From e3cc01b77b6f240140d2536e365e559b42d1505c Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期二, 22 七月 2025 15:27:30 +0800
Subject: [PATCH] V1.0 开发完成 5S一次，实际休眠时间要诚5 上位机设置除以5就行 休眠18ua 功耗
---
keil/uwb_app.c | 472 +++++++++++++++++++++++++++++++++-------------------------
1 files changed, 267 insertions(+), 205 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index c70881a..29fa8df 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -116,7 +116,7 @@
uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
struct UWB_CONFIG_T phy_cfg;
};
-
+extern uint8_t uwb_ch;
static struct mk_uwb_configure config = {
.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
.phy_cfg.ch_num = 5, /* Channel number. */
@@ -230,6 +230,8 @@
extern uint16_t mubiao_anchor_ID;
uint8_t Lora_qingqiu_flag;
extern uint16_t Lora_qingqiu_bao;
+uint8_t shengji_flag;
+extern uint8_t Dtu_shengji_jindu[20];
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{ uint8_t valid_sts=0;
uint16_t checksum1 = 0,dest_id;
@@ -251,7 +253,8 @@
rssi = rx_report->rssi;
receive_flag=1;
// uart_send(UART_ID0, rx_buf,rx_length, NULL);
- if(rx_buf[MESSAGE_TYPE_IDX]==MBX_POLL)
+ gpio_pin_toggle(IO_PIN_4);
+ if(rx_buf[MESSAGE_TYPE_IDX]==MBX_POLL&&!shengji_flag)
{
Anchor_App();
}
@@ -264,6 +267,7 @@
{
if(!memcmp(&dev_id,&dest_id,2)/*||dest_id==0xffff||(dest_id==0xfffe&&get_channel==5)*/)
{
+ shengji_flag=1;
switch(rx_buf[MSG_TYPE_IDX])
{
case LORA_MSGTYPE_UPDATE_CONFIRM:
@@ -285,8 +289,13 @@
break;
case 0x99:
- LOG_INFO(TRACE_MODULE_APP, "收到结束升级请求\r\n",Lora_qingqiu_bao);
- delay_ms(500);
+// LOG_INFO(TRACE_MODULE_APP, "收到结束升级请求\r\n",Lora_qingqiu_bao);
+ delay_ms(200);
+ Dtu_shengji_jindu[4]=100;
+ memcpy(&Dtu_shengji_jindu[5],&mubiao_anchor_ID,2);
+ uart_send(UART_ID0, Dtu_shengji_jindu,9, NULL);
+
+ delay_ms(1000);
// Lora_upanc_flag=0;
Lora_qingqiu_flag=0;
NVIC_SystemReset();
@@ -317,7 +326,7 @@
// }
}
}
-
+
#ifdef STS_MODE
valid_sts= sts_valid_check();
if (valid_sts)
@@ -649,6 +658,33 @@
if(HIDO_TimerGetTick()-uwbtasktimer >=1)
{
+
+ for(uint16_t i=0;i<taglist_num-1;i++)
+ {
+ for(uint16_t j=0;j<taglist_num-1-i;j++)
+ {
+ if(tagdist_list[j]>tagdist_list[j+1])
+ {
+ uint16_t id,dist,version;
+ uint8_t bat;
+ id = tagid_list[j];
+ dist = tagdist_list[j];
+ version = anchordata_version[j];
+ tagid_list[j] = tagid_list[j+1];
+ tagdist_list[j] = tagdist_list[j+1];
+ anchordata_version[j] = anchordata_version[j+1];
+ tagid_list[j+1] = id;
+ tagdist_list[j+1] = dist;
+ anchordata_version[j+1] = version;
+ }
+ }
+
+ }
+
+ if(taglist_num>6)
+ {
+ taglist_num=6;
+ }
uwbtasktimer = HIDO_TimerGetTick();
UWBOneSecondTask();
uwbsend[0]=0x55;
@@ -885,6 +921,7 @@
phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
#endif
// Set calibration parameters
+// config.phy_cfg.ch_num=g_com_map[NEARBASE_ID1];
uwb_calibration_params_set(config.phy_cfg.ch_num);
#ifndef STS_MODE
// set advanced parameters
@@ -899,7 +936,7 @@
struct PHY_ADV_CONFIG_T adv_config = {
.thres_fap_detect = 40,
.nth_scale_factor = 4,
- .ranging_performance_mode = 3,
+ .ranging_performance_mode = 0,
.skip_weakest_port_en = 0,
};
#endif
@@ -921,218 +958,243 @@
#endif
mac_register_process_handler(tx_int_callback, rx_int_callback);//初始化回调
}
-//主函数绑定接受逻辑
-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);
+////主函数绑定接受逻辑
+//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);
+// #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));
+// // 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;
- }
- }
+// 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
- }
+// 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
-}
+// }
+// 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
+//}
//}
#define SEARCH_TIMESTEMP 20
-void UWBPoll(void)
-{
- switch(UWB_work_state)
- {
- case LINK_SUCCESS:
- { //连接成功进行轮询测距
+//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();
+// uwb_led_on();
+// UwbRange();
+// uwb_led_off();
- }
- break;
- case SEARCH_DEV:
- {
- UWB_work_state=LINK_SUCCESS;
- Uwb_init();
-// //接包不成功或者通讯失败进入搜索模式
-// if(search_open_flag)
+// }
+// break;
+// case SEARCH_DEV:
+// {
+// UWB_work_state=LINK_SUCCESS;
+// Uwb_init();
+//// //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)
// {
-// 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);
+// if(uwb_searchcount++>SEARCH_TIMESTEMP)
+// {
+// uwb_searchcount=0;
+// search_open_flag=1;
+// }
// }
+// //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);
+//}
- }
- 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)
- {
- uwb_searchcount=0;
- search_open_flag=1;
- }
- }
- //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);
-}
-
-uint8_t GetUWBBindState(void)
+//uint8_t GetUWBBindState(void)
+//{
+// if(UWB_work_state == UN_BIND)
+// {
+// return 0;
+// }
+// return 1;
+//}
+void Tag_App(void)//发送模式(TAG标签)
{
- if(UWB_work_state == UN_BIND)
- {
- return 0;
- }
- return 1;
+
+ //LED0_ON;
+// SPIx_CS_GPIO->BRR = SPIx_CS;
+// delay_us(700);
+// SPIx_CS_GPIO->BSRR = SPIx_CS;
+// id = dwt_readdevid() ;
+// while (DWT_DEVICE_ID != id)
+// {
+// // Dw1000_Init();
+// id = dwt_readdevid() ;
+// IdleTask();
+// if(error_times++>20)
+// {
+// printf("DW ID ERROR.\r\n");
+// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+// }
+// }
+// error_times = 0;
+// SwitchTagState();
+// userkey_state = !GET_USERKEY;
+// dwt_entersleep();
}
+
--
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