From d0dda34680bb885a8525cc82bfdeb9008025df80 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期四, 28 十一月 2024 17:32:06 +0800
Subject: [PATCH] 一对多稳定版本不丢包，加了错位时间
---
keil/uwb_app.c | 180 +++++++++++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 166 insertions(+), 14 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index d124c3a..1e5b622 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -15,6 +15,7 @@
extern int temp_main(void);
void Calibration_Time(void);
void TagListUpdate(void);
+void TagListUpdate_person_num(void);
void Uwb_init(void);
extern void IO_LED_control_change(uint8_t data);
extern void IO_control_init(void);
@@ -68,7 +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
@@ -166,6 +167,10 @@
.sts_key1 = 0xF86050A8,
.sts_key2 = 0xD1D336AA,
.sts_key3 = 0x14148674,
+};
+static struct anchor_id_car{
+ uint16_t anchor_new_id;
+ uint16_t change_num;
};
/* Buffer to store received frame */
@@ -312,7 +317,7 @@
}
}
uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
-static uint16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
+ uint16_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];
@@ -338,17 +343,20 @@
anchordata_num++;
}
anchordata_id[i] = ancid;//与之通信的标签id存入当前表中
+ distance=dist*0.5+(int16_t)anchordata_dist[i]*0.5;
anchordata_dist[i] = dist;
anchordata_bat[i] = battary;
tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
dist_temp=dist;
// if(dist>0)
- if(temp_recdist_before_offset!=0&&distance!=0x1ffff)
- {
- distance=dist*0.5+distance*0.5;
- }else{
- distance=dist;
- }
+
+// if(temp_recdist_before_offset!=0&&distance!=0x1ffff)
+// {
+// distance=dist*0.5+distance*0.5;
+// }else{
+// distance=dist;
+// }
+
}
uint16_t CmpTagInList(uint16_t tagid)
{ uint16_t i;
@@ -359,6 +367,19 @@
}
if(i==taglist_num)
return taglist_num;
+ //tagofflinetime[i] = 0;
+ return i;
+}
+
+uint16_t CmpCarInExistList(uint16_t tagid)
+{ uint16_t i;
+ for(i=0; i<anchordata_num; i++)
+ {
+ if(memcmp(&tagid,&anchordata_id[i],2)==0)
+ break;
+ }
+ if(i==anchordata_num)
+ return anchordata_num;
//tagofflinetime[i] = 0;
return i;
}
@@ -387,6 +408,8 @@
}
anchordata_num=j;
}
+
+
uint8_t flag_temp2,flag_temp1;
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
{
@@ -409,7 +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);
@@ -429,9 +452,88 @@
uint32_t start_receive_count_calibration;
uint32_t current_count_calibration;
uint32_t get_in_num,get_out_num;
+struct anchor_id_car anchor_id_in_car[TAG_NUM_IN_SYS],anchor_id_out_car[TAG_NUM_IN_SYS];
+int16_t change_count[TAG_NUM_IN_SYS];
uint16_t anchor_id_in[TAG_NUM_IN_SYS],anchor_id_out[TAG_NUM_IN_SYS];
uint8_t secondtask_search_count,secondtask_search_flag;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag,flag_secondtask;
+uint16_t CmpCarInTable(uint16_t tagid)
+{ uint16_t i;
+ for(i=0; i<get_in_num; i++)
+ {
+ if(memcmp(&tagid,&anchor_id_in[i],2)==0)
+ break;
+ }
+ if(i==get_in_num)
+ return get_in_num;
+ //tagofflinetime[i] = 0;
+ return i;
+}
+void TagListUpdate_person_num(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];
+ }else{
+// for(int h=0;h<get_in_num;h++)//消除车内离线id
+// {
+// if(anchordata_id[i]==anchor_id_in[h])
+// {
+// for(int k=h+1;k<get_in_num;k++)
+// {
+// anchor_id_in[k-1]=anchor_id_in[k];//缺个数量--
+// }
+// get_in_num--;//车内不删除
+// }
+// }
+ for(int h=0;h<get_out_num;h++)//消除车外离线id
+ {
+ if(anchordata_id[i]==anchor_id_out[h])
+ {
+ for(int k1=h+1;k1<get_out_num;k1++)
+ {
+ anchor_id_out[k1-1]=anchor_id_out[k1];//缺个数量--
+ }
+ get_out_num--;
+ }
+ }
+ }
+ }
+ anchordata_num=j;
+
+}
+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);
+ for(uint16_t i=0;i<get_in_num;i++)
+ {
+ datalenth = sprintf((char*)&acReadponse[u32LogLen],",%04X",anchor_id_in[i]);
+ u32LogLen += datalenth;
+ }
+ LOG_INFO(TRACE_MODULE_APP,"%s\r\n",acReadponse);
+}
+void TagListUpdate_person_num_car(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];
+ }else{
+ change_count[j]=0;
+ }
+ }
+ anchordata_num=j;
+
+}
void Calibration_Time(void)
{
current_count_calibration=phy_timer_count_get();
@@ -462,9 +564,25 @@
}
}
uint16_t g_com_receive_id;
-int Uwb_One_Shot(void)
+int add_in_car_table(uint16_t position_anchor_in_table,uint16_t receive_success_id)
{
-
+ if(position_anchor_in_table==get_in_num)//新增
+ {
+ if(get_in_num<TAG_NUM_IN_SYS-1)
+ get_in_num++;
+ }
+ anchor_id_in[position_anchor_in_table]=receive_success_id;
+}
+int delete_in_car_table(uint16_t position_anchor_in_table)
+{
+ if(position_anchor_in_table<get_in_num)//若在列表里
+ {
+ for(int i=position_anchor_in_table+1;i<get_in_num;i++)
+ {
+ anchor_id_in[i-1]=anchor_id_in[i];//缺个数量--
+ }
+ get_in_num--;//更新列表现存数
+ }
}
void check_if_in_or_out(uint16_t receive_success_id,int32_t distance_from_tag,float rssi_ant0,float rssi_ant2)
{
@@ -523,6 +641,37 @@
}
anchor_id_out[get_out_num-1]=receive_success_id;
}
+ }
+}
+
+void check_if_in_or_out_car(uint16_t receive_success_id,int32_t distance_from_tag,float rssi_ant0,float rssi_ant2)
+{
+ uint8_t i;
+ uint16_t position_anchor_exist,position_anchor_in_table;
+ position_anchor_exist=CmpCarInExistList(receive_success_id);
+ 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;
+
+ }
+ }else 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);
+ delete_in_car_table(position_anchor_in_table);
+ }
+ if(change_count[position_anchor_exist]<=-3)
+ {change_count[position_anchor_exist]=-3;
+ }
}
}
int UwbRange(void)
@@ -626,14 +775,16 @@
}
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(g_com_receive_id,distance,sts_rssi[0],sts_rssi[2]);
- LOG_INFO(TRACE_MODULE_APP,"车内：%d 人,车外: %d 人\r\n",get_in_num,get_out_num);
+ 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);
+ check_if_in_or_out_car(g_com_receive_id,distance,sts_rssi[0],sts_rssi[2]);
+
+
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);
@@ -641,6 +792,7 @@
delay_us(1);
sts_lsp_store_stop();
uwb_rx_force_off(1);
+
// if(!flag_recsuccess)
// {
// //sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-3));//测试
--
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