From e54166d028ed6c32324d24fc28c54c8194906c60 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期一, 24 二月 2025 16:38:27 +0800
Subject: [PATCH] 测试阶段：可以跟多个UWB基站测距，以及蓝牙协议转发，现在上传协议是强制写进去的，然后还有那个基站，标签时间同步没有调试正常，
---
keil/uwb_app.c | 190 +++++++++++++++++++++++++++++++----------------
1 files changed, 126 insertions(+), 64 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index c0ba9b6..bc7e8de 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_3029.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;
@@ -60,7 +66,7 @@
#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 670U //yuan750 7500Haoyong
+#define POLL_RX_TO_RESP_TX_DLY_US 750U //yuan750 7500Haoyong
#define RESP_TX_TO_FINAL_RX_DLY_US 500U
@@ -79,7 +85,7 @@
/* RX window open in advance */
#define RX_WIN_IN_ADVANCE_US (150)
-#define DELAY_BETWEEN_TWO_FRAME_UUS 400
+#define DELAY_BETWEEN_TWO_FRAME_UUS 600
/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -107,9 +113,9 @@
.phy_cfg.mean_prf = MEAN_PRF_64M, /* Data rate 6.8M */
.phy_cfg.data_bit_rate = DATA_BR_6M8, /* data rate 6.8M. */
.phy_cfg.sync_sym = PREAM_LEN_128, /* Preamble duration, length of preamble 128 */
- .phy_cfg.sfd_sym = BPRF_NSFD2_8, /* Identifier for SFD sequence */
+ .phy_cfg.sfd_sym = NON_STD_NSFD5_8, /* Identifier for SFD sequence */
.phy_cfg.ranging_bit = 1, /* ranging bit set. */
- .phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF, /* IEEE802.15.4z - BPRF mode */
+ .phy_cfg.trx_mode = TRX_MODE_15_4A, /* IEEE802.15.4z - BPRF mode */
.phy_cfg.sts_pkt_cfg = STS_PKT_CFG_0, /* SP0 Frame */
.phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1, /* Number of STS segments in the frame */
.phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
@@ -245,6 +251,7 @@
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 +308,51 @@
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;
@@ -349,51 +387,41 @@
temp_resp_i64=resp_tx_ts_i64;
// temp_count3= phy_timer_count_get();
// timeceshi2=phy_timer_count_get();
+ //uint32_t time_add=1000;
+ //resp_tx_en_start_u32=resp_tx_en_start_u32+time_add;
+ temp_count3= phy_timer_count_get();
flag1=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();
- temp_count3= phy_timer_count_get();
+
while(mac_is_busy());
+ tagofflinetime[taglist_pos] = 0;
gpio_pin_clr(SCL_PIN);
}
-uint16_t uwb_searchcount,range_timeout_us = 5000;
+uint16_t uwb_searchcount,range_timeout_us = 2000000;
uint8_t flag_recsuccess;
+
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
uint16_t uwb_rxflag;
uint16_t uwb_rxflag_num;
uint16_t uwb_rxflag_num1;
+uint32_t time_count_dkjs=0;
+uint32_t time_count_sdsj=0;
+uint32_t UWB_shoudao_count=0;
+uint32_t UWB_fachu_count=0;
+uint32_t UWB_qiangzhanfachu_count=0;
+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);
+
uwb_rxflag=uwb_rx(0, 0, range_timeout_us);//开启接收
+
uwb_rxflag_num1++;
// while(mac_is_busy());
// temp_count2=phy_timer_count_get();
@@ -403,77 +431,108 @@
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
- {
- current_count=phy_timer_count_get();
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(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)//超时时间为4.992秒
{
break;
}
}
+
if(receive_flag==1)//成功接收
{
-
+ time_count_sdsj=phy_timer_count_get();
+// gpio_pin_set(IO_PIN_5);
+
+// gpio_pin_clr(IO_PIN_5);
+ #ifdef DEBUG_BOXING
+// gpio_pin_set(IO_PIN_5);//测试
+// gpio_pin_clr(IO_PIN_5);//测试
+ #endif
// 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
- { flag_recsuccess = 1;
+ 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
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
+
+ //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);
+ UWB_fachu_count++;
+// #ifdef DEBUG_BOXING
+//// gpio_pin_clr(IO_PIN_5);//测试
+// gpio_pin_set(IO_PIN_5);//测试
+// #endif
}
}
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;
- }
+ 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)
{
+
seize_anchor=1; //抢占anchor
Anchor_RecNearPoll(i);
+ UWB_qiangzhanfachu_count++;
}
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);
-// break;
+
}
- uwb_rxflag=uwb_rx(0, 0, range_timeout_us);
- }
- else {
- delay_us(1);
- uwb_rx_force_off(1);
- uwb_rxflag=uwb_rx(0, 0, range_timeout_us);
- uwb_rxflag_num++;
- }
- }
+ // uwb_rxflag=uwb_rx(0, 0, range_timeout_us);
+ }
+ #ifdef DEBUG_BOXING
+// gpio_pin_clr(IO_PIN_5);//测试
+// gpio_pin_set(IO_PIN_5);//测试
+ #endif
+
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
// if(!flag_recsuccess)
// {
// sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-3));//测试
@@ -486,7 +545,10 @@
// search_open_flag = 1;
// }
// }
- gpio_pin_clr(SCL_PIN);
+// #ifdef DEBUG_BOXING
+// gpio_pin_clr(IO_PIN_5);//测试
+//// gpio_pin_set(IO_PIN_5);//测试
+// #endif
}
int Uwbinit(void)
{
--
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