From fef76b2f74d65ae80a890bbc8ce2be8e591cdd03 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期二, 06 五月 2025 15:38:04 +0800
Subject: [PATCH] 修改为AOA跟随模块测试基站，成功输出角度和距离一直测距版本
---
keil/uwb_app.c | 101 ++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 85 insertions(+), 16 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 46f6c11..0edee1b 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -253,8 +253,71 @@
/* RX done process handler. */
int8_t rssi;
+#define MSG_POS 0x01
+#define M_PI 3.1415927
+uint8_t usart_send[40];
+extern uint8_t bat_percent;
+double angle_temp;
+double angle_calculate(void)
+{
+ double offset;
+// float pdoa[3];
+// pdoa[0] = pdoa_select_get(0, 3);
+// pdoa[1] = pdoa_select_get(1, 3);
+// pdoa[2] = pdoa_select_get(2, 3);
+//LOG_INFO(TRACE_MODULE_APP, "PDOA:%f,%f,%f\r\n", pdoa[0], pdoa[1], pdoa[2]);
+ float *iq1 = sts_first_path_iq_get();
+//LOG_INFO(TRACE_MODULE_APP, "ANT0 IQ: %f %f\r\n", iq1[0], iq1[1]);
+//LOG_INFO(TRACE_MODULE_APP, "ANT1 IQ: %f %f\r\n", iq1[2], iq1[3]);
+//LOG_INFO(TRACE_MODULE_APP, "ANT2 IQ: %f %f\r\n", iq1[4], iq1[5]);
+//LOG_INFO(TRACE_MODULE_APP, "ANT3 IQ: %f %f\r\n", iq1[6], iq1[7]);
+float iq_re = iq1[2 * 0] * iq1[2 * 1] + iq1[2 * 0 + 1] * iq1[2 * 1 + 1];
+float iq_im = iq1[2 * 0] * iq1[2 * 1 + 1] - iq1[2 * 0 + 1] * iq1[2 * 1];
+double result=atan2f(iq_im, iq_re)/ M_PI;
+double angle=asin(result);
+angle =angle*57.3;
+offset=30;
+angle+=offset;
+if(angle>=90)
+ angle-=180;
+else if(angle<=-90)
+{
+angle+=180;
+}
+//LOG_INFO(TRACE_MODULE_APP, "ANGLE_X: %lf \r\n", angle);
+float iq_re2 = iq1[2 * 2] * iq1[2 * 3] + iq1[2 * 2 + 1] * iq1[2 * 3 + 1];
+float iq_im2 = iq1[2 * 2] * iq1[2 * 3 + 1] - iq1[2 * 2 + 1] * iq1[2 * 3];
+double result2=atan2f(iq_im2, iq_re2)/ M_PI;
+double angle2=asin(result2);
+angle2 =angle2*57.3;
+if(angle2>=90)
+ angle2-=180;
+else if(angle2<=-90)
+{
+angle2+=180;
+}
+return angle;
+}
+void buffer_construct(uint16_t tag_id,uint16_t distance_temp,int16_t angle1,uint8_t rssi1)
+{
+ uint16_t checksum = 0;
+ usart_send[0] = 0x55;
+ usart_send[1] = 0xAA;
+ usart_send[2] = 17+10; //length
+ usart_send[3] = MSG_POS; //MSG_TYPE
+ memcpy(&usart_send[4],&tag_id,2); //tag_id)
+ memcpy(&usart_send[6],&distance_temp,2);
+ memcpy(&usart_send[8],&angle1,2);
+ usart_send[10] = (uint8_t)rssi1;
+ usart_send[11] = 0; //BUTTON目前先不写
+ usart_send[12] = bat_percent; //BATTARY目前先不写
+ usart_send[13] = 0; //RESERVE1
+ usart_send[14] = 0; //RESERVE2
+ checksum = Checksum_u16(&usart_send[2], 13+10);
+ memcpy(&usart_send[15+10], &checksum, 2);
+}
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
-{ uint8_t valid_sts=0;
+{
// Power off radio
power_off_radio();
@@ -272,19 +335,7 @@
poll_rx_num++;
rssi = rx_report->rssi;
receive_flag=1;
- valid_sts= sts_valid_check();
- if (valid_sts)
- {
- aoa_calculate(&elevation, &azimuth);
- aoa_fom_get(NULL, &fom);
-// float pdoa[3];
-// pdoa[0] = pdoa_select_get(0, 3);
-// pdoa[1] = pdoa_select_get(1, 3);
-// pdoa[2] = pdoa_select_get(2, 3);
-// LOG_INFO(TRACE_MODULE_APP, "PDOA: %f %f %f\r\n", pdoa[0], pdoa[1], pdoa[2]);
-
- sts_rssi = sts_rssi_output_get();
- }
+
}
else
{
@@ -772,13 +823,30 @@
seize_anchor=1; //抢占anchor
Anchor_RecNearPoll(i);
}
+ uint8_t valid_sts=0;
+ valid_sts= sts_valid_check();
+ if (valid_sts)
+ {
+ aoa_calculate(&elevation, &azimuth);
+ aoa_fom_get(NULL, &fom);
+// float pdoa[3];
+// pdoa[0] = pdoa_select_get(0, 3);
+// pdoa[1] = pdoa_select_get(1, 3);
+// pdoa[2] = pdoa_select_get(2, 3);
+// LOG_INFO(TRACE_MODULE_APP, "PDOA: %f %f %f\r\n", pdoa[0], pdoa[1], pdoa[2]);
+ angle_temp=angle_calculate();
+ sts_rssi = sts_rssi_output_get();
+ }
+ buffer_construct(tag_id_recv,distance,(int16_t)angle_temp,rssi);
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);
//LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度ANT0:%f,信号强度ANT2: %f\r\n",g_com_receive_id,distance,sts_rssi[0],sts_rssi[2]);
//LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度ANT0:%f,信号强度ANT2: %f\r\n",g_com_receive_id,distance,sts_rssi[1],sts_rssi[2]);
- LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d\r\n",g_com_receive_id,distance);
- check_if_in_or_out_car(g_com_receive_id,distance,sts_rssi[1],sts_rssi[2]);
+ //LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d\r\n",g_com_receive_id,distance);
+ uart_send(TRACE_PORT_UART0,usart_send,10+17,NULL);
+ //LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 角度 :%lf\r\n",g_com_receive_id,distance,angle_temp);
+ //check_if_in_or_out_car(g_com_receive_id,distance,sts_rssi[1],sts_rssi[2]);
success_num++;
//gpio_pin_clr(SCL_PIN);
@@ -853,6 +921,7 @@
phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
#endif
}
+
//主函数绑定接受逻辑
int UwbSearch(void)
{
--
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