From f8dda0f9757bab836487931d88935e0d6a334e58 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期三, 13 十一月 2024 09:16:17 +0800
Subject: [PATCH] 手环V1.12版本，修复GPS太快获得数据导致DMA缓存重复出现有效经纬度仅有一个报文保持不变的问题，修改从供电保护到正常后部分4G重连逻辑，增加查询功能，测距稳定版本
---
keil/uwb_app.c | 216 ++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 169 insertions(+), 47 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 29f1786..b668f73 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -8,11 +8,14 @@
#include "dw_app_anchor.h"
#include "global_param.h"
#include "board.h"
+#include "HIDO_TypeDef.h"
extern int simple_main(void);
extern int temp_main(void);
+extern void Air780E_4G_POLL(void);
void TagListUpdate(void);
+void Calibration_Time(void);
extern void IO_LED_control_change(uint8_t data);
extern void IO_control_init(void);
@@ -35,7 +38,7 @@
extern uint16_t tag_frequency;
extern uint16_t disoffset;
static uint8_t frame_len,recpoll_len,current_syncid,new_tagid,seize_anchor,result,g_start_sync_flag;
-extern uint8_t gps_power_state,motor_power_state,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state;
+extern uint8_t gps_power_state,motor_power_state,uwb_state,air780_power_state,gps_success_state,red_charge_state,green_charge_state,air780_success_state;
int poll_rx_num,resp_tx_num;
//resp函数
void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary);//找到自己的id信息对应位置更新自己的交互信息
@@ -60,7 +63,7 @@
#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 670U //yuan450
#define RESP_TX_TO_FINAL_RX_DLY_US 500U
@@ -79,7 +82,7 @@
/* 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 //yuan1400
/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -99,23 +102,37 @@
struct UWB_CONFIG_T phy_cfg;
};
-/* Default communication configuration. */
+///* Default communication configuration. */
+//static struct mk_uwb_configure config = {//原来的基站非110k代码
+// .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
+// .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.ranging_bit = 1, /* ranging bit set. */
+// .phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF, /* 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 */
+// .phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
+//};
static struct mk_uwb_configure config = {
.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
.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.code_index = 9, /* TRX preamble code */
+ .phy_cfg.mean_prf = MEAN_PRF_64M, /* Mean prf 64/128/256M */
+ .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.ranging_bit = 1, /* ranging bit set. */
- .phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF, /* IEEE802.15.4z - BPRF mode */
+ .phy_cfg.sfd_sym = NON_STD_NSFD5_8, /* Identifier for SFD sequence */
+ .phy_cfg.ranging_bit = 1, /* ranging bit set 1 */
+ .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 */
.phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
};
-
/* Buffer to store received frame */
/* Frames used in the ranging process
@@ -216,7 +233,7 @@
poll_rx_num++;
rssi = rx_report->rssi;
receive_flag=1;
- recev_error_num=0;
+
}
else
{
@@ -249,6 +266,8 @@
}
}
uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
+uint32_t start_receive_count_calibration;
+uint32_t current_count_calibration;
static uint16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
uint8_t anchordata_num = 0;
@@ -256,6 +275,8 @@
uint16_t random_time;
//anchor
int32_t hist_dist;
+int16_t temp_recdist_before_offset;
+int16_t dist_temp;
void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary)
{
uint8_t i;
@@ -276,8 +297,14 @@
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)
+ dist_temp=dist;
+// if(dist>0)
+ if(temp_recdist_before_offset!=0&&distance!=0x1ffff)
+ {
distance=dist*0.5+distance*0.5;
+ }else{
+ distance=dist;
+ }
}
uint16_t CmpTagInList(uint16_t tagid)
{ uint16_t i;
@@ -291,6 +318,7 @@
//tagofflinetime[i] = 0;
return i;
}
+
static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts)
{
int i,ts2;
@@ -326,14 +354,16 @@
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()
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. */
@@ -345,10 +375,18 @@
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());
+ #ifdef BO_XING
gpio_pin_clr(SCL_PIN);
+ #endif
}
+uint32_t range_timeout_us = 5000;
uint16_t uwb_searchcount;
-extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
+uint8_t flag_recsuccess;
+uint8_t secondtask_search_count,secondtask_search_flag;
+uint8_t flag_temp2,flag_temp1;
+extern HIDO_UINT32 u32CurTick;
+extern float nomove_count;
+extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag,flag_secondtask;
int UwbRange(void)
{
uint8_t i;
@@ -378,24 +416,45 @@
mac_register_process_handler(tx_int_callback, rx_int_callback);
receive_flag = 0;
+ flag_recsuccess = 0;
temp_count3=phy_timer_count_get();
+ #ifdef BO_XING
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
-// {
+ #endif
+ flag_temp1=uwb_rx(0, 0, range_timeout_us);//开启接收
+
+ // 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(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())
+ {
+
+// MotorPoll();
+ IdleTask();
+ UserKeyTask();
+ IMUTask();
+ current_count=phy_timer_count_get();
+ if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
+ {
+ break;
+ }
+ }
+
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();
+ { flag_recsuccess = 1;
+ sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
+ 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
@@ -406,7 +465,7 @@
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);
}
@@ -426,13 +485,24 @@
{
seize_anchor=1; //抢占anchor
Anchor_RecNearPoll(i);
-
}
- sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
+ 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 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
+ #ifdef BO_XING
+ gpio_pin_clr(SCL_PIN);
+ #endif
+ break;
+ }
+ }
+ //失败或者接受被高发射机打断都会再次开启接收
+ flag_temp1=uwb_rx(0, 0, range_timeout_us);
+ }
+ delay_us(1);
+ uwb_rx_force_off(1);
+ 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)
{
@@ -441,11 +511,46 @@
uwb_searchcount = 0;
search_open_flag = 1;
}
- }
+ }
+
- gpio_pin_clr(SCL_PIN);
+
+ return 0;
}
+void Calibration_Time(void)
+{
+ current_count_calibration=phy_timer_count_get();
+ if((current_count_calibration-start_receive_count_calibration>=MS_TO_PHY_TIMER_COUNT(500)||current_count_calibration+(UINT32_MAX-start_receive_count_calibration)>=MS_TO_PHY_TIMER_COUNT(500))
+ &&!((end_receive_count-current_count_calibration<=MS_TO_PHY_TIMER_COUNT(200))||(end_receive_count+(UINT32_MAX-current_count_calibration)<=MS_TO_PHY_TIMER_COUNT(200))))
+ {
+ start_receive_count_calibration=current_count_calibration;//更新开始时间
+ MotorPoll();
+
+ if(secondtask_search_count++%2==0)
+ {
+ secondtask_search_flag = 1;
+ }else{
+ secondtask_search_flag = 0;
+ }
+ if(secondtask_search_flag)//更新S时间TICK
+ {
+ HIDO_TimerTick();
+ TagListUpdate();
+ GPS_Poll();
+ if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
+ nomove_count++;
+ else{
+ nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
+ }
+ }
+ update_led_power_state();//更新等状态防止震动卡死在搜索
+ }
+// if(current_count_calibration-start_receive_count_calibration>=MS_TO_PHY_TIMER_COUNT(1000)||current_count_calibration+(UINT32_MAX-start_receive_count_calibration)>=MS_TO_PHY_TIMER_COUNT(1000))
+// {
+// HIDO_TimerTick();
+// }
+}
//主函数绑定接受逻辑
int UwbSearch(void)
@@ -476,12 +581,16 @@
// Register rx interrupt callback function
mac_register_process_handler(tx_int_callback, rx_int_callback);
+
receive_flag = 0;
temp_count3=phy_timer_count_get();
+ #ifdef BO_XING
gpio_pin_set(SCL_PIN);
- uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收
+ #endif
+ 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
+ start_receive_count_calibration=start_receive_count;
+ poll_timeout=US_TO_PHY_TIMER_COUNT(1000000);//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)
{
@@ -491,8 +600,10 @@
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())
- {
+ { Calibration_Time();
IdleTask();
+ UserKeyTask();
+ IMUTask();
current_count=phy_timer_count_get();
if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
{
@@ -504,7 +615,10 @@
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();
+ {
+ 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
@@ -516,6 +630,8 @@
{
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);
}
}
@@ -535,18 +651,23 @@
seize_anchor=1; //抢占anchor
Anchor_RecNearPoll(i);
}
- sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
+ #ifdef BO_XING
gpio_pin_clr(SCL_PIN);//测试
+ #endif
+ 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);
return 1;//返回发送成功标志
}
}
temp_count3=phy_timer_count_get();
- uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
-
+ flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
}
+ delay_us(2);
+ 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);
+ #ifdef BO_XING
gpio_pin_clr(SCL_PIN);//测试
+ #endif
return 0;//返回绑定失败标志
}
//}
@@ -573,6 +694,7 @@
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
+ Calibration_Time();
uwb_led_off();
if(link_success_flag)
UWB_work_state=LINK_SUCCESS;
@@ -605,7 +727,7 @@
//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
+ // update_led_power_state();//更新灯状态
}
LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
}
--
Gitblit v1.9.3