From e4581b34b42ae92d043e0fc29e1d745c396bce8f Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期五, 13 十二月 2024 11:26:37 +0800
Subject: [PATCH] 串口切换逻辑编写和测试成功
---
keil/uwb_app.c | 301 +++++++++++++++++++++----------------------------
1 files changed, 129 insertions(+), 172 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 81b5eba..fe18a30 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -17,6 +17,9 @@
void TagListUpdate(void);
void TagListUpdate_person_num(void);
void Uwb_init(void);
+void OpenUWB(void);
+void CloseUWB(void);
+int Anchor_App(void);
extern void IO_LED_control_change(uint8_t data);
extern void IO_control_init(void);
@@ -62,9 +65,15 @@
uint8_t taglist_num;
float *sts_rssi=NULL;
extern uint8_t recev_error_num;
-
+uint8_t uwb_rx_flag;
extern Operation_step UWB_work_state;
extern int16_t first_search_flag;
+typedef enum
+{
+ SEARCH,
+ CLOSE,
+ RANGE,
+}enumwltagstate;
/* Ranging period */
#define RANGING_PERIOD_MS (1000)
@@ -253,6 +262,9 @@
/* 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
@@ -272,6 +284,8 @@
poll_rx_num++;
rssi = rx_report->rssi;
receive_flag=1;
+ Anchor_App();
+ #ifdef STS_MODE
valid_sts= sts_valid_check();
if (valid_sts)
{
@@ -285,6 +299,7 @@
sts_rssi = sts_rssi_output_get();
}
+ #endif
}
else
{
@@ -297,8 +312,9 @@
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
}
/* TX done process handler. */
@@ -410,7 +426,7 @@
}
-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
{
temp_count2=poll_rx_en_start_u32;
@@ -442,10 +458,10 @@
temp_count3= phy_timer_count_get();
flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
temp_count1=phy_timer_count_get();
- while(mac_is_busy());
+ //while(mac_is_busy());
gpio_pin_clr(SCL_PIN);
}
-uint32_t range_timeout_us = 5000;//yuan5000
+
uint16_t uwb_searchcount;
uint8_t flag_recsuccess;
@@ -457,6 +473,10 @@
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;
+enumwltagstate wltag_state=RANGE;
+uint32_t wltag_statetimer,wltag_uwbtimer;
+uint32_t uwbtasktimer=0,uwbtagsendtimer=0;
+
uint16_t CmpCarInTable(uint16_t tagid)
{ uint16_t i;
for(i=0; i<get_in_num; i++)
@@ -468,71 +488,6 @@
return get_in_num;
//tagofflinetime[i] = 0;
return i;
-}
-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 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)
{
@@ -564,115 +519,116 @@
}
}
uint16_t g_com_receive_id;
-int add_in_car_table(uint16_t position_anchor_in_table,uint16_t receive_success_id)
+void CloseUWB(void)
{
- 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;
+ uwb_rx_force_off(1);
+ uwb_rx_flag=0;
+ LOG_INFO(TRACE_MODULE_APP,"关闭uwb_rx\r\n");
}
-int delete_in_car_table(uint16_t position_anchor_in_table)
+void OpenUWB(void)
{
- if(position_anchor_in_table<get_in_num)//若在列表里
+ 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)
+{
+ uwb_losttimer++;
+}
+void UWBIdleTask(void)
+{
+
+ if(HIDO_TimerGetTick()-uwbtasktimer >=1)
+ {
+ uwbtasktimer = HIDO_TimerGetTick();
+ UWBOneSecondTask();
+ }
+}
+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
{
- 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
+ OpenUWB();
}
-}
-void check_if_in_or_out(uint16_t receive_success_id,int32_t distance_from_tag,float rssi_ant0,float rssi_ant2)
-{
- uint8_t i;
- if(rssi_ant0>rssi_ant2&&distance_from_tag<200)
- {
- for(i=0; i<get_in_num; i++)
- {
- if(anchor_id_in[i] == receive_success_id)//查询标签是否在自己已通讯列表中
- {
-
- break;
- }
- }
- if(i==get_in_num)
- {
- if(get_in_num<TAG_NUM_IN_SYS-1)
- get_in_num++;
- for(i=0;i<get_out_num;i++)//消除车外id
- {
- if(receive_success_id==anchor_id_out[i])
- {
- for(i=i+1;i<get_out_num;i++)
- {
- anchor_id_out[i-1]=anchor_id_out[i];//缺个数量--
- }
- get_out_num--;
- }
- }
- anchor_id_in[get_in_num-1]=receive_success_id;
- }
- }else if(rssi_ant0<rssi_ant2&&distance_from_tag<200)
- {
- for(i=0; i<get_out_num; i++)
- {
- if(anchor_id_out[i] == receive_success_id)//查询标签是否在自己已通讯列表中
- {
-
- break;
- }
- }
- if(i==get_out_num)
- {
- if(get_out_num<TAG_NUM_IN_SYS-1)
- get_out_num++;
- for(i=0;i<get_in_num;i++)//消除车内id
- {
- if(receive_success_id==anchor_id_in[i])
- {
- for(i=i+1;i<get_in_num;i++)
- {
- anchor_id_in[i-1]=anchor_id_in[i];//缺个数量--
- }
- get_in_num--;
- }
- }
- 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]>0)
+ wltag_state = SEARCH;
+ }
+ break;
+ case SEARCH:
+ if(HIDO_TimerGetTick()-wltag_statetimer>1)
{
- position_anchor_in_table=CmpCarInTable(receive_success_id);
- add_in_car_table(position_anchor_in_table,receive_success_id);
+ wltag_statetimer = HIDO_TimerGetTick();
+ wltag_state = CLOSE;
+ CloseUWB();
}
- 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)
+ break;
+ case CLOSE:
+ if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
{
- position_anchor_in_table=CmpCarInTable(receive_success_id);
- delete_in_car_table(position_anchor_in_table);
+ wltag_statetimer = HIDO_TimerGetTick();
+ wltag_state = SEARCH;
+ OpenUWB();
}
- if(change_count[position_anchor_exist]<=-3)
- {change_count[position_anchor_exist]=-3;
- }
+ 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;
+ 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++)
+ {
+ 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);
+ }
+ }
}
int UwbRange(void)
{
@@ -680,7 +636,7 @@
uint16_t tempid;
// The following peripherals will be initialized in the uwb_open function
// phy/mac/aes/lsp/phy timers initialized
- uwb_open();
+ //uwb_open();
// // Set calibration parameters
// uwb_calibration_params_set(config.phy_cfg.ch_num);
@@ -700,7 +656,7 @@
// 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;
@@ -776,7 +732,6 @@
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 包序%d\r\n",g_com_receive_id,distance,frame_seq_nb2);
- check_if_in_or_out_car(g_com_receive_id,distance,sts_rssi[0],sts_rssi[2]);
gpio_pin_clr(SCL_PIN);
@@ -812,6 +767,7 @@
}
void Uwb_init(void)
{
+ uwb_open();
#ifdef STS_MODE
// Set STS key and IV
phy_sts_key_configure(&sts_iv_key);
@@ -854,6 +810,7 @@
phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
#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)
--
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