#include "mk_trace.h"
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#include "mk_uwb.h"
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#include "mk_phy.h"
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#include "mk_misc.h"
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#include "mk_power.h"
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#include "mk_sleep_timer.h"
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#include "lib_ranging.h"
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#include "dw_app.h"
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#include "board.h"
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#if defined(MK_SS_TWR_DW_INIT)
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extern int simple_main(void);
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/* Ranging period: 1s */
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#define RANGING_PERIOD_MS (1000)
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/* This is the delay from the end of the poll frame transmission to the enable of the receiver */
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#define POLL_TX_TO_RESP_RX_DLY_US 700U
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#define RESP_RX_TO_FINAL_TX_DLY_US 550U
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/* Receive response timeout */
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#define RESP_RX_TIMEOUT_US 500U
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/* Field index in frame */
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#define MSG_SEQ_NUM_IDX 2
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#define FINAL_MSG_POLL_TX_TS_IDX 10
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#define FINAL_MSG_RESP_RX_TS_IDX 14
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#define FINAL_MSG_FINAL_TX_TS_IDX 18
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uint16_t CmpTagInList(uint16_t tagid);
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uint16_t AddNewTagIntoList(uint16_t tagid);
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void AnchorListUpdate(void);
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void Rank_ANchor_list_by_dis(void);
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struct mk_uwb_configure
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{
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uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
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struct UWB_CONFIG_T phy_cfg;
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};
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extern uint32_t dev_id;
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extern uint8_t group_id;
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/* Default communication configuration. */
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static struct mk_uwb_configure config = {
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.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
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.phy_cfg.ch_num = 5, /* Channel number. */
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.phy_cfg.code_index = 9, /* TRX preamble code */
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.phy_cfg.mean_prf = MEAN_PRF_64M, /* Mean prf 64/128/256M */
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.phy_cfg.data_bit_rate = DATA_BR_6M8, /* Data rate 6.8M */
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.phy_cfg.sync_sym = PREAM_LEN_128, /* Preamble duration, length of preamble 128 */
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.phy_cfg.sfd_sym = BPRF_NSFD2_8, /* Identifier for SFD sequence */
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.phy_cfg.ranging_bit = 1, /* ranging bit set 1 */
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.phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF, /* IEEE802.15.4z - BPRF mode */
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.phy_cfg.sts_pkt_cfg = STS_PKT_CFG_0, /* SP0 Frame */
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.phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1, /* Number of STS segments in the frame */
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.phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
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.phy_cfg.rx_ant_id = UWB_RX_ANTENNA_3, /* UWB RX antenna port */
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};
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/* Buffer to store received frame */
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static uint8_t rx_buf[128];
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static uint8_t uwb_sendbuffer[150];
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/* Frames used in the ranging process
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* Poll message:
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* - byte 0 - 1: 0x8841 to indicate a data frame using 16-bit addressing.
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* - byte 2: sequence number, incremented for each new frame.
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* - byte 3 - 4: PAN Id 0x4B4d
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* - byte 5 - 6: Destination address
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* - byte 7 - 8: Source address
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* - byte 9: Message type (0x02 RANGING_POLL / 0x03 RANGING_RESPONSE / 0x04 RANGING_FINAL)
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* Response message:
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* - byte 10: activity code (0x07 to tell the initiator to go on with the ranging exchange)
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* Final message:
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* - byte 10 - 13: poll message transmission timestamp.
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* - byte 14 - 17: response message reception timestamp.
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* - byte 18 - 21: final message transmission timestamp.
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*/
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static uint8_t tx_poll_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x02};
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static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x4D, 0x49, 0x53, 0x45, 0x03, 0x07};
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static uint8_t tx_final_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x04, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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/* Count value of phy counter when transmitting and receiving frames */
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static uint32_t poll_tx_en_start_u32;
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static uint32_t resp_rx_en_start_u32;
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static uint32_t final_tx_en_start_u32;
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/* 41 bits timestamps of frames transmission/reception. */
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static int64_t poll_tx_ts_i64;
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static int64_t resp_rx_ts_i64;
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static int64_t final_tx_ts_i64;
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/* Frame sequence number, incremented after each transmission. */
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static uint8_t frame_seq_nb = 0;
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static volatile uint16_t rx_state;
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static volatile uint16_t rx_length;
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//DW
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uint16_t rec_nearbaseid,temp_index;
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uint8_t temp_tag_num;
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int32_t test2;
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static uint8_t receive_flag=0;
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static uint8_t rec_tag_index,tag_num_tosend;
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enum SIMPLE_FSM_T
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{
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SIMPLE_IDLE = 0,
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SIMPLE_POLL = 1,
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SIMPLE_RESPONSE = 2,
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SIMPLE_FINAL = 3,
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};
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void uwb_poll_buffer_construct(void)
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{
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}
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static enum SIMPLE_FSM_T state = SIMPLE_IDLE;
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/**
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* @brief Correct TX timestamp of the ranging frame.
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*
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* @param[in] timestamp PHY timer count of TX
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* @return TX timestamp (unit: 15.65ps)
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*/
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static int64_t ranging_tx_time_correct(uint32_t timestamp)
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{
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int64_t tx_timestamp = ranging_tx_time(timestamp);
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// correct antenna delay (TX using the same antenna as RX)
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tx_timestamp += ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;
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return tx_timestamp;
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}
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/**
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* @brief Correct RX timestamp of the ranging frame.
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*
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* @param[in] ind MAC RX report
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* @return RX timestamp (unit: 15.65ps)
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*/
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static int64_t ranging_rx_time_correct(const struct MAC_HW_REPORT_T *ind)
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{
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int64_t rx_timestamp = ranging_rx_time(ind);
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// correct antenna delay
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rx_timestamp -= ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;
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return rx_timestamp;
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}
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/* RX done process handler. */
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static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
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{
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// Power off radio
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power_off_radio();
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rx_state = rx_report->err_code;
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/** UWB RX success */
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if (rx_state == UWB_RX_OK)
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{
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/* Received data does not contain FCS */
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rx_length = rx_report->pkt_len;
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memcpy(rx_buf, rx_report->pkt_data, rx_length);
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/* Calculate rx timestamp */
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resp_rx_ts_i64 = ranging_rx_time_correct(rx_report);
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receive_flag=1;
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}
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else
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{
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/* UWB_PLD_ERR payload error */
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/* UWB_PHR_ERR PHR error */
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/* UWB_SFD_ERR Sfd error */
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/* UWB_BD_ERR Preamble detection error */
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/* UWB_TO_ERR Receive timeout */
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/* UWB_STS_ERR STS error */
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rx_length = 0;
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receive_flag=2;
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}
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}
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/* TX done process handler. */
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static void tx_int_callback(struct MAC_HW_REPORT_T *tx_report)
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{
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// Power off radio
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power_off_radio();
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/** UWB TX success */
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if (tx_report->err_code == UWB_TX_OK)
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{
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}
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}
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uint32_t start_receive_count,end_receive_count,poll_timeout,current_count;
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uint16_t taglist_total_num,taglist_current_index; //µ±Ç°Áбí×ÜÊýÁ¿
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uint8_t taglist_keeptime[MAX_TAG_LIST_NUM]; //ÿ¸ö±êÇ©´æ»îʱ¼ä
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uint16_t taglist_id[MAX_TAG_LIST_NUM],taglist_dist[MAX_TAG_LIST_NUM]; //±êÇ©¾àÀëºÍ±êÇ©µÄID
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uint8_t rec_tag_num,temp_tag_num,kp1;
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int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
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uint8_t anclost_times=0 , mainbase_lost_count=0,exsistbase_list[MAX_NEARBASE_NUM],get_newbase=0,nearbase_num,last_nearbase_num,next_nearbase_num;
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uint16_t nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],rec_nearbaseid,rec_nearbasepos;
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//×¢Ò⣺ÒòΪÐÂ×¢²áµÄ±êÇ©²¢²»ÖªµÀ»ùÕ¾ÒѾÊÕµ½ÁË£¬ËùÒÔÒªÔÚÏÂÒ»°üÁ¢¿Ì½«ÐµıêÇ©ID·¢³ö£¬·ñÔò±êÇ©»áÒ»Ö±ÇÀÕ¼»ùÕ¾µÄpoll°ü¡£
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//·½·¨Êǽ«ÐÂ×¢²áµÄ±êÇ©Ìí¼Óµ½Ï´η¢Ë͵ıêÇ©ÁбíÍ·²¿£¬ÆäËû±êÇ©ÒÀ´ÎÏòºóŲ¶¯¡£
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uint16_t AddNewTagIntoList(uint16_t tagid)
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{
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uint16_t newindex_cal = taglist_current_index+25;//µ±Ç°Ë÷Òý+25£¬ÎªÏ´ÎË÷ÒýÒª·¢³öµÄÖµµÄ×î´óÖµ£¬Èç¹û×ÜÊýСÓÚÕâ¸öÖµ£¬¼´¿É·Åµ½×îºóÃæ¡£
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if(newindex_cal>=taglist_total_num) //Èç¹ûµ±Ç°Ë÷ÒýÊÇ×îºóÒ»°ü£¬ÄÇô¾Í¼Óµ½×ÜË÷ÒýµÄºóÃ棬Èç¹û²»ÊǾͼӵ½ÏÂÒ»´ÎÆðʼË÷ÒýλÖá£
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{
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newindex_cal = taglist_total_num;
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} else {
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for(uint16_t i=taglist_total_num; i>newindex_cal; i--) //´ÓºóÍùǰŲµØ·½??¾ÍÊDzåÈë
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{
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taglist_id[i]=taglist_id[i-1];
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taglist_dist[i]=taglist_dist[i-1];
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taglist_keeptime[i]=taglist_keeptime[i-1];
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}
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}
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taglist_total_num++;
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taglist_id[newindex_cal] = tagid;
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taglist_dist[newindex_cal] = 0;
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taglist_keeptime[newindex_cal] = TAG_KEEPTIMES;
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return newindex_cal;
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}
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uint8_t FindNearBasePos(uint16_t baseid)//Ñ°ÕÒµ±Ç°ÁбíÖеĻùÕ¾·µ»ØË÷Òý
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{
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uint8_t i;
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for(i=0; i<nearbase_num; i++)
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{
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if(baseid==nearbaseid_list[i])
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return i;
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}
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if(i==nearbase_num)
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return nearbase_num;
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}
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void AnchorListUpdate(void)
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{
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next_nearbase_num = 0;
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int j=0;
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for(int i=0; i<nearbase_num; i++)
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{
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if(exsistbase_list[i]>0)
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{
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exsistbase_list[i]--;
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next_nearbase_num++;
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true_exsistbase_list[j]=exsistbase_list[i];
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true_nearbase_idlist[j]=nearbaseid_list[i];
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true_nearbase_distlist[j++]=nearbase_distlist[i];
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}
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nearbase_num = next_nearbase_num;//¸üÐÂÏÖ´æ»ùÕ¾Êý
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last_nearbase_num = next_nearbase_num;//¸üе±Ç°»ùÕ¾Êý
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}
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}
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void Rank_ANchor_list_by_dis(void)//°´ÕÕÄ¿Ç°µÄ»ùÕ¾¾àÀë½øÐÐðÅÝÅÅÐòÓÃÁÙʱÊý×鷽ʽ½«×î½üµÄ·Åµ½×îÇ°Ã棬×îÔ¶µÄ·Åµ½×îºóÃæ
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{
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for(int i=0; i<last_nearbase_num-1; i++)
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{
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for(int j=0; j<last_nearbase_num-1; j++)
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{
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if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
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{
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uint32_t temp_dist,temp_id,temp_exsis;
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temp_dist=true_nearbase_distlist[j];
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temp_id = true_nearbase_idlist[j];
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temp_exsis=true_exsistbase_list[j];
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true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
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true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
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true_exsistbase_list[j]=true_exsistbase_list[j+1];
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true_nearbase_distlist[j+1]=temp_dist;
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true_nearbase_idlist[j+1]=temp_id;
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true_exsistbase_list[j+1]=temp_exsis;
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}
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}
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}
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for (int i=0; i<last_nearbase_num; i++)
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{
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nearbaseid_list[i]=true_nearbase_idlist[i];
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nearbase_distlist[i]=true_nearbase_distlist[i];
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exsistbase_list[i] = true_exsistbase_list[i];
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}
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}
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uint16_t CmpTagInList(uint16_t tagid)//ÕÒÕâ¸öÐÂÒ»°üµÄ»ùÕ¾ÔÚ²»ÔÚÏÖ´æµÄtaglistÖÐÔڵĻ°¶ÔӦλÖøüдæ»îʱ¼ä£¬²»ÔÚ¾ÍÔö¼Ó£¨È·±£ÓÐЧÊýÁ¿Ð¡ÓÚ×î´óÉèÖÃÊý£©
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{
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uint16_t temp;
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for(uint8_t i=0; i<taglist_total_num; i++)
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{
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if(memcmp(&tagid,&taglist_id[i],2)==0)
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{
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taglist_keeptime[i] = TAG_KEEPTIMES;
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return i;
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}
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}
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if(taglist_total_num<MAX_TAG_LIST_NUM)
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temp = AddNewTagIntoList(tagid);
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return temp;
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}
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int simple_main(void)
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{
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// The following peripherals will be initialized in the uwb_open function
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// phy/mac/aes/lsp/phy timers initialized
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uwb_open();
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// Set calibration parameters
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uwb_calibration_params_set(config.phy_cfg.ch_num);
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// set advanced parameters
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struct PHY_ADV_CONFIG_T adv_config = {
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.thres_fap_detect = 40,
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.nth_scale_factor = 4,
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.ranging_performance_mode = 0,
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.dynamic_port_sel_en = 0,
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};
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phy_adv_params_configure(&adv_config);
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// uwb configure
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uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);
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ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
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// Register rx interrupt callback function
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mac_register_process_handler(tx_int_callback, rx_int_callback);
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//#if LOW_POWER_EN
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// // Initialize low power mode
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// power_init();
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// // Enable sleep timer
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// sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, NULL);
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//#endif
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uwb_poll_buffer_construct();
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temp_tag_num=0;//ÁÙʱÊýÁ¿Îª0
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poll_tx_en_start_u32 = phy_timer_count_get();
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uwb_tx(uwb_sendbuffer,sizeof(uwb_sendbuffer),0,0);//Á¢¼´·¢ËÍ
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poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_start_time_gap());//ÐÞÕýʱ¼ä´Á
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while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É
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resp_rx_en_start_u32 = poll_tx_en_start_u32 + US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);//ÉèÖ÷¢ËͶàÉÙsºó½ÓÊÕ°´target¶ÀÁ¢Ê±¼äÆðµãËã+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_USΪ·¢ËͺóÒª¶à¾Ã¿ªÆô½ÓÊÕʱ¼ä
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start_receive_count=phy_timer_count_get();
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poll_timeout=tag_num_tosend*50000+50000;//¶àÒ»¸ö¶à0.4msĬÈÏ0.4ms¼ÆËãΪ0.125*4*100000
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end_receive_count=start_receive_count+poll_timeout;
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if(end_receive_count>=124800000)
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{
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end_receive_count-=124800000;
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}
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current_count=phy_timer_count_get();
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uwb_rx(1, resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);//¿ªÆô½ÓÊܲ¢ÉèÖýÓÊÕ³¬Ê±
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while(current_count<end_receive_count||current_count>end_receive_count+62400000)//Ñ»·½ÓÊÜ°üÌå,ÈôΪ124.8KÔòÊÇ+62400000
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{
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current_count=phy_timer_count_get();//²»¶Ïˢе±Ç°¼ÆÊýÆ÷Öµ
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if(receive_flag==1)//³É¹¦½ÓÊÕÊý¾Ý
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{
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receive_flag=0;
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//»ñÈ¡·¢Éä¶ËʱÖÓÆ«²î
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test2=phy_freq_offset_get();
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//½ÓÊճɹ¦ÔòÅжÏÊÇ·ñΪͬһ×é
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if (rx_buf[MESSAGE_TYPE_IDX] == MBX_RESPONSE&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2)&&rx_buf[GROUP_ID_IDX]==group_id) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
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{
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memcpy(&rec_nearbaseid,&rx_buf[ANCHOR_ID_IDX],2);
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if(last_nearbase_num==0)
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{
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nearbaseid_list[0]=rec_nearbaseid;
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nearbase_num=1;
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exsistbase_list[0]=KEEP_TIMES;
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SetANCTimestap(0,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2);//Õâ¸öÊǸĹýµÄ²ÎÊý
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}
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// if(rec_nearbaseid==nearbaseid_list[0])
|
// {
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// exsistbase_list[0]=KEEP_TIMES;
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// SetANCTimestap(0,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2);//Õâ¸öÊǸĹýµÄ²ÎÊý
|
// }
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else
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{
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rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
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SetANCTimestap(rec_nearbasepos,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2);
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if(rec_nearbasepos>=last_nearbase_num) //·¢ÏÖеĻùÕ¾
|
{
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//get_newbase=1;
|
nearbase_num++;
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nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
|
}
|
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;//¸üдæ»îʱ¼ä
|
}
|
memset(rx_buf, 0, sizeof(rx_buf));//Çå¿Õ½ÓÊÕµ½µÄÓÃÍêµÄÊý×é
|
rx_length=0;//Çå0³¤¶È
|
uwb_rx(0, 0, 0);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
|
} else if(receive_flag==2) { //½ÓÊÕ³ö´í
|
receive_flag=0;
|
uwb_rx(0, 0, 0);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
|
}
|
}
|
//¹Ø±ÕUWBapi
|
uwb_close();
|
CalculateDists(poll_tx_ts_i64); //¼ÆËã¾àÀë
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AnchorListUpdate();//¸üдæ»î»ùÕ¾Áбí
|
Rank_ANchor_list_by_dis();//ðÅÝÅÅÐòÖØа´¾àÀëÖØÐÂÅÅÁлùÕ¾Áбí×îС¾àÀë´æ»õ»ùÕ¾·Åµ½×îÇ°Ãæ
|
}
|
}
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#endif
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