解决多设备丢包版本

chen

2024-12-05 200bbcc553cfb7c11b06058f3f13ca9247783e93

 keil/uwb_tag_.c

@@ -12,7 +12,7 @@
#if defined(MK_SS_TWR_DW_INIT)

extern int TagRange(void);

void Tag_uwb_init(void);
/* Ranging period: 1s */
#define RANGING_PERIOD_MS (1000)

@@ -25,7 +25,7 @@
#define POLL_DELAY  100U //yuan100U

/* Receive response timeout */
#define RESP_RX_TIMEOUT_US 5000U //Yuan500 10mssuccess 300jixian
#define RESP_RX_TIMEOUT_US 2500U //Yuan500 10mssuccess 300jixian

/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -33,7 +33,7 @@
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define DELAY_DEFAULT 50000
#define DELAY_BETWEEN_TWO_FRAME_UUS 1400
#define DELAY_BETWEEN_TWO_FRAME_UUS 600  //yuan1400
#define HALF_SECOND_TIME 62400000

uint16_t CmpTagInList(uint16_t tagid);
@@ -47,6 +47,7 @@
};
uint32_t dev_id;
uint8_t group_id;
#ifndef STS_MODE
/* Default communication configuration. */
static struct mk_uwb_configure config = {//yuan
    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
@@ -63,6 +64,34 @@
    .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                       */
};
/* 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,
};
#endif
///* Default communication configuration. */
//static struct mk_uwb_configure config = {
//    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
@@ -368,15 +397,27 @@
   return temp;
}
uint32_t count_index;
int TagRange(void)
int tt=1;
void Tag_uwb_init(void)
{
    // The following peripherals will be initialized in the uwb_open function
 // The following peripherals will be initialized in the uwb_open function
    // phy/mac/aes/lsp/phy timers initialized
    uwb_open();

         uwb_open();
#ifdef STS_MODE
      // Set STS key and IV
    phy_sts_key_configure(&sts_iv_key);
#endif
    // Set calibration parameters
    uwb_calibration_params_set(config.phy_cfg.ch_num);

#ifdef STS_MODE
    // 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,
    };
#else
    // set advanced parameters
     struct PHY_ADV_CONFIG_T adv_config = {
        .thres_fap_detect = 40,
@@ -384,22 +425,25 @@
        .ranging_performance_mode = 0,
        .skip_weakest_port_en = 0,
    };
#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);

#ifdef STS_MODE
      ranging_lib_init();
#endif
    ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);

}
int sleep_time_step=SLEEP_COUNT;
int TagRange(void)
{		
      phy_timer_open(1, IRQ_PRIORITY_HIGH);
    // Register rx interrupt callback function
    mac_register_process_handler(tx_int_callback, rx_int_callback);

//#if LOW_POWER_EN
//    // Initialize low power mode
//    power_init();
//    // Enable sleep timer
//    sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, NULL);
//#endif

      uwb_poll_buffer_construct();
      temp_tag_num=0;//临时数量为0
      poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//发送必须要延时发送才可以用于测距否则立即发送会获取时间戳不对，需要计算程序运行时间，避免设置过去时间
@@ -421,19 +465,29 @@
   
   
   start_receive_count=phy_timer_count_get();
   poll_timeout=nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(RESP_RX_TIMEOUT_US);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
   //poll_timeout=nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(RESP_RX_TIMEOUT_US);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
   poll_timeout=US_TO_PHY_TIMER_COUNT(RESP_RX_TIMEOUT_US);
   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();      
   count_index=end_receive_count+HALF_SECOND_TIME;
//   if(tt){
   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();//不断刷新当前计数器值
      temp_count2=phy_timer_count_get();
      while(mac_is_busy());//等待接收完成
      while(mac_is_busy())//等待接收完成
      {
                  IdleTask();
            current_count=phy_timer_count_get();
            if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)
            {
                    break;
            }
      }
      temp_count3=phy_timer_count_get();
      if(receive_flag==1)//成功接收数据
      {
@@ -458,7 +512,6 @@
//                     uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
//                     while(mac_is_busy());
                     //break;//成功接收就退出
					
      }
                     
//            #ifdef BOXING 
@@ -466,6 +519,8 @@
//         #endif
      }else if(receive_flag==2){//接收出错
      receive_flag=0;
      sleep_timer_start(__MS_TO_32K_CNT(SLEEP_COUNT-phy_timer_count_get()%30));//测试
         sleep_time_step=SLEEP_COUNT-phy_timer_count_get()%10;
      tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
      temp_count3=phy_timer_count_get();
//      while(mac_is_busy());
@@ -475,7 +530,8 @@
      gpio_pin_clr(IO_PIN_5);//测试
      gpio_pin_set(IO_PIN_5);//测试
      #endif
      }	
      }
//   }
      #ifdef BOXING 
      gpio_pin_clr(IO_PIN_5);//测试
      #endif