From d0ecbb6b662da93cf85096bd628d41729cd47b24 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期一, 11 十一月 2024 18:16:49 +0800
Subject: [PATCH] 手环加入上位机配置4G和GPS更新频率设置，加入供电过低保护，减少搜索为1s，震动逻辑变为10s停，500ms震，搜索模式加入校准时间函数，满足功耗稳定测距版本，加入SOS报警上传，初步加入查询伪代码，加入休眠唤醒逻辑
---
keil/uwb_app.c | 114 +++++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 91 insertions(+), 23 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index e61a15f..4c4ca1d 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -8,11 +8,14 @@
#include "dw_app_anchor.h"
#include "global_param.h"
#include "board.h"
+#include "HIDO_TypeDef.h"
extern int simple_main(void);
extern int temp_main(void);
+extern void Air780E_4G_POLL(void);
void TagListUpdate(void);
+void Calibration_Time(void);
extern void IO_LED_control_change(uint8_t data);
extern void IO_control_init(void);
@@ -35,7 +38,7 @@
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;
-extern uint8_t gps_power_state,motor_power_state,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state;
+extern uint8_t gps_power_state,motor_power_state,uwb_state,air780_power_state,gps_success_state,red_charge_state,green_charge_state,air780_success_state;
int poll_rx_num,resp_tx_num;
//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
@@ -79,7 +82,7 @@
/* RX window open in advance */
#define RX_WIN_IN_ADVANCE_US (150)
-#define DELAY_BETWEEN_TWO_FRAME_UUS 1400
+#define DELAY_BETWEEN_TWO_FRAME_UUS 600 //yuan1400
/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -263,6 +266,8 @@
}
}
uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
+uint32_t start_receive_count_calibration;
+uint32_t current_count_calibration;
static 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;
@@ -270,6 +275,8 @@
uint16_t random_time;
//anchor
int32_t hist_dist;
+int16_t temp_recdist_before_offset;
+int16_t dist_temp;
void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary)
{
uint8_t i;
@@ -290,8 +297,14 @@
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;
+ }
}
uint16_t CmpTagInList(uint16_t tagid)
{ uint16_t i;
@@ -362,12 +375,17 @@
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());
+ #ifdef BO_XING
gpio_pin_clr(SCL_PIN);
+ #endif
}
uint32_t range_timeout_us = 5000;
uint16_t uwb_searchcount;
uint8_t flag_recsuccess;
-extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
+uint8_t secondtask_search_count,secondtask_search_flag;
+uint8_t flag_temp2,flag_temp1;
+extern HIDO_UINT32 u32CurTick;
+extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag,flag_secondtask;
int UwbRange(void)
{
uint8_t i;
@@ -399,8 +417,11 @@
receive_flag = 0;
flag_recsuccess = 0;
temp_count3=phy_timer_count_get();
+ #ifdef BO_XING
gpio_pin_set(SCL_PIN);
- uwb_rx(0, 0, range_timeout_us);//开启接收
+ #endif
+ flag_temp1=uwb_rx(0, 0, range_timeout_us);//开启接收
+
// while(mac_is_busy());
// temp_count2=phy_timer_count_get();
start_receive_count=phy_timer_count_get();
@@ -413,8 +434,12 @@
{
current_count=phy_timer_count_get();
while(mac_is_busy())
- {
+ {
+
+// MotorPoll();
IdleTask();
+ UserKeyTask();
+ IMUTask();
current_count=phy_timer_count_get();
if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
{
@@ -426,8 +451,8 @@
{
if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL&&!memcmp(&rx_buf[TAG_ID_IDX],&g_com_map[BIND_DEV_ID],2))//判断是否是和自己是同一组通讯的且为poll包
- { flag_recsuccess = 1;
- sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
+ { flag_recsuccess = 1;
+ sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
temp_count2=phy_timer_count_get();
frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
battary = rx_buf[BATTARY_IDX];
@@ -439,7 +464,7 @@
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);
}
@@ -459,16 +484,18 @@
{
seize_anchor=1; //抢占anchor
Anchor_RecNearPoll(i);
-
}
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：%d.\r\n",g_com_map[BIND_DEV_ID],distance,rssi);
+ #ifdef BO_XING
+ gpio_pin_clr(SCL_PIN);
+ #endif
break;
}
- } else {
- uwb_rx(0, 0, range_timeout_us);
- }
+ }
+ //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);
}
delay_us(1);
uwb_rx_force_off(1);
@@ -485,11 +512,39 @@
}
}
- gpio_pin_clr(SCL_PIN);
+
return 0;
}
+void Calibration_Time(void)
+{
+ current_count_calibration=phy_timer_count_get();
+ if((current_count_calibration-start_receive_count_calibration>=MS_TO_PHY_TIMER_COUNT(500)||current_count_calibration+(UINT32_MAX-start_receive_count_calibration)>=MS_TO_PHY_TIMER_COUNT(500))
+ &&!((end_receive_count-current_count_calibration<=MS_TO_PHY_TIMER_COUNT(200))||(end_receive_count+(UINT32_MAX-current_count_calibration)<=MS_TO_PHY_TIMER_COUNT(200))))
+ {
+ start_receive_count_calibration=current_count_calibration;//更新开始时间
+ MotorPoll();
+
+ if(secondtask_search_count++%2==0)
+ {
+ secondtask_search_flag = 1;
+ }else{
+ secondtask_search_flag = 0;
+ }
+ if(secondtask_search_flag)//更新S时间TICK
+ {
+ HIDO_TimerTick();
+ TagListUpdate();
+ GPS_Poll();
+ }
+ update_led_power_state();//更新等状态防止震动卡死在搜索
+ }
+// if(current_count_calibration-start_receive_count_calibration>=MS_TO_PHY_TIMER_COUNT(1000)||current_count_calibration+(UINT32_MAX-start_receive_count_calibration)>=MS_TO_PHY_TIMER_COUNT(1000))
+// {
+// HIDO_TimerTick();
+// }
+}
//主函数绑定接受逻辑
int UwbSearch(void)
@@ -520,12 +575,16 @@
// Register rx interrupt callback function
mac_register_process_handler(tx_int_callback, rx_int_callback);
+
receive_flag = 0;
temp_count3=phy_timer_count_get();
+ #ifdef BO_XING
gpio_pin_set(SCL_PIN);
- uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收
+ #endif
+ flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收
start_receive_count=phy_timer_count_get();
- poll_timeout=US_TO_PHY_TIMER_COUNT(2000000);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
+ start_receive_count_calibration=start_receive_count;
+ poll_timeout=US_TO_PHY_TIMER_COUNT(1000000);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
end_receive_count=start_receive_count+poll_timeout;
if(end_receive_count>=UINT32_MAX)
{
@@ -535,8 +594,10 @@
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())
- {
+ { Calibration_Time();
IdleTask();
+ UserKeyTask();
+ IMUTask();
current_count=phy_timer_count_get();
if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
{
@@ -549,7 +610,8 @@
{
if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL&&!memcmp(&rx_buf[TAG_ID_IDX],&g_com_map[BIND_DEV_ID],2))//判断是否是和自己是同一组通讯的且为poll包
{
- sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-1));//测试
+ sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-13));//测试
+ range_timeout_us=20000;//将下次range开启后超时时间设为20ms之后再range里恢复
temp_count2=phy_timer_count_get();
frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
battary = rx_buf[BATTARY_IDX];
@@ -562,6 +624,8 @@
{
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);
}
}
@@ -581,20 +645,23 @@
seize_anchor=1; //抢占anchor
Anchor_RecNearPoll(i);
}
-
+ #ifdef BO_XING
gpio_pin_clr(SCL_PIN);//测试
+ #endif
+ 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);
return 1;//返回发送成功标志
}
}
temp_count3=phy_timer_count_get();
- uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
-
+ flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
}
- delay_us(1);
+ delay_us(2);
uwb_rx_force_off(1);
// LOG_INFO(TRACE_MODULE_APP,"超时定时器：%x,%x,%x\r\n",start_receive_count,end_receive_count,current_count);
+ #ifdef BO_XING
gpio_pin_clr(SCL_PIN);//测试
+ #endif
return 0;//返回绑定失败标志
}
//}
@@ -621,6 +688,7 @@
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
+ Calibration_Time();
uwb_led_off();
if(link_success_flag)
UWB_work_state=LINK_SUCCESS;
@@ -653,7 +721,7 @@
//link_error_count+=g_com_map[COM_INTERVAL];
//if(link_error_count>=g_com_map[4G_INTERNAL])
//link_error_count=0;
- update_led_power_state();//更新灯状态
+ // update_led_power_state();//更新灯状态
}
LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
}
--
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