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 | 633 ++++++++++++++++++++++++++++++++++-----------------------
1 files changed, 380 insertions(+), 253 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index def6e7f..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 450U //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
@@ -102,14 +108,14 @@
/* Default communication configuration. */
static struct mk_uwb_configure config = {
.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
- .phy_cfg.ch_num = 9, /* Channel number. */
+ .phy_cfg.ch_num = 5, /* Channel number. */
.phy_cfg.code_index = 9, /* TX preamble code. */
.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 */
@@ -216,7 +222,7 @@
poll_rx_num++;
rssi = rx_report->rssi;
receive_flag=1;
- recev_error_num=0;
+
}
else
{
@@ -226,6 +232,7 @@
/* 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;
@@ -244,6 +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);
}
}
@@ -275,7 +283,7 @@
anchordata_dist[i] = dist;
anchordata_bat[i] = battary;
tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
- if(dist>0)
+// if(dist>0)
distance=dist*0.5+distance*0.5;
}
uint16_t CmpTagInList(uint16_t tagid)
@@ -300,20 +308,55 @@
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;
+uint32_t timeceshi2;
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;
@@ -323,38 +366,222 @@
memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);//接受者id
send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
- if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式自己为新基站
+ if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式自己为新基站
{
- random_time = (phy_timer_count_get()%1000);//多基站抢占一个位置时避免一个也收不到的情况就每一个随机错开几十uS
+ random_time = (phy_timer_count_get()%100);//多基站抢占一个位置时避免一个也收不到的情况就每一个随机错开几十uS
//resp_tx_time = (poll_rx_ts+((random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
// (resp_tx_en_start_u32) is the moment when TX enable
- resp_tx_en_start_u32 = random_time+phy_timer_count_get()+ US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+rec_nearbase_num*US_TO_PHY_TIMER_COUNT(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
- } else {
+ resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_num*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
+
+ } else {
//resp_tx_time = (poll_rx_ts + ((rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
- resp_tx_en_start_u32 = phy_timer_count_get() + US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+(ancrec_nearbasepos+1)*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//后面的需要根据已有基站数量进行更改,自己非抢占
- }//此处设置绝对时间将poll u32改为phy_timer_count_get()
-
+ resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_num*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()
+ temp_count7=resp_tx_en_start_u32;
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);
resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts_i64);//此处时间戳int64直接转换为uint64不知道会不会有错误
memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&disoffset,2);//差个修正offset,修正有符号但是这个com表为无符号的,传过去直接赋给Int16_t相当于还原了
temp_resp_i64=resp_tx_ts_i64;
- temp_count3= phy_timer_count_get();
- 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();
+// 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();
+
while(mac_is_busy());
+ tagofflinetime[taglist_pos] = 0;
gpio_pin_clr(SCL_PIN);
}
-uint16_t uwb_searchcount;
+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
+
+ mac_register_process_handler(tx_int_callback, rx_int_callback);
+ receive_flag = 0;
+ flag_recsuccess = 0;
+
+ 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();
+ start_receive_count=phy_timer_count_get();
+ poll_timeout=US_TO_PHY_TIMER_COUNT(range_timeout_us);//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(mac_is_busy())
+ {
+// IdleTask();
+ current_count=phy_timer_count_get();
+ 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
+ {
+// 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);
+// 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)
+ {
+ 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);
+
+ }
+ // 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
+// LOG_INFO(TRACE_MODULE_APP,"测距失败，计数：%d\r\n",recev_error_num);
+// if(recev_error_num++>5)
+// {
+// recev_error_num=0;
+// UWB_work_state=SEARCH_DEV;
+// uwb_searchcount = 0;
+// search_open_flag = 1;
+// }
+// }
+// #ifdef DEBUG_BOXING
+// gpio_pin_clr(IO_PIN_5);//测试
+//// gpio_pin_set(IO_PIN_5);//测试
+// #endif
+}
+int Uwbinit(void)
+{
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);
+}
+//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();
// // Set calibration parameters
// uwb_calibration_params_set(config.phy_cfg.ch_num);
@@ -373,241 +600,141 @@
// 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);
+// // 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)
+// {
+// break;
+// }
+// }
- receive_flag = 0;
- temp_count3=phy_timer_count_get();
- gpio_pin_set(SCL_PIN);
- uwb_rx(0, 0, RX_SYNC_WIN_US);//开启接收
- while(mac_is_busy());
- temp_count2=phy_timer_count_get();
-// start_receive_count=phy_timer_count_get();
-// poll_timeout=rec_nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(DELAY_DEFAULT);//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
-// {
- if(receive_flag==1)//成功接收
- {
+// 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++)
+// {
+// 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(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++)
- {
- if(rec_ancidlist[i] == dev_id)
- {
- 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);
+// }
+// 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
+// }
- if(i==rec_nearbase_num)
- {
- seize_anchor=1; //抢占anchor
- Anchor_RecNearPoll(i);
+// }
+// temp_count3=phy_timer_count_get();
+// uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
- }
- 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);
- }
- } else {
- sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
- LOG_INFO(TRACE_MODULE_APP,"测距失败，计数：%d\r\n",recev_error_num);
- if(recev_error_num++>5)
- {
- recev_error_num=0;
- UWB_work_state=SEARCH_DEV;
- uwb_searchcount = 0;
- search_open_flag = 1;
- }
- }
-
- gpio_pin_clr(SCL_PIN);
-}
-
-
-//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();
-
- // 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)
- {
- break;
- }
- }
-
- 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++)
- {
- 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
- Anchor_RecNearPoll(i);
- }
- 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
- }
-
- }
-
- 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
-}
+// }
+// // 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 120
-void UWBPoll(void)
-{
- switch(UWB_work_state)
- {
- case LINK_SUCCESS:
- { //连接成功进行轮询测距
+//#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();
+// 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 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)
- {
- 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)
{
--
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