From d1c92185a660f4779d6eca2154d7234b6bf61325 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期二, 26 十一月 2024 17:50:59 +0800
Subject: [PATCH] 成功和2个标签测距并且加入只删除出车的id和num逻辑，距离修复两者一直同一个距离相差不多的问题
---
keil/uwb_app.c | 63 +++++++++++++++++++++++++++----
1 files changed, 55 insertions(+), 8 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index d124c3a..8fa0ea7 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);
@@ -312,7 +313,7 @@
}
}
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 +339,20 @@
anchordata_num++;
}
anchordata_id[i] = ancid;//与之通信的标签id存入当前表中
+ distance=dist*0.5+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;
@@ -387,6 +391,8 @@
}
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
{
@@ -432,6 +438,44 @@
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;
+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 Calibration_Time(void)
{
current_count_calibration=phy_timer_count_get();
@@ -628,12 +672,14 @@
//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);
+
+
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 +687,7 @@
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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