From b4a3dfd45831f0db1e19f74beb685027e8dbc564 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期四, 29 八月 2024 12:04:09 +0800
Subject: [PATCH] 修改部分状态逻辑判断
---
keil/uwb_app.c | 102 +++++++++++++++++++++++++++-----------------------
1 files changed, 55 insertions(+), 47 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 19d0818..2e708f4 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -50,7 +50,7 @@
uint32_t temp_count2=0;
uint32_t temp_count3=0;
uint32_t temp_internal=0;
-int temp_flag,distance;
+int32_t distance;
uint8_t taglist_num;
extern uint8_t recev_error_num;
@@ -87,7 +87,7 @@
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define DELAY_DEFAULT 1000
-#define HALF_SECOND_TIME 62400000
+#define HALF_SECOND_TIME 624000000
/* Length of the common part of the message */
#define MSG_COMMON_LEN 10
@@ -143,9 +143,9 @@
static uint32_t resp_tx_timeout;
int64_t temp_resp_i64;
/* 41 bits timestamps of frames transmission/reception. */
- int64_t poll_rx_ts_i64;
- int64_t resp_tx_ts_i64;
- int64_t final_rx_ts_i64;
+int64_t poll_rx_ts_i64;
+int64_t resp_tx_ts_i64;
+int64_t final_rx_ts_i64;
/* Frame sequence number, incremented after each transmission. */
static uint8_t frame_seq_nb = 0;
@@ -196,6 +196,7 @@
}
/* RX done process handler. */
+int8_t rssi;
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{
// Power off radio
@@ -213,6 +214,7 @@
poll_rx_en_start_u32 = rx_rpt.timestamp - phy_shr_duration();
poll_rx_ts_i64 = ranging_rx_time_correct(&rx_rpt);
poll_rx_num++;
+ rssi = rx_report->rssi;
receive_flag=1;
recev_error_num=0;
}
@@ -226,7 +228,7 @@
/* UWB_STS_ERR STS error */
memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
rx_length = 0;
-
+
}
}
@@ -272,6 +274,7 @@
anchordata_dist[i] = dist;
anchordata_bat[i] = battary;
tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
+ //if(dist>0)
distance=dist;
}
uint16_t CmpTagInList(uint16_t tagid)
@@ -337,11 +340,13 @@
memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&disoffset,2);//差个修正offset,修正有符号但是这个com表为无符号的,传过去直接赋给Int16_t相当于还原了
temp_resp_i64=resp_tx_ts_i64;
temp_count3= phy_timer_count_get();
- temp_flag=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
+ 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);
}
+uint16_t uwb_searchcount;
+extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
int UwbRange(void)
{
uint8_t i;
@@ -400,6 +405,7 @@
{
if(rec_ancidlist[i] == dev_id)
{
+ rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
}
}
@@ -418,18 +424,20 @@
{
seize_anchor=1; //抢占anchor
Anchor_RecNearPoll(i);
-
- }
- }
- }else{
-
- if(recev_error_num++>20)
- {
- recev_error_num=0;
- UWB_work_state=SEARCH_DEV;
}
- }
+ 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);
+ }
+ } else {
+ LOG_INFO(TRACE_MODULE_APP,"测距失败\r\n");
+ if(recev_error_num++>5)
+ {
+ recev_error_num=0;
+ UWB_work_state=SEARCH_DEV;
+ uwb_searchcount = 0;
+ search_open_flag = 1;
+ }
+ }
sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
gpio_pin_clr(SCL_PIN);
}
@@ -438,7 +446,7 @@
//主函数绑定接受逻辑
int UwbSearch(void)
{
-
+
uint8_t i;
uint16_t tempid;
// The following peripherals will be initialized in the uwb_open function
@@ -475,18 +483,18 @@
{
end_receive_count-=UINT32_MAX;
}
-
+
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
{
while(mac_is_busy())
- {
+ {
current_count=phy_timer_count_get();
if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
{
-
+ break;
}
}
-
+
temp_count2=phy_timer_count_get();
if(receive_flag==1)//成功接收
{
@@ -523,13 +531,13 @@
Anchor_RecNearPoll(i);
}
sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
- gpio_pin_clr(SCL_PIN);//测试
- return 1;//返回发送成功标志
+ gpio_pin_clr(SCL_PIN);//测试
+ return 1;//返回发送成功标志
}
-
+
}
-
- uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
+
+ uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
}
gpio_pin_clr(SCL_PIN);//测试
@@ -538,26 +546,26 @@
//}
#define SEARCH_TIMESTEMP 120
-uint16_t uwb_searchcount;
-extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
void UWBPoll(void)
{
- switch(UWB_work_state)
- {
+ LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
+ switch(UWB_work_state)
+ {
case LINK_SUCCESS:
{ //连接成功进行轮询测距
-
- uwb_led_on();
- UwbRange();
- uwb_led_off();
-
+
+ uwb_led_on();
+ UwbRange();
+ uwb_led_off();
+
}
break;
case SEARCH_DEV:
{ //接包不成功或者通讯失败进入搜索模式
- if(search_open_flag)
- {
- first_search_flag=0;
+ if(search_open_flag)
+ {
+ LOG_INFO(TRACE_MODULE_APP,"开启搜索\r\n");
+ search_open_flag=0;
uwb_led_on();
link_success_flag=UwbSearch();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
uwb_led_off();
@@ -574,18 +582,18 @@
break;
}
if(UWB_work_state==LINK_SUCCESS)
- { //成功时清0错误计数
- uwb_searchcount=0;
+ { //成功时清0错误计数
+ uwb_searchcount=0;
}
if(UWB_work_state==SEARCH_DEV)
- {
+ {
if(!search_open_flag)
- {
+ {
if(uwb_searchcount++>SEARCH_TIMESTEMP)
- {
- uwb_searchcount=0;
- search_open_flag=1;
- }
+ {
+ uwb_searchcount=0;
+ search_open_flag=1;
+ }
}
//link_error_count+=g_com_map[COM_INTERVAL];
//if(link_error_count>=g_com_map[4G_INTERNAL])
--
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