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 | 352 +++++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 263 insertions(+), 89 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 8d8a0cc..756d73d 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -10,7 +10,7 @@
#include "global_param.h"
#include "board.h"
#include "lib_aoa.h"
-
+#include <serial_at_cmd_app.h>
extern int simple_main(void);
extern int temp_main(void);
void Calibration_Time(void);
@@ -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
@@ -136,7 +136,7 @@
#ifdef DW1000
static struct mk_uwb_configure config = {
.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
- .phy_cfg.ch_num = 5, /* Channel number. */
+ .phy_cfg.ch_num = 9, /* Channel number. */
.phy_cfg.code_index = 9, /* TRX preamble code */
.phy_cfg.mean_prf = MEAN_PRF_64M, /* Mean prf 64/128/256M */
.phy_cfg.data_bit_rate = DATA_BR_6M8, /* Data rate 6.8M */
@@ -282,8 +282,17 @@
uint32_t range_timeout_us = 2000000;//yuan5000
uint8_t flag_temp2,flag_temp1;
uint16_t uwb_losttimer;
+uint8_t lorarec_usart_send[200]={0x55,0xaa};
+uint16_t lorarec_tagid;
+extern uint8_t send_lora_data[250];
+uint8_t Lora_upanc_time;
+uint8_t update_tag_time;
+extern uint16_t mubiao_anchor_ID;
+uint8_t Lora_qingqiu_flag;
+extern uint16_t Lora_qingqiu_bao;
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{ uint8_t valid_sts=0;
+ uint16_t checksum1 = 0,dest_id;
// Power off radio
power_off_radio();
@@ -301,7 +310,74 @@
poll_rx_num++;
rssi = rx_report->rssi;
receive_flag=1;
- Anchor_App();
+// uart_send(UART_ID0, rx_buf,rx_length, NULL);
+ if(rx_buf[MESSAGE_TYPE_IDX]==MBX_POLL)
+ {
+ Anchor_App();
+ }
+ else
+ {
+ memcpy(&lorarec_tagid,&rx_buf[SOURCE_ID_IDX],2);
+ memcpy(&dest_id,&rx_buf[DEST_ID_IDX],2);
+ checksum1=Checksum_u16(rx_buf,rx_length-4);
+ if(!memcmp(&checksum1,&rx_buf[rx_length-4],2)) //CRC16校验是否通过
+ {
+ if(!memcmp(&dev_id,&dest_id,2)/*||dest_id==0xffff||(dest_id==0xfffe&&get_channel==5)*/)
+ {
+ switch(rx_buf[MSG_TYPE_IDX])
+ {
+ case LORA_MSGTYPE_UPDATE_CONFIRM:
+ memset(&send_lora_data,0,sizeof(send_lora_data));
+// Lora_upanc_flag=1; //升级信号启动
+ update_tag_time=20;
+ mubiao_anchor_ID=lorarec_tagid;
+ LOG_INFO(TRACE_MODULE_APP, "收到基站发送来的升级请求\r\n");
+ break;
+ case LORA_MSGTYPE_UPDATEFILE_REQUEST:
+ Lora_upanc_time=0;//数清零,不清零10次后重启
+
+ memcpy(&Lora_qingqiu_bao,&rx_buf[MUQIAN_BAG],2);
+ // Lora_qingqiu_bao=rx_buffer[MUQIAN_BAG];//看基站请求的哪一包
+ Lora_qingqiu_flag= 1; //准备发送标志位1
+ update_tag_time=20;
+// LOG_INFO(TRACE_MODULE_APP, "标签正在请求第%d包\r\n",Lora_qingqiu_bao);
+ Lora_upanc_ing_Poll();
+ break;
+
+ case 0x99:
+ LOG_INFO(TRACE_MODULE_APP, "收到结束升级请求\r\n",Lora_qingqiu_bao);
+ delay_ms(500);
+// Lora_upanc_flag=0;
+ Lora_qingqiu_flag=0;
+ NVIC_SystemReset();
+ break;
+
+ }
+ }
+ }
+ else
+ {
+// switch(rx_buf[MSG_TYPE_IDX])
+// {
+// case LORA_MSGTYPE_READPARARESP:
+ if(rx_buf[MSG_TYPE_IDX]==LORA_MSGTYPE_READPARARESP)
+ {
+ memcpy(&lorarec_usart_send[2],rx_buf,rx_length);
+ uart_send(UART_ID0, lorarec_usart_send,rx_length+2, NULL);
+ for(uint8_t i=0; i<PWTAG_MAXGROUPNUM; i++)
+ {
+ if(pwtag.groupid[i][0]<=lorarec_tagid&&lorarec_tagid<=pwtag.groupid[i][1])
+ {
+ pwtag.remain_time[i] = 0;
+ }
+ }
+// break;
+ }
+
+// }
+ }
+ }
+
#ifdef STS_MODE
valid_sts= sts_valid_check();
if (valid_sts)
@@ -329,9 +405,10 @@
temp_count= phy_timer_count_get();
memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
rx_length = 0;
- OpenUWB();//再次开启UWB接收
+// OpenUWB();//再次开启UWB接收
}
- //OpenUWB();//再次开启UWB接收
+ OpenUWB();//再次开启UWB接收
+// LOG_INFO(TRACE_MODULE_APP,"RXdone_uwb_rx打开\r\n");
}
/* TX done process handler. */
@@ -346,12 +423,16 @@
temp_count= phy_timer_count_get();
temp_internal=temp_count;
resp_tx_num++;
- OpenUWB();//再次开启UWB接收
+// if(update_tag_time>0)
+// {
+// OpenUWB();//再次开启UWB接收
+// LOG_INFO(TRACE_MODULE_APP,"TXdone_uwb_rx打开\r\n");
+// }
//LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
}
}
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];
@@ -405,6 +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++)
@@ -429,24 +519,69 @@
}
}
+//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,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;
+ uint16_t checksum1 = 0;
+ for(uint8_t i=0; i<PWTAG_MAXGROUPNUM; i++)
+ {
+ if(pwtag.remain_time[i]!=0)
+ {
+ lorarec_tagid=g_com_receive_id;
+ if(pwtag.groupid[i][0]<=lorarec_tagid&&lorarec_tagid<=pwtag.groupid[i][1])
+ {
+ send_buffer[MSG_TYPE_IDX] = LORA_MSGTYPE_WGRESPTAG;
+ send_buffer[MSG_LENGTH] = 14;
+ memcpy(&send_buffer[SOURCE_ID_IDX],&dev_id,2);
+ memcpy(&send_buffer[DEST_ID_IDX],&lorarec_tagid,2);
+ send_buffer[RW_FLAG_IDX] = pwtag.duorxie[i];
+ send_buffer[WRITE_IDX_IDX] = pwtag.index[i];
+ memcpy(&send_buffer[WRITE_VALUE_IDX],pwtag.value[i],pwtag.len[i]);
+
+ checksum1=Checksum_u16(send_buffer,pwtag.len[i]+WRITE_VALUE_IDX);
+ memcpy(&send_buffer[pwtag.len[i]+WRITE_VALUE_IDX],&checksum1,2);
+ resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US);
+ flag_temp2=uwb_tx(send_buffer, pwtag.len[i]+WRITE_VALUE_IDX+2,1 ,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);
+ cmd_flag=1;
+ break;
+ }
+ }
+ }
+ if(cmd_flag==0)
+ {
temp_count2=poll_rx_en_start_u32;
memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//组id
@@ -466,7 +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);
@@ -475,9 +611,12 @@
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);
+ }
+
}
uint16_t uwb_searchcount;
@@ -536,25 +675,28 @@
// update_led_power_state();//更新等状态防止震动卡死在搜索
}
}
-uint16_t g_com_receive_id;
+
void CloseUWB(void)
{
uwb_rx_force_off(1);
uwb_rx_flag=0;
- LOG_INFO(TRACE_MODULE_APP,"关闭uwb_rx\r\n");
+// LOG_INFO(TRACE_MODULE_APP,"关闭uwb_rx\r\n");
}
void OpenUWB(void)
{
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)
{
uwb_losttimer++;
+ TagListUpdate();
if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//防止溢出
}
+uint8_t uwbsend[200];
+
void UWBIdleTask(void)
{
@@ -562,55 +704,66 @@
{
uwbtasktimer = HIDO_TimerGetTick();
UWBOneSecondTask();
+ uwbsend[0]=0x55;
+ uwbsend[1]=0xaa;
+ uwbsend[2]=0x40;
+ 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]);
+// }
}
}
int uwb_app_poll(void)
{
- switch(wltag_state)
- {
- case RANGE:
- if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
- {
- wltag_uwbtimer = HIDO_TimerGetTick();
- OpenUWB();
- }
- else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1)
- {
- wltag_uwbtimer = HIDO_TimerGetTick();
- CloseUWB();
- }
- if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
- {
- wltag_statetimer = HIDO_TimerGetTick();
- if(uwb_rx_flag==0)//若要切换到搜索模式时没有开启则开启UWB
- {
- OpenUWB();
- }
- wltag_state = SEARCH;
- }
- break;
- case SEARCH:
- if(HIDO_TimerGetTick()-wltag_statetimer>1)
- {
- wltag_statetimer = HIDO_TimerGetTick();
- wltag_state = CLOSE;
- CloseUWB();
- }
- break;
- case CLOSE:
- if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
- {
- wltag_statetimer = HIDO_TimerGetTick();
- wltag_state = SEARCH;
- OpenUWB();
- }
- break;
- }
+// switch(wltag_state)
+// {
+// case RANGE:
+// if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
+// {
+// wltag_uwbtimer = HIDO_TimerGetTick();
+// OpenUWB();
+// }
+// else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1)
+// {
+// wltag_uwbtimer = HIDO_TimerGetTick();
+// CloseUWB();
+// }
+// if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
+// {
+// wltag_statetimer = HIDO_TimerGetTick();
+// if(uwb_rx_flag==0)//若要切换到搜索模式时没有开启则开启UWB
+// {
+// OpenUWB();
+// }
+// wltag_state = SEARCH;
+// }
+// break;
+// case SEARCH:
+// if(HIDO_TimerGetTick()-wltag_statetimer>1)
+// {
+// wltag_statetimer = HIDO_TimerGetTick();
+// wltag_state = CLOSE;
+// CloseUWB();
+// }
+// break;
+// case CLOSE:
+// if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
+// {
+// wltag_statetimer = HIDO_TimerGetTick();
+// wltag_state = SEARCH;
+// OpenUWB();
+// }
+// break;
+// }
UWBIdleTask();
}
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;
@@ -625,34 +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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