From d9eeaa73e91eb757f8707e26f204f443fe956a3f Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期二, 04 三月 2025 15:16:26 +0800
Subject: [PATCH] lora能正常发送
---
keil/uwb_app.c | 663 ++++++++++++++++++++++++++++++++++++------------------
1 files changed, 438 insertions(+), 225 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index e87b03c..313bc68 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -8,7 +8,13 @@
#include "dw_app_anchor.h"
#include "global_param.h"
#include "board.h"
+#include "lora_1268.h"
+#define TAG_KEEPTIMES 30
+#define REPORT_TAG_KEEPTIMES 1
+
+#define GROUP_NUM 3
+uint16_t group_min_dist[GROUP_NUM+1];
extern int simple_main(void);
extern int temp_main(void);
@@ -25,7 +31,7 @@
//resp变量
static uint8_t frame_seq_nb2,battary,button,rec_nearbase_num,ancidlist_num;
-static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS];
+uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS];
static int16_t rec_ancdistlist[TAG_NUM_IN_SYS];
extern uint8_t group_id;
static uint16_t anc_id_recv,tag_id_recv;
@@ -56,6 +62,27 @@
extern Operation_step UWB_work_state;
extern int16_t first_search_flag;
+//**************************************************新增定义**********************************************************//
+void OpenUWB(void);
+void CloseUWB(void);
+
+typedef enum
+{
+ SEARCH,
+ CLOSE,
+ RANGE,
+}enumwltagstate;
+
+uint8_t uwb_rx_flag;
+uint16_t uwb_losttimer;
+
+uint8_t flag_temp2,flag_temp1;
+uint32_t uwbtasktimer=0,uwbtagsendtimer=0;
+int16_t temp_recdist_before_offset;
+float *sts_rssi=NULL;
+uint8_t flag_recsuccess;
+
+//**************************************************新增定义**********************************************************//
/* Ranging period */
#define RANGING_PERIOD_MS (1000)
@@ -196,9 +223,49 @@
}
/* RX done process handler. */
+//int8_t rssi;
+//static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
+//{
+// // Power off radio
+// power_off_radio();
+
+// /** UWB RX success */
+// if (rx_report->err_code == UWB_RX_OK)
+// {
+// /* Received data does not contain FCS */
+// rx_length = rx_report->pkt_len;
+// memcpy(rx_buf, rx_report->pkt_data, rx_length);
+// memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
+// /* Calculate rx timestamp */
+// temp_count= phy_timer_count_get();
+// poll_rx_en_start_u32 = rx_rpt.timestamp - phy_shr_duration();
+// poll_rx_ts_i64 = ranging_rx_time_correct(&rx_rpt);
+// poll_rx_num++;
+// rssi = rx_report->rssi;
+// receive_flag=1;
+//
+// }
+// else
+// {
+// /* UWB_PLD_ERR payload error */
+// /* UWB_PHR_ERR PHR error */
+// /* UWB_SFD_ERR Sfd error */
+// /* UWB_BD_ERR Preamble detection error */
+// /* UWB_TO_ERR Receive timeout */
+// /* UWB_STS_ERR STS error */
+// temp_count= phy_timer_count_get();
+// memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
+// rx_length = 0;
+
+// }
+//}
+/* RX done process handler. */
int8_t rssi;
+uint32_t range_timeout_us = 2000000;//yuan5000
+uint8_t flag_temp2,flag_temp1;
+uint16_t uwb_losttimer;
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
-{
+{ uint8_t valid_sts=0;
// Power off radio
power_off_radio();
@@ -216,7 +283,22 @@
poll_rx_num++;
rssi = rx_report->rssi;
receive_flag=1;
-
+ Anchor_App();
+ #ifdef STS_MODE
+ valid_sts= sts_valid_check();
+ if (valid_sts)
+ {
+ aoa_calculate(&elevation, &azimuth);
+ aoa_fom_get(NULL, &fom);
+// float pdoa[3];
+// pdoa[0] = pdoa_select_get(0, 3);
+// pdoa[1] = pdoa_select_get(1, 3);
+// pdoa[2] = pdoa_select_get(2, 3);
+// LOG_INFO(TRACE_MODULE_APP, "PDOA: %f %f %f\r\n", pdoa[0], pdoa[1], pdoa[2]);
+
+ sts_rssi = sts_rssi_output_get();
+ }
+ #endif
}
else
{
@@ -229,10 +311,10 @@
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
}
-
/* TX done process handler. */
static void tx_int_callback(struct MAC_HW_REPORT_T *tx_report)
{
@@ -245,6 +327,7 @@
temp_count= phy_timer_count_get();
temp_internal=temp_count;
resp_tx_num++;
+ //gpio_pin_clr(IO_PIN_5);
//LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
}
}
@@ -301,20 +384,51 @@
ts2 >>= 8;
}
}
-
+uint8_t report_ancnum;
+uint16_t report_ancdist[ANC_MAX_NUM],report_ancid[ANC_MAX_NUM];
void TagListUpdate(void)
{
- uint8_t i,j=0;
- for(i=0; i<anchordata_num; i++)
+ uint16_t i,j=0,k=0,temp[TAG_NUM_IN_SYS];
+ for(i=0; i<taglist_num; i++)
{
- if(tagofflinetime[i]++<QUIT_SLOT_TIME)
+ if(tagofflinetime[i]++<REPORT_TAG_KEEPTIMES)
{
- anchordata_id[j]=anchordata_id[i];
+ report_ancid[k]=tagid_list[i];
+ report_ancdist[k++]=tagdist_list[i];
+ }
+ if(tagofflinetime[i]++<TAG_KEEPTIMES)
+ {
+ tagid_list[j]=tagid_list[i];
+ tagdist_list[j] = tagdist_list[i];
tagofflinetime[j++]=tagofflinetime[i];
}
}
- anchordata_num=j;
+ report_ancnum = k;
+ taglist_num=j;
}
+
+//void TagListUpdate(void)
+//{
+// uint8_t i,j=0,k=0;
+// for(i=0; i<anchordata_num; i++)
+// {
+// if(tagofflinetime[i]++<QUIT_SLOT_TIME)
+// {
+// anchordata_id[j]=anchordata_id[i];
+// tagofflinetime[j++]=tagofflinetime[i];
+// }
+// //标签存活时间
+// if(tagofflinetime[i]++<TAG_KEEPTIMES)
+// {
+// tagid_list[k]=tagid_list[i];
+// tagdist_list[k] = tagdist_list[i];
+// tagofflinetime[k++]=tagofflinetime[i];
+// }
+// }
+// anchordata_num=j;
+// taglist_num=k;
+//}
+//static uint8_t tagofflinetime[ANC_MAX_NUM];
int flag1=0;
uint32_t temp_count7;
uint32_t timeceshi1;
@@ -356,9 +470,11 @@
// temp_count1=phy_timer_count_get();
while(mac_is_busy());
+ tagofflinetime[taglist_pos] = 0;
gpio_pin_clr(SCL_PIN);
}
-uint16_t uwb_searchcount,range_timeout_us = 2000;
+
+uint16_t uwb_searchcount= 2000000;
uint8_t flag_recsuccess;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
@@ -373,51 +489,16 @@
uint32_t UWB_1003_count,UWB_6666_count=0;
int UwbRange(void)
{
+
uint8_t i;
uint16_t tempid;
- // The following peripherals will be initialized in the uwb_open function
- // phy/mac/aes/lsp/phy timers initialized
-// uwb_open();
-//// // Set calibration parameters
-// uwb_calibration_params_set(config.phy_cfg.ch_num);
-
-// // set advanced parameters
-// struct PHY_ADV_CONFIG_T adv_config = {
-// .thres_fap_detect = 40,
-// .nth_scale_factor = 4,
-// .ranging_performance_mode = 0,
-// .skip_weakest_port_en = 0,
-// };
-// phy_adv_params_configure(&adv_config);
-
-// // uwb configure
-// uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);
-
-// ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
-
- // Register rx interrupt callback function
-// mac_register_process_handler(tx_int_callback, rx_int_callback);
-
+ mac_register_process_handler(tx_int_callback, rx_int_callback);
receive_flag = 0;
flag_recsuccess = 0;
-// temp_count3=phy_timer_count_get();
- //gpio_pin_set(SCL_PIN);
- time_count_dkjs=phy_timer_count_get();
-// gpio_pin_set(IO_PIN_5);//测试
-// gpio_pin_clr(IO_PIN_5);
+
uwb_rxflag=uwb_rx(0, 0, range_timeout_us);//开启接收
-// gpio_pin_clr(IO_PIN_5);//测试
- #ifdef DEBUG_BOXING
-// gpio_pin_clr(IO_PIN_5);//测试
-// gpio_pin_set(IO_PIN_5);//测试
- #endif
-// #ifdef DEBUG_BOXING
-// gpio_pin_set(IO_PIN_5);//测试
-// #endif
-// #ifdef DEBUG_BOXING
-// gpio_pin_set(IO_PIN_5);//测试
-// #endif
+
uwb_rxflag_num1++;
// while(mac_is_busy());
// temp_count2=phy_timer_count_get();
@@ -440,8 +521,8 @@
if(receive_flag==1)//成功接收
{
time_count_sdsj=phy_timer_count_get();
- UWB_shoudao_count++;
-// gpio_pin_set(IO_PIN_5);//测试
+// gpio_pin_set(IO_PIN_5);
+
// gpio_pin_clr(IO_PIN_5);
#ifdef DEBUG_BOXING
// gpio_pin_set(IO_PIN_5);//测试
@@ -450,9 +531,9 @@
// timeceshi1=phy_timer_count_get();
// temp_count7=poll_rx_en_start_u32;
receive_flag=0;
- 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
+ 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
{
-
+// UWB_shoudao_count++;
flag_recsuccess = 1;
// temp_count2=phy_timer_count_get();
frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
@@ -462,26 +543,19 @@
//rec_nearbase_num=25;
memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
-
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);
+ // memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
// timeceshi1=phy_timer_count_get();
// temp_count7=poll_rx_en_start_u32;
+ taglist_pos=CmpTagInList(tag_id_recv);
for(i=0; i<rec_nearbase_num; i++)
{
+
if(rec_ancidlist[i] == dev_id)
{
rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
- if(tag_id_recv==0x1003)
- {
- UWB_1003_count++;
- }
- else if(tag_id_recv==0x6666)
- {
- UWB_6666_count++;
- }
UWB_fachu_count++;
// #ifdef DEBUG_BOXING
//// gpio_pin_clr(IO_PIN_5);//测试
@@ -491,14 +565,22 @@
}
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);
- UWB_qiangzhanfachu_count++;
- break;
- }
+ memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
+ if(tempid==dev_id)
+ {
+ Anchor_RecNearPoll(i);
+ tagdist_list[taglist_pos]=rec_ancdistlist[i];
+ if(group_min_dist[group_id]>rec_ancdistlist[i])
+ {
+ group_min_dist[group_id] = rec_ancdistlist[i];
+ }
+ 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)
@@ -510,6 +592,7 @@
}
recev_error_num=0;
+
// sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
// 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);
@@ -523,6 +606,7 @@
delay_us(1);
uwb_rx_force_off(1);
+// gpio_pin_clr(IO_PIN_5);
// #ifdef DEBUG_BOXING
// gpio_pin_clr(IO_PIN_5);//测试.
// #endif
@@ -566,169 +650,298 @@
// Register rx interrupt callback function
mac_register_process_handler(tx_int_callback, rx_int_callback);
}
-//主函数绑定接受逻辑
-//int UwbSearch(void)
-//{
+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");
+}
+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");
+}
+void UWBOneSecondTask(void)
+{
+ TagListUpdate();//更新标签数
+ uwb_losttimer++;
+ if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
+ uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//防止溢出
+}
+void UWBIdleTask(void)
+{
-// uint8_t i;
-// uint16_t tempid;
-// // The following peripherals will be initialized in the uwb_open function
-// // phy/mac/aes/lsp/phy timers initialized
-// uwb_open();
-
-// // Set calibration parameters
-// uwb_calibration_params_set(config.phy_cfg.ch_num);
-
-// // set advanced parameters
-// struct PHY_ADV_CONFIG_T adv_config = {
-// .thres_fap_detect = 40,
-// .nth_scale_factor = 4,
-// .ranging_performance_mode = 0,
-// .skip_weakest_port_en = 0,
-// };
-// phy_adv_params_configure(&adv_config);
-
-// // uwb configure
-// uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);
-
-// ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
-
-// // Register rx interrupt callback function
-// mac_register_process_handler(tx_int_callback, rx_int_callback);
-// receive_flag = 0;
-// temp_count3=phy_timer_count_get();
-// gpio_pin_set(SCL_PIN);
-// 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
-// end_receive_count=start_receive_count+poll_timeout;
-// if(end_receive_count>=UINT32_MAX)
-// {
-// end_receive_count-=UINT32_MAX;
-// }
-// current_count=phy_timer_count_get();
-// 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())
-// {
-//// IdleTask();
-// current_count=phy_timer_count_get();
-// if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
+ if(HIDO_TimerGetTick()-uwbtasktimer >=1)
+ {
+ uwbtasktimer = HIDO_TimerGetTick();
+ UWBOneSecondTask();
+ }
+}
+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;
+}
+enumwltagstate wltag_state=RANGE;
+uint32_t wltag_statetimer,wltag_uwbtimer;
+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;
+ }
+ UWBIdleTask();
+}
+int Anchor_App(void)
+{
+ 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;
+ wltag_state=RANGE;//成功后从search切换为range
+ memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
+ //temp_count2=phy_timer_count_get();
+ uwb_losttimer=0;//成功测距清0 lost时间
+ frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
+ battary = rx_buf[BATTARY_IDX];
+ rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX]; //标签传过来的他与基站交互的基站id数目
+ memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
+ 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++)
// {
-// break;
+// 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);
+// }
// }
-// }
-
-// temp_count2=phy_timer_count_get();
-// if(receive_flag==1)//成功接收
-// {
-// 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
-// { temp_count2=phy_timer_count_get();
-// frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
-// battary = rx_buf[BATTARY_IDX];
-// rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX]; //标签传过来的他与基站交互的基站id数目
-// memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
-// 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++)
+// 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
// {
-// if(rec_ancidlist[i] == dev_id)
-// {
-// 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
+// seize_anchor=0; //非抢占。已存在列表中
// Anchor_RecNearPoll(i);
+// break;
// }
-// sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
-// gpio_pin_clr(SCL_PIN);//测试
-// 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
-
-// }
-// // LOG_INFO(TRACE_MODULE_APP,"超时定时器：%x,%x,%x\r\n",start_receive_count,end_receive_count,current_count);
-// gpio_pin_clr(SCL_PIN);//测试
-// return 0;//返回绑定失败标志
-//}
-//}
-
-//#define SEARCH_TIMESTEMP 20
-//void UWBPoll(void)
-//{
-// switch(UWB_work_state)
-// {
-// case LINK_SUCCESS:
-// { //连接成功进行轮询测距
-
-// uwb_led_on();
-// UwbRange();
-// uwb_led_off();
-
-// }
-// break;
-// case SEARCH_DEV:
-// { //接包不成功或者通讯失败进入搜索模式
-// if(search_open_flag)
-// {
-// LOG_INFO(TRACE_MODULE_APP,"开启搜索\r\n");
-// 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
-// uwb_led_off();
-// if(link_success_flag)
-// UWB_work_state=LINK_SUCCESS;
-// }else{
-// LOG_INFO(TRACE_MODULE_APP,"等待进入搜索模式：%d\r\n",SEARCH_TIMESTEMP-uwb_searchcount);
-// }
-
-// }
-// break;
-// case UN_BIND:
-// {
-// uwb_led_off();//关闭uwb指示灯
-// }
-// break;
-// }
-// if(UWB_work_state==LINK_SUCCESS)
-// { //成功时清0错误计数
-// uwb_searchcount=0;
-// }
-// if(UWB_work_state==SEARCH_DEV)
-// {
-// if(!search_open_flag)
-// {
-// if(uwb_searchcount++>SEARCH_TIMESTEMP)
+// if(i==rec_nearbase_num)
// {
-// uwb_searchcount=0;
-// search_open_flag=1;
+// seize_anchor=1; //抢占anchor
+// Anchor_RecNearPoll(i);
// }
-// }
-// //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
-// }
-// LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
-//}
+ 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];
+ 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 UwbSearch(void)
+{
+ uint8_t i;
+ uint16_t tempid;
+ // The following peripherals will be initialized in the uwb_open function
+ // phy/mac/aes/lsp/phy timers initialized
+ uwb_open();
+ #ifdef STS_MODE
+ // Set STS key and IV
+ phy_sts_key_configure(&sts_iv_key);
+
+ // which RX ports will be used for AoA/PDoA
+ phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
+ #endif
+ // Set calibration parameters
+ uwb_calibration_params_set(config.phy_cfg.ch_num);
+ #ifndef STS_MODE
+ // set advanced parameters
+ struct PHY_ADV_CONFIG_T adv_config = {
+ .thres_fap_detect = 40,
+ .nth_scale_factor = 4,
+ .ranging_performance_mode = 0,
+ .skip_weakest_port_en = 0,
+ };
+ #else
+ // set advanced parameters
+ struct PHY_ADV_CONFIG_T adv_config = {
+ .thres_fap_detect = 40,
+ .nth_scale_factor = 4,
+ .ranging_performance_mode = 3,
+ .skip_weakest_port_en = 0,
+ };
+ #endif
+ phy_adv_params_configure(&adv_config);
+
+ // uwb configure
+ uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);
+
+ #ifdef STS_MODE
+ ranging_lib_init();
+ #endif
+ ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
+
+ #ifdef STS_MODE
+ aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM);
+ aoa_steering_vector_set((const float *)((uint32_t)((config.phy_cfg.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) | SRAM_BASE));
+
+ aoa_param_config();
+
+ phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
+ #endif
+ // Register rx interrupt callback function
+ mac_register_process_handler(tx_int_callback, rx_int_callback);
+
+ receive_flag = 0;
+ temp_count3=phy_timer_count_get();
+ gpio_pin_set(SCL_PIN);
+ sts_lsp_store();
+ 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
+ end_receive_count=start_receive_count+poll_timeout;
+ if(end_receive_count>=UINT32_MAX)
+ {
+ end_receive_count-=UINT32_MAX;
+ }
+ current_count=phy_timer_count_get();
+ 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())
+ {
+ IdleTask();
+ current_count=phy_timer_count_get();
+ if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
+ {
+ break;
+ }
+ }
+ sts_lsp_store_stop();
+
+
+ temp_count2=phy_timer_count_get();
+ if(receive_flag==1)//成功接收
+ {
+// 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
+ 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
+ {
+ 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];
+ rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX]; //标签传过来的他与基站交互的基站id数目
+ memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
+ 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;
+ }
+ }
+
+ if(i==rec_nearbase_num)
+ {
+ seize_anchor=1; //抢占anchor
+ Anchor_RecNearPoll(i);
+ }
+
+ gpio_pin_clr(SCL_PIN);//测试
+ 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_map[BIND_DEV_ID],distance,sts_rssi[0],sts_rssi[2]);
+ return 1;//返回发送成功标志
+ }
+
+ }
+ temp_count3=phy_timer_count_get();
+ sts_lsp_store();
+ flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
+ }
+ delay_us(2);
+ sts_lsp_store_stop();
+ 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);
+ gpio_pin_clr(SCL_PIN);//测试
+ return 0;//返回绑定失败标志
+}
uint8_t GetUWBBindState(void)
{
if(UWB_work_state == UN_BIND)
--
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