From 950676ea7305bb90e08ec88bcac40e4c47fcefca Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期四, 15 五月 2025 11:06:38 +0800
Subject: [PATCH] 添加计步以及测距
---
keil/uwb_app.c | 281 ++++++++++++-------------------------------------------
1 files changed, 64 insertions(+), 217 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 9f34026..847179d 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -324,6 +324,7 @@
uint16_t REPLY_POLL_NUM;
uint16_t ERR_RX_NUM;
uint8_t send_qiangzhan_NUM;
+uint8_t resp_tx_flag;
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{ uint8_t valid_sts=0;
// Power off radio
@@ -333,7 +334,7 @@
if (rx_report->err_code == UWB_RX_OK)
{
-
+ resp_tx_flag=0;
/* Received data does not contain FCS */
rx_length = rx_report->pkt_len;
memcpy(rx_buf, rx_report->pkt_data, rx_length);
@@ -347,6 +348,10 @@
rssi = rx_report->rssi;
receive_flag=1;
Anchor_App();
+ if(resp_tx_flag==0)
+ {
+ OpenUWB();
+ }
#ifdef STS_MODE
valid_sts= sts_valid_check();
if (valid_sts)
@@ -378,16 +383,10 @@
ERR_RX_NUM++;
UWB_STATE=UWB_STATE_IDLE;
- // OpenUWB();//再次开启UWB接收
+ OpenUWB();//再次开启UWB接收
}
- OpenUWB();//再次开启UWB接收
-#ifdef USE_TX_UWBON
- if(UWB_STATE==UWB_STATE_IDLE)
- {
- UWB_STATE=UWB_RX_STATE_BUSY;
- OpenUWB();//再次开启UWB接收
- }
-#endif
+// OpenUWB();//再次开启UWB接收
+
}
uint16_t TX_CALL_POLL_NUM;
/* TX done process handler. */
@@ -395,11 +394,6 @@
{
// Power off radio
power_off_radio();
-#ifdef USE_TX_UWBON
- UWB_STATE=UWB_STATE_IDLE;
- UWB_STATE=UWB_RX_STATE_BUSY;
- OpenUWB();//再次开启UWB接收
-#endif
/** UWB TX success */
if (tx_report->err_code == UWB_TX_OK)
{
@@ -409,6 +403,7 @@
temp_internal=temp_count;
TX_CALL_POLL_NUM++;
+ OpenUWB();
// if(send_qiangzhan_NUM)
// {
// send_qiangzhan_NUM=0;
@@ -561,7 +556,7 @@
temp_count3= phy_timer_count_get();
UWB_STATE==UWB_TX_STATE_BUSY;
flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
-
+ resp_tx_flag=1;
tagofflinetime[taglist_pos] = 0;//更新标签通信
// temp_count1=phy_timer_count_get();
@@ -584,146 +579,7 @@
uint32_t UWB_fachu_count=0;
uint32_t UWB_qiangzhanfachu_count=0;
uint32_t UWB_1003_count,UWB_6666_count=0;
-//int UwbRange(void)
-//{
-// uint8_t i;
-// uint16_t tempid;
-
-// mac_register_process_handler(tx_int_callback, rx_int_callback);
-// receive_flag = 0;
-// flag_recsuccess = 0;
-
-// uwb_rxflag=uwb_rx(0, 0, range_timeout_us);//开启接收
-
-// uwb_rxflag_num1++;
-// // 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
-// end_receive_count=start_receive_count+poll_timeout;
-// if(end_receive_count>=UINT32_MAX)
-// {end_receive_count-=UINT32_MAX;}
-// current_count=phy_timer_count_get();
-// while(mac_is_busy())
-// {
-//// IdleTask();
-// current_count=phy_timer_count_get();
-// if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)//超时时间为4.992秒
-// {
-// break;
-// }
-// }
-//
-// if(receive_flag==1)//成功接收
-// {
-// time_count_sdsj=phy_timer_count_get();
-//// gpio_pin_set(IO_PIN_5);
-//
-//// gpio_pin_clr(IO_PIN_5);
-// #ifdef DEBUG_BOXING
-//// gpio_pin_set(IO_PIN_5);//测试
-//// gpio_pin_clr(IO_PIN_5);//测试
-// #endif
-//// timeceshi1=phy_timer_count_get();
-//// temp_count7=poll_rx_en_start_u32;
-// receive_flag=0;
-// 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
-// {
-//// UWB_shoudao_count++;
-// flag_recsuccess = 1;
-//// 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
-//
-// //rec_nearbase_num=25;
-//
-// memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
-// memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
-// memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
-// // memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
-//// timeceshi1=phy_timer_count_get();
-//// temp_count7=poll_rx_en_start_u32;
-// taglist_pos=CmpTagInList(tag_id_recv);
-// for(i=0; i<rec_nearbase_num; i++)
-// {
-//
-// if(rec_ancidlist[i] == dev_id)
-// {
-// rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
-// PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
-// UWB_fachu_count++;
-//// #ifdef DEBUG_BOXING
-////// gpio_pin_clr(IO_PIN_5);//测试
-//// gpio_pin_set(IO_PIN_5);//测试
-//// #endif
-// }
-// }
-// for(i=0; i<rec_nearbase_num; i++)
-// {
-// memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
-// if(tempid==dev_id)
-// {
-// Anchor_RecNearPoll(i);
-// tagdist_list[taglist_pos]=rec_ancdistlist[i];
-// if(group_min_dist[group_id]>rec_ancdistlist[i])
-// {
-// group_min_dist[group_id] = rec_ancdistlist[i];
-// }
-// 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;
-// }
-// break;
-// }
-// }
-
-// if(i==rec_nearbase_num)
-// {
-//
-// seize_anchor=1; //抢占anchor
-// Anchor_RecNearPoll(i);
-// UWB_qiangzhanfachu_count++;
-
-// }
-// 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);
-//
-// }
-// // uwb_rxflag=uwb_rx(0, 0, range_timeout_us);
-// }
-// #ifdef DEBUG_BOXING
-//// gpio_pin_clr(IO_PIN_5);//测试
-//// gpio_pin_set(IO_PIN_5);//测试
-// #endif
-//
-// delay_us(1);
-// uwb_rx_force_off(1);
-//// gpio_pin_clr(IO_PIN_5);
-//// #ifdef DEBUG_BOXING
-//// gpio_pin_clr(IO_PIN_5);//测试.
-//// #endif
-//// if(!flag_recsuccess)
-//// {
-//// sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-3));//测试
-//// LOG_INFO(TRACE_MODULE_APP,"测距失败，计数：%d\r\n",recev_error_num);
-//// if(recev_error_num++>5)
-//// {
-//// recev_error_num=0;
-//// UWB_work_state=SEARCH_DEV;
-//// uwb_searchcount = 0;
-//// search_open_flag = 1;
-//// }
-//// }
-//// #ifdef DEBUG_BOXING
-//// gpio_pin_clr(IO_PIN_5);//测试
-////// gpio_pin_set(IO_PIN_5);//测试
-//// #endif
-//}
int Uwbinit(void)
{
uwb_open();
@@ -747,6 +603,53 @@
// Register rx interrupt callback function
mac_register_process_handler(tx_int_callback, rx_int_callback);
}
+//void Uwbinit(void)
+//{
+// uwb_open();
+// #ifdef STS_MODE
+// // Set STS key and IV
+// phy_sts_key_configure(&sts_iv_key);
+//
+// // which RX ports will be used for AoA/PDoA
+// phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
+// #endif
+// // Set calibration parameters
+// uwb_calibration_params_set(config.phy_cfg.ch_num);
+// #ifndef STS_MODE
+// // set advanced parameters
+// struct PHY_ADV_CONFIG_T adv_config = {
+// .thres_fap_detect = 40,
+// .nth_scale_factor = 4,
+// .ranging_performance_mode = 0,
+// .skip_weakest_port_en = 0,
+// };
+// #else
+// // set advanced parameters
+// struct PHY_ADV_CONFIG_T adv_config = {
+// .thres_fap_detect = 40,
+// .nth_scale_factor = 4,
+// .ranging_performance_mode = 3,
+// .skip_weakest_port_en = 0,
+// };
+// #endif
+// phy_adv_params_configure(&adv_config);
+
+// // uwb configure
+// uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);
+// #if (defined STS_MODE) || (defined MK_MODE)
+// ranging_lib_init();
+// #endif
+// ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
+// #ifdef STS_MODE
+// aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM);
+// aoa_steering_vector_set((const float *)((uint32_t)((config.phy_cfg.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) | SRAM_BASE));
+
+// aoa_param_config();
+//
+// phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
+// #endif
+// mac_register_process_handler(tx_int_callback, rx_int_callback);//初始化回调
+//}
uint16_t g_com_receive_id;
void CloseUWB(void)
{
@@ -785,69 +688,11 @@
}
return 0;
}
-enumwltagstate wltag_state=RANGE;
-uint32_t wltag_statetimer,wltag_uwbtimer;
+
+//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)
-// {
-// UWB_LED_ON;
-// wltag_uwbtimer = HIDO_TimerGetTick();
-// if(UWB_STATE==UWB_STATE_IDLE)
-// {
-// UWB_STATE=UWB_RX_STATE_BUSY;
-// OpenUWB();
-// }
-// }
-// else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1)
-// {
-//// time_flag=HIDO_TimerGetTick()-wltag_uwbtimer;
-// UWB_LED_OFF;
-// wltag_uwbtimer = HIDO_TimerGetTick();
-// CloseUWB();
-// UWB_STATE=UWB_STATE_IDLE;
-// }
-// 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
-// {
-// if(UWB_STATE==UWB_STATE_IDLE)
-// {
-// UWB_STATE=UWB_RX_STATE_BUSY;
-// OpenUWB();
-// }
-// }
-// wltag_state = SEARCH;
-// }
-// break;
-// case SEARCH:
-// if(HIDO_TimerGetTick()-wltag_statetimer>1)
-// {
-// wltag_statetimer = HIDO_TimerGetTick();
-// wltag_state = CLOSE;
-// CloseUWB();
-// UWB_STATE=UWB_STATE_IDLE;
-// }
-// break;
-// case CLOSE:
-// if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
-// {
-// wltag_statetimer = HIDO_TimerGetTick();
-// wltag_state = SEARCH;
-// if(UWB_STATE==UWB_STATE_IDLE)
-// {
-// UWB_STATE=UWB_RX_STATE_BUSY;
-// OpenUWB();
-// }
-// }
-// break;
-// }
UWBIdleTask();
}
@@ -859,7 +704,8 @@
uint16_t tempid;
if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//判断是否是和自己是同一组通讯的且为poll包
{ flag_recsuccess = 1;
- wltag_state=RANGE;//成功后从search切换为range
+// wltag_state=RANGE;//成功后从search切换为range
+
REV_POLL_NUM++;
memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
//temp_count2=phy_timer_count_get();
@@ -872,6 +718,7 @@
memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
taglist_pos=CmpTagInList(tag_id_recv);
+ UWB_LED_ON;
if(taglist_num>=ANC_MAX_NUM)
return 0;
for(i=0; i<rec_nearbase_num; i++)
--
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