6 +373,7 @@
uint32_t range_timeout_us = 5000;
uint16_t uwb_searchcount;
uint8_t flag_recsuccess;
+uint8_t flag_temp2;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
int UwbRange(void)
{
@@ -400,7 +407,8 @@
flag_recsuccess = 0;
temp_count3=phy_timer_count_get();
gpio_pin_set(SCL_PIN);
- uwb_rx(0, 0, range_timeout_us);//开启接收
+ flag_temp2=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();
@@ -427,7 +435,7 @@
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
+ 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];
@@ -439,7 +447,7 @@
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);
}
@@ -459,15 +467,14 @@
{
seize_anchor=1; //抢占anchor
Anchor_RecNearPoll(i);
-
}
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);
break;
}
} else {
- uwb_rx(0, 0, range_timeout_us);
+ flag_temp2=uwb_rx(0, 0, range_timeout_us);
}
}
delay_us(1);
@@ -523,7 +530,7 @@
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
+ 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;
@@ -549,7 +556,8 @@
{
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
{
- sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-1));//测试
+ sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-15));//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];
@@ -562,6 +570,8 @@
{
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);
}
}
@@ -588,7 +598,7 @@
}
temp_count3=phy_timer_count_get();
- uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
+ flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
}
delay_us(1);
--
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