From b20f94fd39346787a0e99940f0370aae0d84090a Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期六, 21 六月 2025 18:18:34 +0800
Subject: [PATCH] 无感闸机基站第一版，增加存授权表和查表逻辑，将接收标签id改为4字节，但是未找到tagupdate直接回将tagnum清0的问题，导致一直抢占
---
keil/uwb_app.c | 86 +++++++++++++++++++++++++++++++++++++++---
1 files changed, 79 insertions(+), 7 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 7d8709c..42e12c3 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -35,10 +35,11 @@
static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS];
static int16_t rec_ancdistlist[TAG_NUM_IN_SYS];
extern uint8_t group_id;
-static uint16_t anc_id_recv,tag_id_recv;
+static uint16_t anc_id_recv;
+static uint32_t tag_id_recv;
static int16_t rec_antdelay;
extern uint32_t dev_id;
-static uint16_t taglist_pos,tmp_time;
+static uint32_t taglist_pos,tmp_time;
extern uint16_t tag_frequency;
extern uint16_t disoffset;
static uint8_t frame_len,recpoll_len,current_syncid,new_tagid,seize_anchor,result,g_start_sync_flag;
@@ -47,7 +48,7 @@
//resp函数
void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary);//找到自己的id信息对应位置更新自己的交互信息
static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts);//用来对应位置放入时间戳
-static uint16_t tagid_list[TAG_NUM_IN_SYS];
+static uint32_t tagid_list[TAG_NUM_IN_SYS];
uint16_t CmpTagInList(uint16_t tagid);
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos);
static uint8_t send_buffer[100];
@@ -67,6 +68,7 @@
extern uint8_t recev_error_num;
uint8_t uwb_rx_flag;
extern Operation_step UWB_work_state;
+void find_in_tag_id_authorization_list(uint32_t authorization_list_num);
extern int16_t first_search_flag;
typedef enum
{
@@ -461,6 +463,8 @@
// }
// anchordata_num=j;
//}
+uint8_t find_flag;
+extern uint32_t tag_id_authorization_list_num;
void TagListUpdate(void)
{
uint16_t i,j=0,k=0;
@@ -475,6 +479,11 @@
}
}
taglist_num=j;
+ if(find_flag)
+ {
+ find_in_tag_id_authorization_list(tag_id_authorization_list_num);
+ find_flag=0;
+ }
}
uint8_t position;
@@ -484,7 +493,7 @@
memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//组id
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
+ memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,4);//接受者id
send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
// if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式自己为新基站
@@ -644,6 +653,69 @@
// }
UWBIdleTask();
}
+uint8_t tag_authorized_List[TAG_NUM_IN_SYS];
+extern uint8_t bind_flag;
+void bubble_sort(uint32_t *arr, uint32_t n)
+{
+ if (n <= 1) return; // 无需排序
+
+ uint32_t i, j;
+ uint8_t swapped; // 标记是否发生交换
+
+ for (i = 0; i < n - 1; i++) {
+ swapped = 0; // 重置交换标记
+
+ // 每轮将最大元素"冒泡"到末尾
+ for (j = 0; j < n - i - 1; j++) {
+ if (arr[j] > arr[j + 1]) {
+ // 交换相邻元素
+ uint32_t temp = arr[j];
+ arr[j] = arr[j + 1];
+ arr[j + 1] = temp;
+ swapped = 1; // 标记发生了交换
+ }
+ }
+
+ // 优化：如果本轮未发生交换，说明数组已排序
+ if (!swapped) break;
+ }
+}
+void copy_taglist_to_flash(void)
+{
+memcpy(&tag_id_authorization_list,&tagid_list,taglist_num*4);
+//进行排序后存入,为二分法做基础
+bubble_sort(&tag_id_authorization_list,taglist_num);
+save_taglist_map_to_flash();
+}
+
+void find_in_tag_id_authorization_list(uint32_t authorization_list_num)
+{
+ for (uint32_t i = 0; i < taglist_num; i++) {
+ uint32_t target = tagid_list[i];
+ uint32_t left = 0;
+ uint32_t right = authorization_list_num - 1; // 授权列表的最大索引
+ uint8_t found = 0;
+
+ // 二分查找循环
+ while (left <= right) {
+ uint32_t mid = left + ((right - left) >> 1); // 防止整数溢出
+ uint32_t mid_val = tag_id_authorization_list[mid];
+
+ if (mid_val == target) {
+ found = 1;
+ break; // 找到目标值，立即退出循环
+ } else if (mid_val < target) {
+ left = mid + 1;
+ } else {
+ right = mid - 1;
+ }
+ }
+
+ // 存储查找结果
+ tag_authorized_List[i] = found;
+ }
+}
+
int Anchor_App(void)
{
uint8_t i;
@@ -657,7 +729,7 @@
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(&tag_id_recv,&rx_buf[TAG_ID_IDX],4);
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);
@@ -699,8 +771,8 @@
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;//新增基站
+ find_flag=1;
}
break;
}
--
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