From dc89c1d5027dc611af3b838043a34e1c479f2c86 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期三, 04 十二月 2024 15:54:29 +0800
Subject: [PATCH] 不丢包版本，删除多余占用基站接收时间代码，使接收常开，抢占问题未解决
---
keil/uwb_app.c | 183 ++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 161 insertions(+), 22 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 8fa0ea7..568fbe7 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -69,7 +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
@@ -167,6 +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 */
@@ -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;
}
@@ -415,7 +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);
@@ -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 +506,37 @@
anchordata_num=j;
}
+int success_num=0;
+void in_table_log(void)
+{
+ uint32_t u32LogLen,datalenth;
+ char acReadponse[200];
+ u32LogLen = snprintf(acReadponse, sizeof(acReadponse), "车内：%d 人 测距成功数：%d ID: ",get_in_num,success_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);
+ success_num=0;
+}
+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 +567,25 @@
}
}
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)
{
@@ -569,13 +646,45 @@
}
}
}
+
+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)
{
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);
@@ -589,7 +698,7 @@
// };
// phy_adv_params_configure(&adv_config);
-// // uwb configure
+// // 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);
@@ -617,7 +726,7 @@
current_count=phy_timer_count_get();
while(mac_is_busy())
{
- Calibration_Time();
+ //Calibration_Time();
IdleTask();
current_count=phy_timer_count_get();
if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
@@ -670,23 +779,25 @@
}
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,"标签ID：%X,距离: %d 包序%d\r\n",g_com_receive_id,distance,frame_seq_nb2);
+ //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_car(g_com_receive_id,distance,sts_rssi[0],sts_rssi[2]);
+ success_num++;
-
- gpio_pin_clr(SCL_PIN);
+ //gpio_pin_clr(SCL_PIN);
//break;去掉break变为一对多
}
}
sts_lsp_store();
-
+ gpio_pin_clr(SCL_PIN);
+
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);
}
- delay_us(1);
+// delay_us(1);
sts_lsp_store_stop();
- uwb_rx_force_off(1);
+// uwb_rx_force_off(1);
// if(!flag_recsuccess)
// {
@@ -707,36 +818,49 @@
}
void Uwb_init(void)
{
+ 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
}
//主函数绑定接受逻辑
int UwbSearch(void)
@@ -746,36 +870,51 @@
// 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);
@@ -875,9 +1014,9 @@
case LINK_SUCCESS:
{ //连接成功进行轮询测距
- uwb_led_on();
+ //uwb_led_on();
UwbRange();
- uwb_led_off();
+ //uwb_led_off();
}
break;
--
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