ChinaUWBProject.git

			@@ -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);
			@@ -62,6 +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;
			@@ -75,14 +78,17 @@
			CLOSE,
			RANGE,
			}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

			@@ -99,6 +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
			@@ -111,6 +118,9 @@
			#define MSG_COMMON_LEN 10

			#define UWB_DELAY_TIME_US 496



			uint8_t receive_flag=0;
			struct mk_uwb_configure
			{
			@@ -134,7 +144,7 @@
			// .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
			#ifdef UWB_MK8000_XB
			static struct mk_uwb_configure config = {
			.phy_work_mode = (uint8_t)(PHY_TX \| PHY_RX),
			.phy_cfg.ch_num = 5, /* Channel number. */
			@@ -150,6 +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
			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 */
			};
			#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),
			@@ -309,10 +356,10 @@
			poll_rx_num++;
			rssi = rx_report->rssi;
			receive_flag=1;
			Anchor_App();
			Anchor_App();
			if(resp_tx_flag==0)
			{
			OpenUWB();
			OpenUWB();
			}
			// #ifdef STS_MODE
			// valid_sts= sts_valid_check();
			@@ -343,7 +390,10 @@
			memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
			rx_length = 0;
			receive_error_flag=1;
			OpenUWB();//再次开启UWB接收

			OpenUWB();

			// OpenUWB();//再次开启UWB接收
			}
			// CloseUWB();
			// OpenUWB();//再次开启UWB接收
			@@ -363,10 +413,13 @@
			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
			// 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];
			@@ -506,6 +559,7 @@
			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);

			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
			@@ -656,8 +710,8 @@
			// }
			// 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;
			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
			@@ -681,9 +735,10 @@
			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;
			// taglist_num = 0;
			// rxnum=0;
			}
			extern uint32_t step_count;
			void UWBIdleTask(void)
			{
			// if(receive_flag)
			@@ -699,19 +754,28 @@
			// }
			if(HIDO_TimerGetTick()-uwbtasktimer >=1)
			{
			step_count = mir3da_get_step(); // 获取步数
			uwbtasktimer = HIDO_TimerGetTick();
			UWBOneSecondTask();
			UWBSendUDPTask();
			if(g_com_map[UWBFrequency]==1)
			{
			UWBSendUDPTask();
			}
			}
			}
			int uwb_app_poll(void)
			{
			UWBIdleTask();
			}
			extern uint8_t uwb_offtime_count;
			int Anchor_App(void)
			{
			uint8_t i;
			uint16_t tempid;
			uwb_offtime_count=0;
			#ifdef CEJU_ZIUMIAN
			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
			@@ -726,6 +790,8 @@
			memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2rec_nearbase_num],2rec_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)
			@@ -761,7 +827,7 @@
			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;
			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