From ff27ffd4106d12d68f4da4259279f948e512fc69 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期四, 24 七月 2025 10:28:30 +0800
Subject: [PATCH] 修改网络类型切换，用宏定义控制网络切换，V2.13
---
keil/uwb_app.c | 489 +++++++++++++++++++++++++++++++++---------------------
1 files changed, 297 insertions(+), 192 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index d58da14..1b5c35d 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -11,6 +11,8 @@
#include "board.h"
#include "lib_aoa.h"
#include "WS2812.h"
+#include "TCPClient.h"
+
extern int simple_main(void);
extern int temp_main(void);
void Calibration_Time(void);
@@ -37,7 +39,7 @@
extern uint8_t group_id;
static uint16_t anc_id_recv,tag_id_recv;
static int16_t rec_antdelay;
-extern uint32_t dev_id;
+extern uint16_t dev_id;
static uint16_t taglist_pos,tmp_time;
extern uint16_t tag_frequency;
extern uint16_t disoffset;
@@ -47,13 +49,14 @@
//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
static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts);//用来对应位置放入时间戳
-static uint16_t tagid_list[TAG_NUM_IN_SYS];
+uint16_t tagid_list[TAG_NUM_IN_SYS];
uint16_t CmpTagInList(uint16_t tagid);
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos);
static uint8_t send_buffer[100];
-static uint8_t tagofflinetime[TAG_NUM_IN_SYS];
+uint8_t tagofflinetime[TAG_NUM_IN_SYS];
uint32_t temp_count=0;
uint32_t temp_count1=0;
+uint32_t temp_endcount1=0;
uint32_t temp_count2=0;
uint32_t temp_count3=0;
uint32_t temp_count7=0;
@@ -61,6 +64,7 @@
int16_t elevation = 0;
int16_t azimuth = 0;
uint8_t fom = 0;
+extern CountState_t current_state;
int32_t distance;
uint8_t taglist_num;
float *sts_rssi=NULL;
@@ -68,20 +72,23 @@
uint8_t uwb_rx_flag;
extern Operation_step UWB_work_state;
extern int16_t first_search_flag;
-typedef enum
+typedef enum
{
- SEARCH,
+ SEARCH,
CLOSE,
RANGE,
-}enumwltagstate;
+} enumwltagstate;
+#define TAGFREQ_IDX 7
+
/* Ranging period */
#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 //yuan550极限
+//#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan550极限
#define RESP_TX_TO_FINAL_RX_DLY_US 500U
-
+//#define RESP_TX_TO_FINAL_RX_DLY_US 500U
/* RX sync window size 50 ms*/
#define RX_SYNC_WIN_US 5000U //yuan1000 7000success
@@ -98,6 +105,7 @@
#define RX_WIN_IN_ADVANCE_US (150)
#define DELAY_BETWEEN_TWO_FRAME_UUS 500 //yuan1400
+//#define DELAY_BETWEEN_TWO_FRAME_UUS 500 //yuan1400
/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -110,7 +118,10 @@
#define MSG_COMMON_LEN 10
#define UWB_DELAY_TIME_US 496
-static uint8_t receive_flag=0;
+
+
+
+uint8_t receive_flag=0;
struct mk_uwb_configure
{
uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
@@ -133,8 +144,8 @@
// .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 */
//};
-#ifdef DW1000
-static struct mk_uwb_configure config = {
+#ifdef UWB_MK8000_XB
+ 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, /* TRX preamble code */
@@ -149,6 +160,43 @@
.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 */
};
+#endif
+#ifdef UWB_DW1000_MBXJZ_OLD
+ 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, /* 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_64, /* Preamble duration, length of preamble 128 */
+ .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 */
+};
+#endif
+
+#ifdef DW1000
+
+//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, /* 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_64, /* Preamble duration, length of preamble 128 */
+// .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 */
+//};
+
#elif defined STS_MODE
static struct mk_uwb_configure config = {
.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
@@ -194,9 +242,9 @@
};
#endif
-static struct anchor_id_car{
- uint16_t anchor_new_id;
- uint16_t change_num;
+static struct anchor_id_car {
+ uint16_t anchor_new_id;
+ uint16_t change_num;
};
/* Buffer to store received frame */
@@ -282,15 +330,21 @@
uint32_t range_timeout_us = 1000000;//yuan5000
uint8_t flag_temp2,flag_temp1;
uint16_t uwb_losttimer;
-uint32_t rxnum;
+uint8_t rxnum;
+uint8_t receive_error_flag;
+uint8_t rxnumoknum,rxnumerrornum;
+uint8_t resp_tx_flag;
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
-{ uint8_t valid_sts=0;
+{ uint8_t valid_sts=0;
// Power off radio
power_off_radio();
rxnum++;
+
/** UWB RX success */
if (rx_report->err_code == UWB_RX_OK)
{
+ resp_tx_flag=0;
+ rxnumoknum++;
/* Received data does not contain FCS */
rx_length = rx_report->pkt_len;
memcpy(rx_buf, rx_report->pkt_data, rx_length);
@@ -302,22 +356,26 @@
poll_rx_num++;
rssi = rx_report->rssi;
receive_flag=1;
- Anchor_App();
- #ifdef STS_MODE
- 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]);
+ Anchor_App();
+ if(resp_tx_flag==0)
+ {
+ OpenUWB();
+ }
+// #ifdef STS_MODE
+// 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();
- }
- #endif
+// sts_rssi = sts_rssi_output_get();
+// }
+// #endif
}
else
{
@@ -327,13 +385,18 @@
/* UWB_BD_ERR Preamble detection error */
/* UWB_TO_ERR Receive timeout */
/* UWB_STS_ERR STS error */
- temp_count= phy_timer_count_get();
+ rxnumerrornum++;
+ temp_count= phy_timer_count_get();
memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
rx_length = 0;
- // OpenUWB();//再次开启UWB接收
+ receive_error_flag=1;
+
+ OpenUWB();
+
+// OpenUWB();//再次开启UWB接收
}
// CloseUWB();
- OpenUWB();//再次开启UWB接收
+// OpenUWB();//再次开启UWB接收
// Uwb_init();
// OpenUWB();
}
@@ -350,15 +413,20 @@
temp_count= phy_timer_count_get();
temp_internal=temp_count;
resp_tx_num++;
- // OpenUWB();//再次开启UWB接收
+
+ OpenUWB();
+
+// OpenUWB();//再次开启UWB接收
//LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
}
+// OpenUWB();//再次开启UWB接收
}
uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
- uint16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
-static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
+uint16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
+uint8_t anchordata_bat[TAG_NUM_IN_SYS];
+int8_t anchor_rssi[TAG_NUM_IN_SYS];
uint8_t anchordata_num = 0;
-static int16_t tagdist_list[TAG_NUM_IN_SYS];
+int16_t tagdist_list[TAG_NUM_IN_SYS];
uint16_t random_time;
//anchor
int32_t hist_dist;
@@ -381,20 +449,20 @@
anchordata_num++;
}
anchordata_id[i] = ancid;//与之通信的标签id存入当前表中
- distance=dist*0.5+(int16_t)anchordata_dist[i]*0.5;
+ distance=dist*0.5+(int16_t)anchordata_dist[i]*0.5;
anchordata_dist[i] = dist;
anchordata_bat[i] = battary;
tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
- dist_temp=dist;
+ 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;
@@ -466,21 +534,23 @@
//}
void TagListUpdate(void)
{
-uint16_t i,j=0,k=0;
+ uint16_t i,j=0,k=0;
for(i=0; i<taglist_num; i++)
{
- if(tagofflinetime[i]++<TAG_KEEPTIMES)
+ if(tagofflinetime[i]++<TAG_KEEPTIMES)
{
tagid_list[j]=tagid_list[i];
tagdist_list[j] = tagdist_list[i];
- anchordata_bat[j]=anchordata_bat[i];//电量随之更新
+ anchordata_bat[j]=anchordata_bat[i];//电量随之更新
+ anchor_rssi[j]=anchor_rssi[i];
tagofflinetime[j++]=tagofflinetime[i];
}
- }
- taglist_num=j;
+ }
+ taglist_num=j;
}
uint8_t position;
+uint8_t resp_tx_error;
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;
@@ -489,21 +559,10 @@
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;
+ memcpy(&send_buffer[TAGFREQ_IDX],&tag_frequency,2);
-// if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式自己为新基站
-// {
-// 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 = phy_timer_count_get()+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(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+ancrec_nearbasepos*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()
- 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
+ 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_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);
@@ -512,9 +571,19 @@
temp_resp_i64=resp_tx_ts_i64;
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
+ resp_tx_flag=1;
+ tagofflinetime[taglist_pos] = 0;//更新标签通信
// temp_count1=phy_timer_count_get();
- //while(mac_is_busy());
+// temp_endcount1=phy_timer_count_get()+MS_TO_PHY_TIMER_COUNT(10);
+// while(mac_is_busy())
+// {
+// temp_count1=phy_timer_count_get();
+// if(temp_count1>temp_endcount1)
+// {
+// resp_tx_error++;
+// break;
+// }
+// }
//gpio_pin_clr(SCL_PIN);
}
@@ -546,33 +615,33 @@
return i;
}
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
-
-
- if(secondtask_search_count++%2==0)
+{
+ 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))))
{
- secondtask_search_flag = 1;
- }else{
- secondtask_search_flag = 0;
- }
- if(secondtask_search_flag)//更新S时间TICK
- {
- HIDO_TimerTick();
- TagListUpdate();
+ start_receive_count_calibration=current_count_calibration;//更新开始时间
+
+
+ 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
- }
+ }
}
uint16_t g_com_receive_id;
uint8_t usart_send[400];
@@ -581,50 +650,55 @@
uint16_t tagseq;
void CloseUWB(void)
{
- uwb_rx_force_off(1);
- uwb_rx_flag=0;
- //LOG_INFO(TRACE_MODULE_APP,"关闭uwb_rx\r\n");
+ uwb_rx_force_off(1);
+ uwb_rx_flag=0;
+ //LOG_INFO(TRACE_MODULE_APP,"关闭uwb_rx\r\n");
}
void OpenUWB(void)
{
// while(!mac_is_busy())
// {
- flag_temp1=uwb_rx(0, 0,range_timeout_us);//提交接收请求
- uwb_rx_flag=1;
+ flag_temp1=uwb_rx(0, 0,range_timeout_us);//提交接收请求
+ uwb_rx_flag=1;
// }
- //LOG_INFO(TRACE_MODULE_APP,"打开uwb_rx\r\n");
-}
+ //LOG_INFO(TRACE_MODULE_APP,"打开uwb_rx\r\n");
+}
void UWBOneSecondTask(void)
{
- TagListUpdate();//更新标签数
- uwb_losttimer++;
- if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
- uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//防止溢出
+ TagListUpdate();//更新标签数
+ uwb_losttimer++;
+ if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
+ uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//防止溢出
}
+extern uint16_t gaodu;
void UWBSendUDPTask(void)
{
- uint16_t checksum,tempdistarray[20];
+ uint16_t checksum,tempdistarray[20];
// UDP_TEST();
- for(uint16_t i=0;i<taglist_num-1;i++)
+ for(uint16_t i=0; i<taglist_num-1; i++)
{
- for(uint16_t j=0;j<taglist_num-1-i;j++)
+ for(uint16_t j=0; j<taglist_num-1-i; j++)
{
if(tagdist_list[j]>tagdist_list[j+1])
{
uint16_t id,dist;
uint8_t bat;
+ int8_t rssi1;
id = tagid_list[j];
dist = tagdist_list[j];
bat = anchordata_bat[j];
+ rssi1=anchor_rssi[j];
tagid_list[j] = tagid_list[j+1];
tagdist_list[j] = tagdist_list[j+1];
anchordata_bat[j] = anchordata_bat[j+1];
+ anchor_rssi[j] = anchor_rssi[j+1];
tagid_list[j+1] = id;
tagdist_list[j+1] = dist;
anchordata_bat[j+1] = bat;
+ anchor_rssi[j+1] = rssi1;
}
}
-
+
}
// if(taglist_num>0)
// {
@@ -636,65 +710,91 @@
// }
// }
// Set4LEDColor(uwbled,rtkled,led4g,powerled);
-
- if(taglist_num>20) //最多上传20个基站数据，距离最近的20个
- taglist_num = 20;
- usart_send[0]= 0x55;
- usart_send[1]= 0xaa;
- usart_send[2] = 0x12;//正常模式
- usart_send[3] = 15+5*(taglist_num);//数据段长度
- memcpy(&usart_send[4],&dev_id,2);
- usart_send[6] = tagseq;
- usart_send[7] = (tagseq++)>>8;
- usart_send[8] = bat_percent;
- usart_send[9] = userkey_state|0<<1|0<<2|0<<5|uwb_state<<6;
- // memcpy(&usart_send[10],&rec_tagheight,2);
- usart_send[12] = 0;
- usart_send[13] = 0;
- usart_send[14] = 0;
- usart_send[15] = 0;
- usart_send[16] = taglist_num;
-
- memcpy(&usart_send[17],&tagid_list,2*taglist_num);
- memcpy(&usart_send[17+taglist_num*2],&tagdist_list,2*taglist_num);
- memcpy(&usart_send[17+taglist_num*4],&anchordata_bat,taglist_num);
- checksum = Checksum_u16(&usart_send[2],15+5*taglist_num);
- memcpy(&usart_send[17+5*taglist_num],&checksum,2);
- HexToAsciiSendUDP(usart_send,19+5*taglist_num);
- taglist_num = 0;
+
+ if(taglist_num>14) //最多上传20个基站数据，距离最近的20个
+ taglist_num = 14;
+ usart_send[0]= 0x55;
+ usart_send[1]= 0xaa;
+ usart_send[2] = 0x12;//正常模式
+ usart_send[3] = 15+5*(taglist_num);//数据段长度
+ memcpy(&usart_send[4],&dev_id,2);
+ usart_send[6] = tagseq;
+ usart_send[7] = (tagseq++)>>8;
+ usart_send[8] = bat_percent;
+// usart_send[8] = rxnum;
+ usart_send[9] = userkey_state|0<<1|0<<2|0<<5|uwb_state<<6;
+ // memcpy(&usart_send[10],&rec_tagheight,2);
+ memcpy(&usart_send[12],gaodu,2);
+// usart_send[12] = 0;
+// usart_send[13] = 0;
+ usart_send[14] = 0;
+ usart_send[15] = 0;
+ usart_send[16] = taglist_num;
+
+ memcpy(&usart_send[17],&tagid_list,2*taglist_num);
+ memcpy(&usart_send[17+taglist_num*2],&tagdist_list,2*taglist_num);
+ memcpy(&usart_send[17+taglist_num*4],&anchordata_bat,taglist_num);
+ checksum = Checksum_u16(&usart_send[2],15+5*taglist_num);
+ memcpy(&usart_send[17+5*taglist_num],&checksum,2);
+ HexToAsciiSendUDP(usart_send,19+5*taglist_num);
+// taglist_num = 0;
+// rxnum=0;
}
+extern uint32_t step_count;
+extern uint8_t uwb_OpenClose_flag;
void UWBIdleTask(void)
{
-
- if(HIDO_TimerGetTick()-uwbtasktimer >=1)
- {
- uwbtasktimer = HIDO_TimerGetTick();
- UWBOneSecondTask();
- UWBSendUDPTask();
- }
+// if(receive_flag)
+// {
+// receive_flag=0;
+// Anchor_App();
+// OpenUWB();
+// }
+// if(receive_error_flag)
+// {
+// receive_error_flag=0;
+// OpenUWB();
+// }
+ if(HIDO_TimerGetTick()-uwbtasktimer >=1)
+ {
+ step_count = mir3da_get_step(); // 获取步数
+ uwbtasktimer = HIDO_TimerGetTick();
+ UWBOneSecondTask();
+ if(g_com_map[UWBFrequency]==1&&uwb_OpenClose_flag==1&¤t_state==STATE_NORMAL)
+ {
+ UWBSendUDPTask();
+ }
+ }
}
int uwb_app_poll(void)
{
- UWBIdleTask();
+ UWBIdleTask();
}
+extern uint8_t uwb_offtime_count;
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);
- //temp_count2=phy_timer_count_get();
- 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
- 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);
- uwbled=BLUE;
+ uint8_t i;
+ uint16_t tempid;
+ uwb_offtime_count=0;
+#ifdef CEJU_XIUMIAN
+ current_state = STATE_NORMAL;
+#endif
+ 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);
+ //temp_count2=phy_timer_count_get();
+ 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
+ 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);
+ uwbled=BLUE;
+
+
// for(i=0; i<rec_nearbase_num; i++)
// {
// if(rec_ancidlist[i] == dev_id)
@@ -719,80 +819,85 @@
// seize_anchor=1; //抢占anchor
// Anchor_RecNearPoll(i);
// }
- 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);
- if(tempid==dev_id)
- {
- Anchor_RecNearPoll(i);
- tagdist_list[taglist_pos]=rec_ancdistlist[i];
- anchordata_bat[taglist_pos] = battary;//保存该基站电量
- 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&&taglist_pos==taglist_num)||(rec_nearbase_num==0&&!ExistInTagList(tag_id_recv)))//当基站不在标签列表中，标签也不在基站列表中时，随机找个时间片回复基站。
- {
- Anchor_RecNearPoll(rec_nearbase_num);
+ taglist_pos=CmpTagInList(tag_id_recv);
+ if(taglist_pos>=TAG_NUM_IN_SYS)
+ return 0;
+ 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];
+ anchordata_bat[taglist_pos] = battary;//保存该基站电量
+ anchor_rssi[taglist_pos]=rssi;
+ 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&&taglist_pos==taglist_num)||(rec_nearbase_num==0&&!ExistInTagList(tag_id_recv)))//当基站不在标签列表中，标签也不在基站列表中时，随机找个时间片回复基站。
+ {
+ Anchor_RecNearPoll(rec_nearbase_num);
+ }
+ }
+// else
+// {
+// OpenUWB();
+// }
+
+
}
void Uwb_init(void)
{
- uwb_open();
- #ifdef STS_MODE
- // Set STS key and IV
+ uwb_open();
+#ifdef STS_MODE
+// Set STS key and IV
phy_sts_key_configure(&sts_iv_key);
-
- // which RX ports will be used for AoA/PDoA
+
+ // which RX ports will be used for AoA/PDoA
phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
- #endif
+#endif
// Set calibration parameters
uwb_calibration_params_set(config.phy_cfg.ch_num);
- #ifndef STS_MODE
- // set advanced parameters
+#ifndef STS_MODE
+ // 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,
};
- #else
- // set advanced parameters
+#else
+ // set advanced parameters
struct PHY_ADV_CONFIG_T adv_config = {
.thres_fap_detect = 40,
.nth_scale_factor = 4,
.ranging_performance_mode = 3,
.skip_weakest_port_en = 0,
};
- #endif
+#endif
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);
- #if (defined STS_MODE) || (defined MK_MODE)
- ranging_lib_init();
- #endif
+#if (defined STS_MODE) || (defined MK_MODE)
+ ranging_lib_init();
+#endif
ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
- #ifdef STS_MODE
- aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM);
+#ifdef STS_MODE
+ aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM);
aoa_steering_vector_set((const float *)((uint32_t)((config.phy_cfg.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) | SRAM_BASE));
aoa_param_config();
-
- phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
- #endif
- mac_register_process_handler(tx_int_callback, rx_int_callback);//初始化回调
+
+ phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
+#endif
+ mac_register_process_handler(tx_int_callback, rx_int_callback);//初始化回调
}
--
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