From f56dde7abad991a2c810708e80bf6da5f7a9fc88 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 15 八月 2025 16:29:47 +0800
Subject: [PATCH] 适配最新ss定位标签固件
---
keil/uwb_app.c | 105 +++++++++++++++++++++++++++++++++-------------------
1 files changed, 67 insertions(+), 38 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index bafdb9a..9378f01 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -78,7 +78,7 @@
#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 550U //yuan600 success 并且不卡busy
+#define POLL_RX_TO_RESP_TX_DLY_US 1000U //yuan600 success 并且不卡busy
#define RESP_TX_TO_FINAL_RX_DLY_US 500U
@@ -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||rx_buf[MESSAGE_TYPE_IDX]==DISCOVERPOLL2)&&!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)
@@ -473,6 +482,7 @@
// }
// anchordata_num=j;
//}
+int8_t test22,test33;
void TagListUpdate(void)
{
uint16_t i,j=0,k=0;
@@ -518,6 +528,11 @@
//while(mac_is_busy());
gpio_pin_clr(SCL_PIN);
cmd_flag=1;
+ if(send_buffer[RW_FLAG_IDX]==0x01)
+ {
+ delay_ms(100);
+ NVIC_SystemReset();
+ }
break;
}
}
@@ -525,11 +540,11 @@
if(cmd_flag==0)
{
temp_count2=poll_rx_en_start_u32;
-
+ group_id=0xff;
memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//组id
memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);//自身id
memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);//接受者id
- send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
+ send_buffer[MESSAGE_TYPE_IDX]=POS_RESPONSE;
// if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式自己为新基站
// {
@@ -544,7 +559,7 @@
// //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()
position=ancrec_nearbasepos;
- resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+ancrec_nearbasepos*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//加入帧间隔
+ resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US);//加入帧间隔
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);
@@ -554,6 +569,7 @@
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
tagofflinetime[taglist_pos] = 0;//更新标签通信
+ test33++;
// temp_count1=phy_timer_count_get();
//while(mac_is_busy());
//gpio_pin_clr(SCL_PIN);
@@ -644,6 +660,33 @@
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;
@@ -654,6 +697,7 @@
memcpy(&uwbsend[4+taglist_num*2],&tagdist_list,taglist_num*2);
memcpy(&uwbsend[4+taglist_num*4],&anchordata_version,taglist_num*2);
uart_send(UART_ID0, uwbsend,taglist_num*6+4, NULL);
+ taglist_num=0;
// for(int i=0;i<anchordata_num;i++)
// {
// LOG_INFO(TRACE_MODULE_APP,"当前测距基站ID:%x,距离:%d.\r\n",tagid_list[0],tagdist_list[0]);
@@ -664,11 +708,11 @@
{
UWBIdleTask();
}
+int32_t u32_rec_ancdistlist[TAG_NUM_IN_SYS];
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;
wltag_state=RANGE;//成功后从search切换为range
memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
@@ -676,41 +720,25 @@
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
+ rec_nearbase_num=rx_buf[18]; //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;
-// }
-// }
+ memcpy(rec_ancidlist,&rx_buf[19+2],2*rec_nearbase_num);
-// if(i==rec_nearbase_num)
-// {
-// seize_anchor=1; //抢占anchor
-// Anchor_RecNearPoll(i);
-// }
+ memcpy(u32_rec_ancdistlist,&rx_buf[19+4+2*rec_nearbase_num],4*rec_nearbase_num);
+ for (int i = 0; i < rec_nearbase_num+1; i++)
+ {
+ rec_ancdistlist[i] = (int16_t)(u32_rec_ancdistlist[i] & 0xFFFF);
+ }
+ test22++;
+// 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);
+
taglist_pos=CmpTagInList(tag_id_recv);
if(taglist_num>=ANC_MAX_NUM)
return 0;
for(i=0; i<rec_nearbase_num; i++)
{
- memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
+ memcpy(&tempid,&rx_buf[19+2+i*2],2);
if(tempid==dev_id)
{
Anchor_RecNearPoll(i);
@@ -879,6 +907,7 @@
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
--
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