From 2ebb8217f43b69f491620423ea4d5d5944d1f91d Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期六, 05 七月 2025 22:43:58 +0800
Subject: [PATCH] 格式化部分代码
---
keil/uwb_app.c | 323 +++++++++++++++++++++++++++--------------------------
1 files changed, 164 insertions(+), 159 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 4dbf58a..45aa7e4 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -72,12 +72,12 @@
uint8_t uwb_rx_flag;
extern Operation_step UWB_work_state;
extern int16_t first_search_flag;
-typedef enum
+typedef enum
{
- SEARCH,
+ SEARCH,
CLOSE,
RANGE,
-}enumwltagstate;
+} enumwltagstate;
#define TAGFREQ_IDX 7
/* Ranging period */
@@ -242,9 +242,9 @@
};
#endif
-static struct anchor_id_car{
- uint16_t anchor_new_id;
- uint16_t change_num;
+static struct anchor_id_car {
+ uint16_t anchor_new_id;
+ uint16_t change_num;
};
/* Buffer to store received frame */
@@ -335,14 +335,14 @@
uint8_t rxnumoknum,rxnumerrornum;
uint8_t resp_tx_flag;
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
-{ uint8_t valid_sts=0;
+{ uint8_t valid_sts=0;
// Power off radio
power_off_radio();
rxnum++;
-
+
/** UWB RX success */
if (rx_report->err_code == UWB_RX_OK)
- {
+ {
resp_tx_flag=0;
rxnumoknum++;
/* Received data does not contain FCS */
@@ -356,10 +356,10 @@
poll_rx_num++;
rssi = rx_report->rssi;
receive_flag=1;
- Anchor_App();
+ Anchor_App();
if(resp_tx_flag==0)
{
- OpenUWB();
+ OpenUWB();
}
// #ifdef STS_MODE
// valid_sts= sts_valid_check();
@@ -386,12 +386,12 @@
/* UWB_TO_ERR Receive timeout */
/* UWB_STS_ERR STS error */
rxnumerrornum++;
- temp_count= phy_timer_count_get();
+ temp_count= phy_timer_count_get();
memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
rx_length = 0;
receive_error_flag=1;
-
- OpenUWB();
+
+ OpenUWB();
// OpenUWB();//再次开启UWB接收
}
@@ -414,7 +414,7 @@
temp_internal=temp_count;
resp_tx_num++;
- OpenUWB();
+ OpenUWB();
// OpenUWB();//再次开启UWB接收
//LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
@@ -422,7 +422,7 @@
// OpenUWB();//再次开启UWB接收
}
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];
+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;
@@ -449,20 +449,20 @@
anchordata_num++;
}
anchordata_id[i] = ancid;//与之通信的标签id存入当前表中
- distance=dist*0.5+(int16_t)anchordata_dist[i]*0.5;
+ distance=dist*0.5+(int16_t)anchordata_dist[i]*0.5;
anchordata_dist[i] = dist;
anchordata_bat[i] = battary;
tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
- dist_temp=dist;
+ dist_temp=dist;
// if(dist>0)
-
+
// if(temp_recdist_before_offset!=0&&distance!=0x1ffff)
// {
// distance=dist*0.5+distance*0.5;
// }else{
// distance=dist;
// }
-
+
}
//uint16_t CmpTagInList(uint16_t tagid)
//{ uint16_t i;
@@ -534,19 +534,19 @@
//}
void TagListUpdate(void)
{
-uint16_t i,j=0,k=0;
+ uint16_t i,j=0,k=0;
for(i=0; i<taglist_num; i++)
{
- if(tagofflinetime[i]++<TAG_KEEPTIMES)
+ if(tagofflinetime[i]++<TAG_KEEPTIMES)
{
tagid_list[j]=tagid_list[i];
tagdist_list[j] = tagdist_list[i];
- anchordata_bat[j]=anchordata_bat[i];//电量随之更新
+ anchordata_bat[j]=anchordata_bat[i];//电量随之更新
anchor_rssi[j]=anchor_rssi[i];
tagofflinetime[j++]=tagofflinetime[i];
}
- }
- taglist_num=j;
+ }
+ taglist_num=j;
}
uint8_t position;
@@ -559,7 +559,7 @@
memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);//自身id
memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);//接受者id
send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
- memcpy(&send_buffer[TAGFREQ_IDX],&tag_frequency,2);
+ memcpy(&send_buffer[TAGFREQ_IDX],&tag_frequency,2);
position=ancrec_nearbasepos;
resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+ancrec_nearbasepos*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//加入帧间隔
@@ -572,7 +572,7 @@
temp_count3= phy_timer_count_get();
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
+ tagofflinetime[taglist_pos] = 0;//更新标签通信
// temp_count1=phy_timer_count_get();
// temp_endcount1=phy_timer_count_get()+MS_TO_PHY_TIMER_COUNT(10);
// while(mac_is_busy())
@@ -615,33 +615,33 @@
return i;
}
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
-
-
- if(secondtask_search_count++%2==0)
+{
+ 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))))
{
- secondtask_search_flag = 1;
- }else{
- secondtask_search_flag = 0;
- }
- if(secondtask_search_flag)//更新S时间TICK
- {
- HIDO_TimerTick();
- TagListUpdate();
+ start_receive_count_calibration=current_count_calibration;//更新开始时间
+
+
+ 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
- }
+ }
}
uint16_t g_com_receive_id;
uint8_t usart_send[400];
@@ -650,34 +650,34 @@
uint16_t tagseq;
void CloseUWB(void)
{
- uwb_rx_force_off(1);
- uwb_rx_flag=0;
- //LOG_INFO(TRACE_MODULE_APP,"关闭uwb_rx\r\n");
+ uwb_rx_force_off(1);
+ uwb_rx_flag=0;
+ //LOG_INFO(TRACE_MODULE_APP,"关闭uwb_rx\r\n");
}
void OpenUWB(void)
{
// while(!mac_is_busy())
// {
- flag_temp1=uwb_rx(0, 0,range_timeout_us);//提交接收请求
- uwb_rx_flag=1;
+ flag_temp1=uwb_rx(0, 0,range_timeout_us);//提交接收请求
+ uwb_rx_flag=1;
// }
- //LOG_INFO(TRACE_MODULE_APP,"打开uwb_rx\r\n");
-}
+ //LOG_INFO(TRACE_MODULE_APP,"打开uwb_rx\r\n");
+}
void UWBOneSecondTask(void)
{
- TagListUpdate();//更新标签数
- uwb_losttimer++;
- if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
- uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//防止溢出
+ TagListUpdate();//更新标签数
+ uwb_losttimer++;
+ if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
+ uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//防止溢出
}
extern uint16_t gaodu;
void UWBSendUDPTask(void)
{
- uint16_t checksum,tempdistarray[20];
+ uint16_t checksum,tempdistarray[20];
// UDP_TEST();
- for(uint16_t i=0;i<taglist_num-1;i++)
+ for(uint16_t i=0; i<taglist_num-1; i++)
{
- for(uint16_t j=0;j<taglist_num-1-i;j++)
+ for(uint16_t j=0; j<taglist_num-1-i; j++)
{
if(tagdist_list[j]>tagdist_list[j+1])
{
@@ -698,7 +698,7 @@
anchor_rssi[j+1] = rssi1;
}
}
-
+
}
// if(taglist_num>0)
// {
@@ -710,36 +710,38 @@
// }
// }
// Set4LEDColor(uwbled,rtkled,led4g,powerled);
-
+
if(taglist_num>14) //最多上传20个基站数据，距离最近的20个
taglist_num = 14;
- usart_send[0]= 0x55;
- usart_send[1]= 0xaa;
- usart_send[2] = 0x12;//正常模式
- usart_send[3] = 15+5*(taglist_num);//数据段长度
- memcpy(&usart_send[4],&dev_id,2);
- usart_send[6] = tagseq;
- usart_send[7] = (tagseq++)>>8;
- usart_send[8] = bat_percent;
+ usart_send[0]= 0x55;
+ usart_send[1]= 0xaa;
+ usart_send[2] = 0x12;//正常模式
+ usart_send[3] = 15+5*(taglist_num);//数据段长度
+ memcpy(&usart_send[4],&dev_id,2);
+ usart_send[6] = tagseq;
+ usart_send[7] = (tagseq++)>>8;
+ usart_send[8] = bat_percent;
// usart_send[8] = rxnum;
- usart_send[9] = userkey_state|0<<1|0<<2|0<<5|uwb_state<<6;
- // memcpy(&usart_send[10],&rec_tagheight,2);
- memcpy(&usart_send[12],gaodu,2);
+ usart_send[9] = userkey_state|0<<1|0<<2|0<<5|uwb_state<<6;
+ // memcpy(&usart_send[10],&rec_tagheight,2);
+ memcpy(&usart_send[12],gaodu,2);
// usart_send[12] = 0;
// usart_send[13] = 0;
- usart_send[14] = 0;
- usart_send[15] = 0;
- usart_send[16] = taglist_num;
-
- memcpy(&usart_send[17],&tagid_list,2*taglist_num);
- memcpy(&usart_send[17+taglist_num*2],&tagdist_list,2*taglist_num);
- memcpy(&usart_send[17+taglist_num*4],&anchordata_bat,taglist_num);
- checksum = Checksum_u16(&usart_send[2],15+5*taglist_num);
- memcpy(&usart_send[17+5*taglist_num],&checksum,2);
- HexToAsciiSendUDP(usart_send,19+5*taglist_num);
-// taglist_num = 0;
+ usart_send[14] = 0;
+ usart_send[15] = 0;
+ usart_send[16] = taglist_num;
+
+ memcpy(&usart_send[17],&tagid_list,2*taglist_num);
+ memcpy(&usart_send[17+taglist_num*2],&tagdist_list,2*taglist_num);
+ memcpy(&usart_send[17+taglist_num*4],&anchordata_bat,taglist_num);
+ checksum = Checksum_u16(&usart_send[2],15+5*taglist_num);
+ memcpy(&usart_send[17+5*taglist_num],&checksum,2);
+ HexToAsciiSendUDP(usart_send,19+5*taglist_num);
+// taglist_num = 0;
// rxnum=0;
}
+extern uint32_t step_count;
+extern uint8_t uwb_OpenClose_flag;
void UWBIdleTask(void)
{
// if(receive_flag)
@@ -753,43 +755,46 @@
// receive_error_flag=0;
// OpenUWB();
// }
- if(HIDO_TimerGetTick()-uwbtasktimer >=1)
- {
- uwbtasktimer = HIDO_TimerGetTick();
- UWBOneSecondTask();
- if(g_com_map[UWBFrequency]==1)
+ if(HIDO_TimerGetTick()-uwbtasktimer >=1)
+ {
+ step_count = mir3da_get_step(); // 获取步数
+ uwbtasktimer = HIDO_TimerGetTick();
+ UWBOneSecondTask();
+ if(g_com_map[UWBFrequency]==1&&uwb_OpenClose_flag==1)
{
- UWBSendUDPTask();
+ UWBSendUDPTask();
}
- }
+ }
}
int uwb_app_poll(void)
{
- UWBIdleTask();
+ UWBIdleTask();
}
extern uint8_t uwb_offtime_count;
int Anchor_App(void)
{
- uint8_t i;
- uint16_t tempid;
- uwb_offtime_count=0;
- current_state = STATE_NORMAL;
- 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
- memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
- //temp_count2=phy_timer_count_get();
- uwb_losttimer=0;//成功测距清0 lost时间
- 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
- 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);
- uwbled=BLUE;
-
-
+ uint8_t i;
+ uint16_t tempid;
+ uwb_offtime_count=0;
+#ifdef CEJU_ZIUMIAN
+ current_state = STATE_NORMAL;
+#endif
+ 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
+ memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
+ //temp_count2=phy_timer_count_get();
+ uwb_losttimer=0;//成功测距清0 lost时间
+ 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
+ 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);
+ uwbled=BLUE;
+
+
// for(i=0; i<rec_nearbase_num; i++)
// {
// if(rec_ancidlist[i] == dev_id)
@@ -814,85 +819,85 @@
// seize_anchor=1; //抢占anchor
// Anchor_RecNearPoll(i);
// }
- taglist_pos=CmpTagInList(tag_id_recv);
- if(taglist_num>=ANC_MAX_NUM)
- return 0;
- 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];
- anchordata_bat[taglist_pos] = battary;//保存该基站电量
- anchor_rssi[taglist_pos]=rssi;
- 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&&taglist_pos==taglist_num)||(rec_nearbase_num==0&&!ExistInTagList(tag_id_recv)))//当基站不在标签列表中，标签也不在基站列表中时，随机找个时间片回复基站。
- {
- Anchor_RecNearPoll(rec_nearbase_num);
+ taglist_pos=CmpTagInList(tag_id_recv);
+ if(taglist_num>=TAG_NUM_IN_SYS)
+ return 0;
+ 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];
+ anchordata_bat[taglist_pos] = battary;//保存该基站电量
+ anchor_rssi[taglist_pos]=rssi;
+ 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&&taglist_pos==taglist_num)||(rec_nearbase_num==0&&!ExistInTagList(tag_id_recv)))//当基站不在标签列表中，标签也不在基站列表中时，随机找个时间片回复基站。
+ {
+ Anchor_RecNearPoll(rec_nearbase_num);
+ }
+ }
// else
// {
// OpenUWB();
// }
-
-
+
+
}
void Uwb_init(void)
{
- uwb_open();
- #ifdef STS_MODE
- // Set STS key and IV
+ 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
+
+ // which RX ports will be used for AoA/PDoA
phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
- #endif
+#endif
// Set calibration parameters
uwb_calibration_params_set(config.phy_cfg.ch_num);
- #ifndef STS_MODE
- // set advanced parameters
+#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
+#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
+#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
+#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);
+#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
+
+ 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
}
--
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