From c34a56ed63ad55ab9c7985c59f8ee28ef74c914b Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期三, 15 一月 2025 18:05:06 +0800
Subject: [PATCH] 修改算法
---
keil/uwb_app.c | 132 +++++++++++++++++++++++++++++--------------
1 files changed, 89 insertions(+), 43 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index e2d1246..756d73d 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -97,7 +97,7 @@
/* RX window open in advance */
#define RX_WIN_IN_ADVANCE_US (150)
-#define DELAY_BETWEEN_TWO_FRAME_UUS 300 //yuan1400
+#define DELAY_BETWEEN_TWO_FRAME_UUS 500 //yuan1400
/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -432,7 +432,7 @@
}
}
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];
+int16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
uint8_t anchordata_num = 0;
static int32_t tagdist_list[TAG_NUM_IN_SYS];
@@ -486,6 +486,15 @@
return i;
}
+uint16_t ExistInTagList(uint16_t tagid)
+{ uint16_t i;
+ for(i=0; i<taglist_num; i++)
+ {
+ if(memcmp(&tagid,&tagid_list[i],2)==0)
+ return 1;
+ }
+ return 0;
+}
uint16_t CmpCarInExistList(uint16_t tagid)
{ uint16_t i;
for(i=0; i<anchordata_num; i++)
@@ -510,22 +519,36 @@
}
}
+//void TagListUpdate(void)
+//{
+// uint8_t i,j=0;
+// for(i=0; i<anchordata_num; i++)
+// {
+// if(tagofflinetime[i]++<QUIT_SLOT_TIME)
+// {
+// anchordata_id[j]=anchordata_id[i];
+// tagofflinetime[j++]=tagofflinetime[i];
+// }
+// }
+// anchordata_num=j;
+//}
void TagListUpdate(void)
{
- uint8_t i,j=0;
- for(i=0; i<anchordata_num; i++)
+uint16_t i,j=0,k=0;
+ for(i=0; i<taglist_num; i++)
{
- if(tagofflinetime[i]++<QUIT_SLOT_TIME)
+ if(tagofflinetime[i]++<TAG_KEEPTIMES)
{
- anchordata_id[j]=anchordata_id[i];
+ tagid_list[j]=tagid_list[i];
+ tagdist_list[j] = tagdist_list[i];
+ anchordata_bat[j]=anchordata_bat[i];//电量随之更新
tagofflinetime[j++]=tagofflinetime[i];
}
- }
- anchordata_num=j;
+ }
+ taglist_num=j;
}
-
uint16_t g_com_receive_id;
-uint8_t cmd_flag;
+uint8_t cmd_flag,position;;
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos)//根据自己是否为新基站定制消息去发送，根据是否抢占判断
{
cmd_flag=0;
@@ -578,7 +601,8 @@
// 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 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US);
+ 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
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);
@@ -587,9 +611,10 @@
temp_resp_i64=resp_tx_ts_i64;
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
+ tagofflinetime[taglist_pos] = 0;//更新标签通信
// temp_count1=phy_timer_count_get();
//while(mac_is_busy());
- gpio_pin_clr(SCL_PIN);
+ //gpio_pin_clr(SCL_PIN);
}
}
@@ -682,10 +707,10 @@
uwbsend[0]=0x55;
uwbsend[1]=0xaa;
uwbsend[2]=0x40;
- uwbsend[3]=anchordata_num;
- memcpy(&uwbsend[4],&anchordata_id,anchordata_num*2);
- memcpy(&uwbsend[4+anchordata_num*2],&anchordata_dist,anchordata_num*2);
- uart_send(UART_ID0, uwbsend,anchordata_num*4+4, NULL);
+ uwbsend[3]=taglist_num;
+ memcpy(&uwbsend[4],&tagid_list,taglist_num*2);
+ memcpy(&uwbsend[4+taglist_num*2],&tagdist_list,taglist_num*2);
+ uart_send(UART_ID0, uwbsend,taglist_num*4+4, NULL);
// for(int i=0;i<anchordata_num;i++)
// {
// LOG_INFO(TRACE_MODULE_APP,"当前测距基站ID:%x,距离:%d.\r\n",anchordata_id[i],anchordata_dist[i]);
@@ -738,7 +763,7 @@
}
int Anchor_App(void)
{
- uint8_t i;
+ uint8_t i;
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;
@@ -753,34 +778,55 @@
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);
- for(i=0; i<rec_nearbase_num; i++)
- {
- if(rec_ancidlist[i] == dev_id)
- { temp_recdist_before_offset=rec_ancdistlist[i];
- rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
- PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
- }
- }
- for(i=0; i<rec_nearbase_num; i++)
- {
- memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
- if(tempid==dev_id)//也是比id如果有就更新没有就抢占
- {
- seize_anchor=0; //非抢占。已存在列表中
- Anchor_RecNearPoll(i);
- break;
- }
- }
+// for(i=0; i<rec_nearbase_num; i++)
+// {
+// if(rec_ancidlist[i] == dev_id)
+// { temp_recdist_before_offset=rec_ancdistlist[i];
+// rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
+// PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
+// }
+// }
+// for(i=0; i<rec_nearbase_num; i++)
+// {
+// memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
+// if(tempid==dev_id)//也是比id如果有就更新没有就抢占
+// {
+// seize_anchor=0; //非抢占。已存在列表中
+// Anchor_RecNearPoll(i);
+// break;
+// }
+// }
- if(i==rec_nearbase_num)
- {
- seize_anchor=1; //抢占anchor
- Anchor_RecNearPoll(i);
- }
- }else{
-// OpenUWB();//接收到不是自己的包再次开启UWB接收
+// if(i==rec_nearbase_num)
+// {
+// 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
+ 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);
+ }
}
-
}
int UwbRange(void)
{
--
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