From 30bd11dac942b17928cc730da67768baf3f4c049 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期二, 07 一月 2025 09:50:39 +0800
Subject: [PATCH] 修改打印语句
---
keil/uwb_app.c | 114 ++++++++++++++++++++++++++++++++++++--------------------
1 files changed, 73 insertions(+), 41 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index befa0c1..46f6c11 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -69,7 +69,7 @@
#define RANGING_PERIOD_MS (1000)
/* This is the delay from Frame RX POLL frame to send RESP Frame */
-#define POLL_RX_TO_RESP_TX_DLY_US 4000U //yuan670 with urt 3000success
+#define POLL_RX_TO_RESP_TX_DLY_US 2000U //yuan670 with urt 3000success
#define RESP_TX_TO_FINAL_RX_DLY_US 500U
@@ -432,7 +432,7 @@
// resp_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS);//后面的需要根据已有基站数量进行更改，如果是抢占自己最后一个回复，要有底数
// //这里应该有问题问一下钟工
// }//此处设置绝对时间将poll u32改为phy_timer_count_get()
- resp_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US);
+ resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US);
resp_tx_ts_i64 = ranging_tx_time_correct(resp_tx_en_start_u32 + phy_shr_duration());//修正时间戳
/* Write all timestamps in the final message. See NOTE 8 below. */
resp_msg_set_ts(&send_buffer[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts_i64);
@@ -443,9 +443,9 @@
flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
temp_count1=phy_timer_count_get();
while(mac_is_busy());
- gpio_pin_clr(SCL_PIN);
+
}
-uint32_t range_timeout_us = 5000;//yuan5000
+uint32_t range_timeout_us = 1000000;//yuan5000
uint16_t uwb_searchcount;
uint8_t flag_recsuccess;
@@ -506,17 +506,20 @@
anchordata_num=j;
}
+int success_num=0;
void in_table_log(void)
{
uint32_t u32LogLen,datalenth;
char acReadponse[200];
- u32LogLen = snprintf(acReadponse, sizeof(acReadponse), "车内：%d 人 ID:",get_in_num,get_out_num);
+ //u32LogLen = snprintf(acReadponse, sizeof(acReadponse), "车内：%d 人 测距成功数：%d ID: ",get_in_num,success_num);
+ u32LogLen = snprintf(acReadponse, sizeof(acReadponse), "门内：%d 人 ID: ",get_in_num);
for(uint16_t i=0;i<get_in_num;i++)
{
- datalenth = sprintf((char*)&acReadponse[u32LogLen],",%04X",anchor_id_in[i]);
+ datalenth = sprintf((char*)&acReadponse[u32LogLen],"%04X,",anchor_id_in[i]);
u32LogLen += datalenth;
}
LOG_INFO(TRACE_MODULE_APP,"%s\r\n",acReadponse);
+ success_num=0;
}
void TagListUpdate_person_num_car(void)
{
@@ -652,28 +655,36 @@
if(rssi_ant0>rssi_ant2&&distance_from_tag<200)
{
change_count[position_anchor_exist]++;
+ if(change_count[position_anchor_exist]>0)
+ {
+ position_anchor_in_table=CmpCarInTable(receive_success_id);
+ add_in_car_table(position_anchor_in_table,receive_success_id);
+ }
if(change_count[position_anchor_exist]>=3)
{ change_count[position_anchor_exist]=3;
- position_anchor_in_table=CmpCarInTable(receive_success_id);
- add_in_car_table(position_anchor_in_table,receive_success_id);
+
}
}else if(rssi_ant0<rssi_ant2&&distance_from_tag<200)
{
change_count[position_anchor_exist]--;
- if(change_count[position_anchor_exist]<=-3)
- {change_count[position_anchor_exist]=-3;
+ if(change_count[position_anchor_exist]<0)
+ {
position_anchor_in_table=CmpCarInTable(receive_success_id);
delete_in_car_table(position_anchor_in_table);
+ }
+ if(change_count[position_anchor_exist]<=-3)
+ {change_count[position_anchor_exist]=-3;
}
}
}
+
int UwbRange(void)
{
uint8_t i;
uint16_t tempid;
// The following peripherals will be initialized in the uwb_open function
// phy/mac/aes/lsp/phy timers initialized
- uwb_open();
+
// // Set calibration parameters
// uwb_calibration_params_set(config.phy_cfg.ch_num);
@@ -687,7 +698,7 @@
// };
// phy_adv_params_configure(&adv_config);
-// // uwb configure
+// // uwb configure
// uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);
// ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
@@ -700,6 +711,7 @@
temp_count3=phy_timer_count_get();
gpio_pin_set(SCL_PIN);
sts_lsp_store();
+
flag_temp1=uwb_rx(0, 0, range_timeout_us);//开启接收
// while(mac_is_busy());
@@ -710,25 +722,19 @@
if(end_receive_count>=UINT32_MAX)
{end_receive_count-=UINT32_MAX;}
current_count=phy_timer_count_get();
- while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//循环接受包体,若为124.8K则是+62400000
- {
+
current_count=phy_timer_count_get();
while(mac_is_busy())
{
- Calibration_Time();
+ //Calibration_Time();
IdleTask();
- current_count=phy_timer_count_get();
- if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
- {
- break;
- }
}
sts_lsp_store_stop();
if(receive_flag==1)//成功接收
{
-
+ gpio_pin_clr(SCL_PIN);
//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
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;
@@ -768,23 +774,21 @@
}
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ANT0: %f,信号强度ANT2: %f\r\n",g_com_receive_id,distance,sts_rssi[0],sts_rssi[2]);
- check_if_in_or_out_car(g_com_receive_id,distance,sts_rssi[0],sts_rssi[2]);
+ //LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 包序%d\r\n",g_com_receive_id,distance,frame_seq_nb2);
+ //LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度ANT0:%f,信号强度ANT2: %f\r\n",g_com_receive_id,distance,sts_rssi[0],sts_rssi[2]);
+ //LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度ANT0:%f,信号强度ANT2: %f\r\n",g_com_receive_id,distance,sts_rssi[1],sts_rssi[2]);
+ LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d\r\n",g_com_receive_id,distance);
+ check_if_in_or_out_car(g_com_receive_id,distance,sts_rssi[1],sts_rssi[2]);
+ success_num++;
-
- gpio_pin_clr(SCL_PIN);
+ //gpio_pin_clr(SCL_PIN);
//break;去掉break变为一对多
}
}
- sts_lsp_store();
-
- break;
- //失败或者接受被高发射机打断都会再次开启接收
- //flag_temp1=uwb_rx(0, 0, range_timeout_us);
- }
- delay_us(1);
- sts_lsp_store_stop();
- uwb_rx_force_off(1);
+// sts_lsp_store();
+ gpio_pin_clr(SCL_PIN);
+// sts_lsp_store_stop();
+// uwb_rx_force_off(1);
// if(!flag_recsuccess)
// {
@@ -805,36 +809,49 @@
}
void Uwb_init(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);
-
+ #ifdef STS_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
}
//主函数绑定接受逻辑
int UwbSearch(void)
@@ -844,36 +861,51 @@
// The following peripherals will be initialized in the uwb_open function
// phy/mac/aes/lsp/phy timers initialized
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);
+ #ifdef STS_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
// Register rx interrupt callback function
mac_register_process_handler(tx_int_callback, rx_int_callback);
@@ -973,9 +1005,9 @@
case LINK_SUCCESS:
{ //连接成功进行轮询测距
- uwb_led_on();
+ //uwb_led_on();
UwbRange();
- uwb_led_off();
+ //uwb_led_off();
}
break;
--
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