From d532bd5e0ed482e4760af0bac690d4e84148169d Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期四, 28 十一月 2024 11:10:19 +0800
Subject: [PATCH] 加入缓冲可以1对一较准确判断但是比较慢
---
keil/uwb_app.c | 106 +++++++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 102 insertions(+), 4 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 8fa0ea7..befa0c1 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -168,6 +168,10 @@
.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 */
/* Frames used in the ranging process
@@ -339,7 +343,7 @@
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;
+ 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
@@ -363,6 +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;
}
@@ -435,9 +452,23 @@
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;
@@ -475,7 +506,34 @@
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();
@@ -506,9 +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)
{
@@ -567,6 +641,30 @@
}
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]>=3)
+ { change_count[position_anchor_exist]=3;
+ position_anchor_in_table=CmpCarInTable(receive_success_id);
+ add_in_car_table(position_anchor_in_table,receive_success_id);
+ }
+ }else if(rssi_ant0<rssi_ant2&&distance_from_tag<200)
+ {
+ change_count[position_anchor_exist]--;
+ if(change_count[position_anchor_exist]<=-3)
+ {change_count[position_anchor_exist]=-3;
+ position_anchor_in_table=CmpCarInTable(receive_success_id);
+ delete_in_car_table(position_anchor_in_table);
+ }
}
}
int UwbRange(void)
@@ -671,7 +769,7 @@
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]);
+ check_if_in_or_out_car(g_com_receive_id,distance,sts_rssi[0],sts_rssi[2]);
gpio_pin_clr(SCL_PIN);
--
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