#include "mk_trace.h"
|
#include "mk_uwb.h"
|
#include "mk_phy.h"
|
#include "mk_misc.h"
|
#include "mk_power.h"
|
#include "mk_sleep_timer.h"
|
#include "lib_ranging.h"
|
#include "lib_aoa.h"
|
#include "dw_app_anchor.h"
|
#include "global_param.h"
|
#include "board.h"
|
#include "lib_aoa.h"
|
|
extern int simple_main(void);
|
extern int temp_main(void);
|
void Calibration_Time(void);
|
void TagListUpdate(void);
|
extern void IO_LED_control_change(uint8_t data);
|
extern void IO_control_init(void);
|
|
extern void updata_led_power_state(void);
|
/*receive buffer*/
|
static uint8_t rx_buf[150];
|
static uint8_t uwb_sendbuffer[150];
|
static volatile uint16_t rx_state;
|
static volatile uint16_t rx_length;
|
|
//resp±äÁ¿
|
static uint8_t frame_seq_nb2,battary,button,rec_nearbase_num,ancidlist_num;
|
static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS];
|
static int16_t rec_ancdistlist[TAG_NUM_IN_SYS];
|
extern uint8_t group_id;
|
static uint16_t anc_id_recv,tag_id_recv;
|
static int16_t rec_antdelay;
|
extern uint32_t dev_id;
|
static uint16_t taglist_pos,tmp_time;
|
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,red_charge_state,green_charge_state,air780_success_state;
|
int poll_rx_num,resp_tx_num;
|
//respº¯Êý
|
void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary);//ÕÒµ½×Ô¼ºµÄidÐÅÏ¢¶ÔӦλÖøüÐÂ×Ô¼ºµÄ½»»¥ÐÅÏ¢
|
static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts);//ÓÃÀ´¶ÔӦλÖ÷ÅÈëʱ¼ä´Á
|
static 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];
|
uint32_t temp_count=0;
|
uint32_t temp_count1=0;
|
uint32_t temp_count2=0;
|
uint32_t temp_count3=0;
|
uint32_t temp_internal=0;
|
int16_t elevation = 0;
|
int16_t azimuth = 0;
|
uint8_t fom = 0;
|
int32_t distance;
|
uint8_t taglist_num;
|
float *sts_rssi=NULL;
|
extern uint8_t recev_error_num;
|
|
extern Operation_step UWB_work_state;
|
extern int16_t first_search_flag;
|
/* 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 1000U //yuan670 with urt 3000success
|
|
#define RESP_TX_TO_FINAL_RX_DLY_US 500U
|
|
/* RX sync window size 50 ms*/
|
#define RX_SYNC_WIN_US 5000U //yuan1000 7000success
|
|
/* RX sync window size 50 ms*/
|
#define RX_SYNC_WIN_US_TEMP 2000000U //yuan1000 7000success
|
|
/* Receive poll timeout 500us*/
|
#define POLL_RX_TIMEOUT_US 500
|
|
/* Receive final timeout 500us */
|
#define FINAL_RX_TIMEOUT_US 500
|
|
/* RX window open in advance */
|
#define RX_WIN_IN_ADVANCE_US (150)
|
|
#define DELAY_BETWEEN_TWO_FRAME_UUS 600 //yuan1400
|
|
/* Field index in frame */
|
#define MSG_SEQ_NUM_IDX 2
|
#define FINAL_MSG_POLL_TX_TS_IDX 10
|
#define FINAL_MSG_RESP_RX_TS_IDX 14
|
#define FINAL_MSG_FINAL_TX_TS_IDX 18
|
#define DELAY_DEFAULT 1000
|
#define HALF_SECOND_TIME 624000000
|
/* Length of the common part of the message */
|
#define MSG_COMMON_LEN 10
|
|
#define UWB_DELAY_TIME_US 496
|
static uint8_t receive_flag=0;
|
struct mk_uwb_configure
|
{
|
uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
|
struct UWB_CONFIG_T phy_cfg;
|
};
|
|
///* Default communication configuration. */
|
//static struct mk_uwb_configure config = {//ÔÀ´µÄ»ùÕ¾·Ç110k´úÂë
|
// .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 */
|
//};
|
#ifndef STS_MODE
|
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_128, /* 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 */
|
};
|
#else
|
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_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 1 */
|
.phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF, /* IEEE802.15.4z - BPRF mode */
|
.phy_cfg.sts_pkt_cfg = STS_PKT_CFG_1, /* SP1 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
|
/* Use the default key and IV specified in the IEEE 802.15.4z attachment */
|
static struct UWB_STS_KEY_CONFIG_T sts_iv_key = {
|
.sts_vcounter = 0x1F9A3DE4,
|
.sts_vupper0 = 0xD37EC3CA,
|
.sts_vupper1 = 0xC44FA8FB,
|
.sts_vupper2 = 0x362EEB34,
|
.sts_key0 = 0x14EB220F,
|
.sts_key1 = 0xF86050A8,
|
.sts_key2 = 0xD1D336AA,
|
.sts_key3 = 0x14148674,
|
};
|
/* Buffer to store received frame */
|
|
/* Frames used in the ranging process
|
* Poll message:
|
* - byte 0 - 1: 0x8841 to indicate a data frame using 16-bit addressing.
|
* - byte 2: sequence number, incremented for each new frame.
|
* - byte 3 - 4: PAN Id 0x4B4d
|
* - byte 5 - 6: Destination address
|
* - byte 7 - 8: Source address
|
* - byte 9: Message type (0x02 RANGING_POLL / 0x03 RANGING_RESPONSE / 0x04 RANGING_FINAL)
|
* Response message:
|
* - byte 10: activity code (0x07 to tell the initiator to go on with the ranging exchange)
|
* Final message:
|
* - byte 10 - 13: poll message transmission timestamp.
|
* - byte 14 - 17: response message reception timestamp.
|
* - byte 18 - 21: final message transmission timestamp.
|
*/
|
static uint8_t rx_poll_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x02};
|
static uint8_t tx_resp_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x4D, 0x49, 0x53, 0x45, 0x03, 0x07};
|
static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x04, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
/* Count value of phy counter when transmitting and receiving frames */
|
static uint32_t poll_rx_en_start_u32;
|
static uint32_t resp_tx_en_start_u32;
|
static uint32_t resp_tx_timeout;
|
int64_t temp_resp_i64;
|
/* 41 bits timestamps of frames transmission/reception. */
|
int64_t poll_rx_ts_i64;
|
int64_t resp_tx_ts_i64;
|
int64_t final_rx_ts_i64;
|
|
/* Frame sequence number, incremented after each transmission. */
|
static uint8_t frame_seq_nb = 0;
|
|
/* MAC report data structure */
|
static struct MAC_HW_REPORT_T rx_rpt;
|
|
enum SIMPLE_FSM_T
|
{
|
SIMPLE_IDLE = 0,
|
SIMPLE_POLL = 1,
|
SIMPLE_RESPONSE = 2,
|
SIMPLE_FINAL = 3,
|
};
|
|
static enum SIMPLE_FSM_T state = SIMPLE_IDLE;
|
|
/**
|
* @brief Correct TX timestamp of the ranging frame.
|
*
|
* @param[in] timestamp PHY timer count of TX
|
* @return TX timestamp (unit: 15.65ps)
|
*/
|
static int64_t ranging_tx_time_correct(uint32_t timestamp)
|
{
|
int64_t tx_timestamp = ranging_tx_time(timestamp);
|
|
// correct antenna delay (TX using the same antenna as RX)
|
tx_timestamp += ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;
|
|
return tx_timestamp;
|
}
|
|
/**
|
* @brief Correct RX timestamp of the ranging frame.
|
*
|
* @param[in] ind MAC RX report
|
* @return RX timestamp (unit: 15.65ps)
|
*/
|
static int64_t ranging_rx_time_correct(const struct MAC_HW_REPORT_T *ind)
|
{
|
int64_t rx_timestamp = ranging_rx_time(ind);
|
|
// correct antenna delay
|
rx_timestamp -= ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;
|
|
return rx_timestamp;
|
}
|
|
/* RX done process handler. */
|
int8_t rssi;
|
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
|
{ uint8_t valid_sts=0;
|
// Power off radio
|
power_off_radio();
|
|
/** UWB RX success */
|
if (rx_report->err_code == UWB_RX_OK)
|
{
|
/* Received data does not contain FCS */
|
rx_length = rx_report->pkt_len;
|
memcpy(rx_buf, rx_report->pkt_data, rx_length);
|
memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
|
/* Calculate rx timestamp */
|
temp_count= phy_timer_count_get();
|
poll_rx_en_start_u32 = rx_rpt.timestamp - phy_shr_duration();
|
poll_rx_ts_i64 = ranging_rx_time_correct(&rx_rpt);
|
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
|
{
|
/* UWB_PLD_ERR payload error */
|
/* UWB_PHR_ERR PHR error */
|
/* UWB_SFD_ERR Sfd error */
|
/* UWB_BD_ERR Preamble detection error */
|
/* UWB_TO_ERR Receive timeout */
|
/* UWB_STS_ERR STS error */
|
temp_count= phy_timer_count_get();
|
memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
|
rx_length = 0;
|
|
}
|
}
|
|
/* TX done process handler. */
|
static void tx_int_callback(struct MAC_HW_REPORT_T *tx_report)
|
{
|
// Power off radio
|
power_off_radio();
|
|
/** UWB TX success */
|
if (tx_report->err_code == UWB_TX_OK)
|
{
|
temp_count= phy_timer_count_get();
|
temp_internal=temp_count;
|
resp_tx_num++;
|
//LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
|
}
|
}
|
uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
|
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;
|
static int32_t tagdist_list[TAG_NUM_IN_SYS];
|
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;
|
for(i=0; i<anchordata_num; i++)
|
{
|
if(anchordata_id[i] == ancid)//²éѯ±êÇ©ÊÇ·ñÔÚ×Ô¼ºÒÑͨѶÁбíÖÐ
|
{
|
|
break;
|
}
|
}
|
if(i==anchordata_num)
|
{
|
if(anchordata_num<TAG_NUM_IN_SYS-1)
|
anchordata_num++;
|
}
|
anchordata_id[i] = ancid;//Óë֮ͨÐŵıêÇ©id´æÈ뵱ǰ±íÖÐ
|
anchordata_dist[i] = dist;
|
anchordata_bat[i] = battary;
|
tagofflinetime[i]=0;//²»¶Ï¸üе±Ç°TAG¶ÔÓ¦ÀëÏßʱ¼ä
|
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;
|
for(i=0; i<taglist_num; i++)
|
{
|
if(memcmp(&tagid,&anchordata_id[i],2)==0)
|
break;
|
}
|
if(i==taglist_num)
|
return taglist_num;
|
//tagofflinetime[i] = 0;
|
return i;
|
}
|
|
static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts)
|
{
|
int i,ts2;
|
ts2=(int32_t)ts;
|
for (i = 0; i < 4; i++)
|
{
|
ts_field[i] = (uint8_t)ts2;
|
ts2 >>= 8;
|
}
|
}
|
|
void TagListUpdate(void)
|
{
|
uint8_t i,j=0;
|
for(i=0; i<anchordata_num; i++)
|
{
|
if(tagofflinetime[i]++<QUIT_SLOT_TIME)
|
{
|
anchordata_id[j]=anchordata_id[i];
|
tagofflinetime[j++]=tagofflinetime[i];
|
}
|
}
|
anchordata_num=j;
|
}
|
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos)//¸ù¾Ý×Ô¼ºÊÇ·ñΪлùÕ¾¶¨ÖÆÏûϢȥ·¢ËÍ£¬¸ù¾ÝÊÇ·ñÇÀÕ¼ÅжÏ
|
{
|
temp_count2=poll_rx_en_start_u32;
|
|
memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//×éid
|
memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);//×ÔÉíid
|
memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);//½ÓÊÜÕßid
|
send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
|
|
if(rec_nearbase_num == ancrec_nearbasepos)//ÇÀռģʽ×Ô¼ºÎªÐ»ùÕ¾
|
{
|
random_time = (phy_timer_count_get()%100);//¶à»ùÕ¾ÇÀÕ¼Ò»¸öλÖÃʱ±ÜÃâÒ»¸öÒ²ÊÕ²»µ½µÄÇé¿ö¾Íÿһ¸öËæ»ú´í¿ª¼¸Ê®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;//¼ÆËãResponse·¢ËÍʱ¼äT3¡£
|
// (resp_tx_en_start_u32) is the moment when TX enable
|
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);//ºóÃæµÄÐèÒª¸ù¾ÝÒÑÓлùÕ¾ÊýÁ¿½øÐиü¸Ä£¬Èç¹ûÊÇÇÀÕ¼×Ô¼º×îºóÒ»¸ö»Ø¸´£¬ÒªÓе×Êý
|
|
} 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;//¼ÆËãResponse·¢ËÍʱ¼äT3¡£
|
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);//ºóÃæµÄÐèÒª¸ù¾ÝÒÑÓлùÕ¾ÊýÁ¿½øÐиü¸Ä£¬Èç¹ûÊÇÇÀÕ¼×Ô¼º×îºóÒ»¸ö»Ø¸´£¬ÒªÓе×Êý
|
//ÕâÀïÓ¦¸ÃÓÐÎÊÌâÎÊÒ»ÏÂÖÓ¹¤
|
}//´Ë´¦ÉèÖþø¶Ôʱ¼ä½«poll u32¸ÄΪphy_timer_count_get()
|
|
resp_tx_ts_i64 = ranging_tx_time_correct(resp_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
|
/* 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);
|
resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts_i64);//´Ë´¦Ê±¼ä´Áint64Ö±½Óת»»Îªuint64²»ÖªµÀ»á²»»áÓдíÎó
|
memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&disoffset,2);//²î¸öÐÞÕýoffset,ÐÞÕýÓзûºÅµ«ÊÇÕâ¸öcom±íΪÎÞ·ûºÅµÄ,´«¹ýÈ¥Ö±½Ó¸³¸øInt16_tÏ൱ÓÚ»¹ÔÁË
|
temp_resp_i64=resp_tx_ts_i64;
|
temp_count3= phy_timer_count_get();
|
uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//Á¢¼´·¢ËͲâÊÔsize´óС
|
temp_count1=phy_timer_count_get();
|
while(mac_is_busy());
|
gpio_pin_clr(SCL_PIN);
|
}
|
uint32_t range_timeout_us = 1000000;//yuan5000
|
uint16_t uwb_searchcount;
|
uint8_t flag_recsuccess;
|
uint8_t flag_temp2,flag_temp1;
|
uint32_t start_receive_count_calibration;
|
uint32_t current_count_calibration;
|
uint8_t secondtask_search_count,secondtask_search_flag;
|
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag,flag_secondtask;
|
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;//¸üпªÊ¼Ê±¼ä
|
// MotorPoll();
|
|
if(secondtask_search_count++%2==0)
|
{
|
secondtask_search_flag = 1;
|
}else{
|
secondtask_search_flag = 0;
|
}
|
if(secondtask_search_flag)//¸üÐÂSʱ¼äTICK
|
{
|
HIDO_TimerTick();
|
TagListUpdate();
|
// GPS_Poll();
|
// if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//·ÀÖ¹Òç³ö
|
// nomove_count++;
|
// else{
|
// nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
|
// }
|
}
|
// update_led_power_state();//¸üеÈ״̬·ÀÖ¹Õ𶯿¨ËÀÔÚËÑË÷
|
}
|
}
|
|
int UwbRange(void)
|
{
|
uint8_t i;
|
uint16_t tempid;
|
// The following peripherals will be initialized in the uwb_open function
|
// phy/mac/aes/lsp/phy timers initialized
|
uwb_open();
|
|
// // Set calibration parameters
|
// uwb_calibration_params_set(config.phy_cfg.ch_num);
|
|
// // 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,
|
// };
|
// 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);
|
|
// ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
|
|
// Register rx interrupt callback function
|
mac_register_process_handler(tx_int_callback, rx_int_callback);
|
|
receive_flag = 0;
|
flag_recsuccess = 0;
|
temp_count3=phy_timer_count_get();
|
gpio_pin_set(SCL_PIN);
|
sts_lsp_store();
|
flag_temp1=uwb_rx(0, 0, range_timeout_us);//¿ªÆô½ÓÊÕ
|
|
// 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);//¶àÒ»¸ö¶à0.4msĬÈÏ0.4ms¼ÆËãΪ0.125*4*100000,ĬÈÏ¿ªÆô1mss
|
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)//Ñ»·½ÓÊÜ°üÌå,ÈôΪ124.8KÔòÊÇ+62400000
|
{
|
current_count=phy_timer_count_get();
|
while(mac_is_busy())
|
{
|
Calibration_Time();
|
IdleTask();
|
current_count=phy_timer_count_get();
|
if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
|
{
|
break;
|
}
|
}
|
sts_lsp_store_stop();
|
|
|
if(receive_flag==1)//³É¹¦½ÓÊÕ
|
{
|
|
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))//ÅжÏÊÇ·ñÊǺÍ×Ô¼ºÊÇͬһ×éͨѶµÄÇÒΪpoll°ü
|
{ flag_recsuccess = 1;
|
sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//²âÊÔ
|
temp_count2=phy_timer_count_get();
|
frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//»ñÈ¡°üÐò
|
battary = rx_buf[BATTARY_IDX];
|
rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX]; //±êÇ©´«¹ýÀ´µÄËûÓë»ùÕ¾½»»¥µÄ»ùÕ¾idÊýÄ¿
|
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)//Ò²ÊDZÈidÈç¹ûÓо͸üÐÂûÓоÍÇÀÕ¼
|
{
|
seize_anchor=0; //·ÇÇÀÕ¼¡£ÒÑ´æÔÚÁбíÖÐ
|
Anchor_RecNearPoll(i);
|
break;
|
}
|
}
|
|
if(i==rec_nearbase_num)
|
{
|
seize_anchor=1; //ÇÀÕ¼anchor
|
Anchor_RecNearPoll(i);
|
}
|
recev_error_num=0;
|
range_timeout_us=5000;//»Ö¸´Îª5000½øÈërangeºó
|
LOG_INFO(TRACE_MODULE_APP,"±êÇ©ID£º%X,¾àÀë: %d ÐźÅÇ¿¶ÈANT0: %f,ÐźÅÇ¿¶ÈANT2: %f\r\n",g_com_map[BIND_DEV_ID],distance,sts_rssi[0],sts_rssi[2]);
|
gpio_pin_clr(SCL_PIN);
|
break;
|
}
|
}
|
sts_lsp_store();
|
//ʧ°Ü»òÕß½ÓÊܱ»¸ß·¢Éä»ú´ò¶Ï¶¼»áÔٴοªÆô½ÓÊÕ
|
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));//²âÊÔ
|
LOG_INFO(TRACE_MODULE_APP,"²â¾àʧ°Ü£¬¼ÆÊý£º%d\r\n",recev_error_num);
|
if(recev_error_num++>5)
|
{
|
recev_error_num=0;
|
UWB_work_state=SEARCH_DEV;
|
uwb_searchcount = 0;
|
search_open_flag = 1;
|
}
|
}
|
|
|
|
return 0;
|
}
|
|
|
//Ö÷º¯Êý°ó¶¨½ÓÊÜÂß¼
|
int UwbSearch(void)
|
{
|
uint8_t i;
|
uint16_t tempid;
|
// The following peripherals will be initialized in the uwb_open function
|
// phy/mac/aes/lsp/phy timers initialized
|
uwb_open();
|
// Set STS key and IV
|
phy_sts_key_configure(&sts_iv_key);
|
|
// which RX ports will be used for AoA/PDoA
|
phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
|
|
// Set calibration parameters
|
uwb_calibration_params_set(config.phy_cfg.ch_num);
|
|
// 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,
|
};
|
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);
|
|
ranging_lib_init();
|
ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
|
|
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);
|
// Register rx interrupt callback function
|
mac_register_process_handler(tx_int_callback, rx_int_callback);
|
|
receive_flag = 0;
|
temp_count3=phy_timer_count_get();
|
gpio_pin_set(SCL_PIN);
|
sts_lsp_store();
|
flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//¿ªÆô½ÓÊÕ
|
start_receive_count=phy_timer_count_get();
|
poll_timeout=US_TO_PHY_TIMER_COUNT(2000000);//¶àÒ»¸ö¶à0.4msĬÈÏ0.4ms¼ÆËãΪ0.125*4*100000,ĬÈÏ¿ªÆô1mss
|
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)//Ñ»·½ÓÊÜ°üÌå,ÈôΪ124.8KÔòÊÇ+62400000
|
{
|
while(mac_is_busy())
|
{
|
IdleTask();
|
current_count=phy_timer_count_get();
|
if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
|
{
|
break;
|
}
|
}
|
sts_lsp_store_stop();
|
|
|
temp_count2=phy_timer_count_get();
|
if(receive_flag==1)//³É¹¦½ÓÊÕ
|
{
|
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))//ÅжÏÊÇ·ñÊǺÍ×Ô¼ºÊÇͬһ×éͨѶµÄÇÒΪpoll°ü
|
{
|
sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-13));//²âÊÔ
|
range_timeout_us=20000;//½«Ï´Îrange¿ªÆôºó³¬Ê±Ê±¼äÉèΪ20msÖ®ºóÔÙrangeÀï»Ö¸´
|
temp_count2=phy_timer_count_get();
|
frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//»ñÈ¡°üÐò
|
battary = rx_buf[BATTARY_IDX];
|
rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX]; //±êÇ©´«¹ýÀ´µÄËûÓë»ùÕ¾½»»¥µÄ»ùÕ¾idÊýÄ¿
|
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)//Ò²ÊDZÈidÈç¹ûÓо͸üÐÂûÓоÍÇÀÕ¼
|
{
|
seize_anchor=0; //·ÇÇÀÕ¼¡£ÒÑ´æÔÚÁбíÖÐ
|
Anchor_RecNearPoll(i);
|
break;
|
}
|
}
|
|
if(i==rec_nearbase_num)
|
{
|
seize_anchor=1; //ÇÀÕ¼anchor
|
Anchor_RecNearPoll(i);
|
}
|
|
gpio_pin_clr(SCL_PIN);//²âÊÔ
|
LOG_INFO(TRACE_MODULE_APP,"±êÇ©ID£º%X,¾àÀë: %d ÐźÅÇ¿¶ÈANT0:%f,ÐźÅÇ¿¶ÈANT2: %f\r\n",g_com_map[BIND_DEV_ID],distance,sts_rssi[0],sts_rssi[2]);
|
return 1;//·µ»Ø·¢Ëͳɹ¦±êÖ¾
|
}
|
|
}
|
temp_count3=phy_timer_count_get();
|
sts_lsp_store();
|
flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//ÔٴοªÆô½ÓÊÕ
|
}
|
delay_us(2);
|
sts_lsp_store_stop();
|
uwb_rx_force_off(1);
|
// LOG_INFO(TRACE_MODULE_APP,"³¬Ê±¶¨Ê±Æ÷£º%x,%x,%x\r\n",start_receive_count,end_receive_count,current_count);
|
gpio_pin_clr(SCL_PIN);//²âÊÔ
|
return 0;//·µ»Ø°ó¶¨Ê§°Ü±êÖ¾
|
}
|
//}
|
|
#define SEARCH_TIMESTEMP 20
|
void UWBPoll(void)
|
{
|
switch(UWB_work_state)
|
{
|
case LINK_SUCCESS:
|
{ //Á¬½Ó³É¹¦½øÐÐÂÖѯ²â¾à
|
|
uwb_led_on();
|
UwbRange();
|
uwb_led_off();
|
|
}
|
break;
|
case SEARCH_DEV:
|
{ //½Ó°ü²»³É¹¦»òÕßͨѶʧ°Ü½øÈëËÑË÷ģʽ
|
if(search_open_flag)
|
{
|
LOG_INFO(TRACE_MODULE_APP,"¿ªÆôËÑË÷\r\n");
|
search_open_flag=0;
|
uwb_led_on();
|
link_success_flag=UwbSearch();//µÚÒ»´Î¿ªÆô½ÓÊÕ2s°ó¶¨Ê§°ÜºóÔò½øÐÐÏÂÃæ1·ÖÖÓºóÖØпªÆô2s°ó¶¨Á÷³Ì
|
uwb_led_off();
|
if(link_success_flag)
|
UWB_work_state=LINK_SUCCESS;
|
}else{
|
LOG_INFO(TRACE_MODULE_APP,"µÈ´ý½øÈëËÑË÷ģʽ£º%d\r\n",SEARCH_TIMESTEMP-uwb_searchcount);
|
}
|
|
}
|
break;
|
case UN_BIND:
|
{
|
uwb_led_off();//¹Ø±ÕuwbָʾµÆ
|
}
|
break;
|
}
|
if(UWB_work_state==LINK_SUCCESS)
|
{ //³É¹¦Ê±Çå0´íÎó¼ÆÊý
|
uwb_searchcount=0;
|
}
|
if(UWB_work_state==SEARCH_DEV)
|
{
|
if(!search_open_flag)
|
{
|
if(uwb_searchcount++>SEARCH_TIMESTEMP)
|
{
|
uwb_searchcount=0;
|
search_open_flag=1;
|
}
|
}
|
//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();//¸üеÆ״̬
|
}
|
LOG_INFO(TRACE_MODULE_APP,"UWB״̬£º%d\r\n",UWB_work_state);
|
}
|
|
uint8_t GetUWBBindState(void)
|
{
|
if(UWB_work_state == UN_BIND)
|
{
|
return 0;
|
}
|
return 1;
|
}
|
