ChinaUWBProject.git

			@@ -116,27 +116,10 @@
			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 = {//原来的基站非110k代码
			// .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 */
			//};
			#ifdef DW1000
			extern uint8_t uwb_ch;
			static struct mk_uwb_configure config = {
			.phy_work_mode = (uint8_t)(PHY_TX \| PHY_RX),
			.phy_cfg.ch_num = 9, /* Channel number. */
			.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 */
			@@ -149,50 +132,7 @@
			.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 */
			};
			#elif defined 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 = 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,
			};
			#elif defined MK_MODE
			static struct mk_uwb_configure config = {
			.phy_work_mode = (uint8_t)(PHY_TX \| PHY_RX),
			.phy_cfg.ch_num = 9, /* 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 */
			};
			#endif


			static struct anchor_id_car{
			uint16_t anchor_new_id;
			@@ -290,6 +230,8 @@
			extern uint16_t mubiao_anchor_ID;
			uint8_t Lora_qingqiu_flag;
			extern uint16_t Lora_qingqiu_bao;
			uint8_t shengji_flag;
			extern uint8_t Dtu_shengji_jindu[20];
			static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
			{ uint8_t valid_sts=0;
			uint16_t checksum1 = 0,dest_id;
			@@ -311,7 +253,8 @@
			rssi = rx_report->rssi;
			receive_flag=1;
			// uart_send(UART_ID0, rx_buf,rx_length, NULL);
			if(rx_buf[MESSAGE_TYPE_IDX]==MBX_POLL)
			gpio_pin_toggle(IO_PIN_4);
			if(rx_buf[MESSAGE_TYPE_IDX]==MBX_POLL&&!shengji_flag)
			{
			Anchor_App();
			}
			@@ -324,6 +267,7 @@
			{
			if(!memcmp(&dev_id,&dest_id,2)/\|\|dest_id==0xffff\|\|(dest_id==0xfffe&&get_channel==5)/)
			{
			shengji_flag=1;
			switch(rx_buf[MSG_TYPE_IDX])
			{
			case LORA_MSGTYPE_UPDATE_CONFIRM:
			@@ -345,8 +289,13 @@
			break;

			case 0x99:
			LOG_INFO(TRACE_MODULE_APP, "收到结束升级请求\r\n",Lora_qingqiu_bao);
			delay_ms(500);
			// LOG_INFO(TRACE_MODULE_APP, "收到结束升级请求\r\n",Lora_qingqiu_bao);
			delay_ms(200);
			Dtu_shengji_jindu[4]=100;
			memcpy(&Dtu_shengji_jindu[5],&mubiao_anchor_ID,2);
			uart_send(UART_ID0, Dtu_shengji_jindu,9, NULL);

			delay_ms(1000);
			// Lora_upanc_flag=0;
			Lora_qingqiu_flag=0;
			NVIC_SystemReset();
			@@ -377,7 +326,7 @@
			// }
			}
			}


			#ifdef STS_MODE
			valid_sts= sts_valid_check();
			if (valid_sts)
			@@ -434,8 +383,9 @@
			uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
			int16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
			static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
			static uint16_t anchordata_version[TAG_NUM_IN_SYS];
			uint8_t anchordata_num = 0;
			static int32_t tagdist_list[TAG_NUM_IN_SYS];
			static int16_t tagdist_list[TAG_NUM_IN_SYS];
			uint16_t random_time;
			//anchor
			int32_t hist_dist;
			@@ -477,7 +427,7 @@
			{ uint16_t i;
			for(i=0; i<taglist_num; i++)
			{
			if(memcmp(&tagid,&anchordata_id[i],2)==0)
			if(memcmp(&tagid,&tagid_list[i],2)==0)
			break;
			}
			if(i==taglist_num)
			@@ -522,7 +472,7 @@
			//void TagListUpdate(void)
			//{
			// uint8_t i,j=0;
			// for(i=0; i<anchordata_num; i++)
			// for(i=0; i<taglist_num; i++)
			// {
			// if(tagofflinetime[i]++<QUIT_SLOT_TIME)
			// {
			@@ -530,18 +480,19 @@
			// tagofflinetime[j++]=tagofflinetime[i];
			// }
			// }
			// anchordata_num=j;
			// taglist_num=j;
			//}
			void TagListUpdate(void)
			{
			uint16_t i,j=0,k=0;
			for(i=0; i<taglist_num; i++)
			{
			if(tagofflinetime[i]++<TAG_KEEPTIMES)
			if(tagofflinetime[i]++<10)
			{
			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
			anchordata_version[j]=anchordata_version[i];
			tagofflinetime[j++]=tagofflinetime[i];
			}
			}
			@@ -576,6 +527,11 @@
			//while(mac_is_busy());
			gpio_pin_clr(SCL_PIN);
			cmd_flag=1;
			if(send_buffer[RW_FLAG_IDX]==0x01)
			{
			delay_ms(100);
			NVIC_SystemReset();
			}
			break;
			}
			}
			@@ -695,13 +651,40 @@
			if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
			uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//防止溢出
			}
			uint8_t uwbsend[200];
			uint8_t uwbsend[1000];

			void UWBIdleTask(void)
			{

			if(HIDO_TimerGetTick()-uwbtasktimer >=1)
			{

			for(uint16_t i=0;i<taglist_num-1;i++)
			{
			for(uint16_t j=0;j<taglist_num-1-i;j++)
			{
			if(tagdist_list[j]>tagdist_list[j+1])
			{
			uint16_t id,dist,version;
			uint8_t bat;
			id = tagid_list[j];
			dist = tagdist_list[j];
			version = anchordata_version[j];
			tagid_list[j] = tagid_list[j+1];
			tagdist_list[j] = tagdist_list[j+1];
			anchordata_version[j] = anchordata_version[j+1];
			tagid_list[j+1] = id;
			tagdist_list[j+1] = dist;
			anchordata_version[j+1] = version;
			}
			}

			}

			// if(taglist_num>6)
			// {
			// taglist_num=6;
			// }
			uwbtasktimer = HIDO_TimerGetTick();
			UWBOneSecondTask();
			uwbsend[0]=0x55;
			@@ -710,55 +693,18 @@
			uwbsend[3]=taglist_num;
			memcpy(&uwbsend[4],&tagid_list,taglist_num*2);
			memcpy(&uwbsend[4+taglist_num2],&tagdist_list,taglist_num2);
			uart_send(UART_ID0, uwbsend,taglist_num*4+4, NULL);
			// for(int i=0;i<anchordata_num;i++)
			// {
			// LOG_INFO(TRACE_MODULE_APP,"当前测距基站ID:%x,距离:%d.\r\n",anchordata_id[i],anchordata_dist[i]);
			// }
			memcpy(&uwbsend[4+taglist_num4],&anchordata_version,taglist_num2);
			// uart_send(UART_ID0, uwbsend,taglist_num*6+4, NULL);
			// taglist_num=0;
			LOG_INFO(TRACE_MODULE_APP,"当前测距基站数量%d.\r\n",taglist_num);
			for(int i=0;i<taglist_num;i++)
			{
			LOG_INFO(TRACE_MODULE_APP,"当前测距基站ID:%x,距离:%d.\r\n",tagid_list[i],tagdist_list[i]);
			}
			}
			}
			int uwb_app_poll(void)
			{
			// switch(wltag_state)
			// {
			// case RANGE:
			// if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
			// {
			// wltag_uwbtimer = HIDO_TimerGetTick();
			// OpenUWB();
			// }
			// else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1)
			// {
			// wltag_uwbtimer = HIDO_TimerGetTick();
			// CloseUWB();
			// }
			// if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
			// {
			// wltag_statetimer = HIDO_TimerGetTick();
			// if(uwb_rx_flag==0)//若要切换到搜索模式时没有开启则开启UWB
			// {
			// OpenUWB();
			// }
			// wltag_state = SEARCH;
			// }
			// break;
			// case SEARCH:
			// if(HIDO_TimerGetTick()-wltag_statetimer>1)
			// {
			// wltag_statetimer = HIDO_TimerGetTick();
			// wltag_state = CLOSE;
			// CloseUWB();
			// }
			// break;
			// case CLOSE:
			// if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
			// {
			// wltag_statetimer = HIDO_TimerGetTick();
			// wltag_state = SEARCH;
			// OpenUWB();
			// }
			// break;
			// }
			UWBIdleTask();
			}
			int Anchor_App(void)
			@@ -813,6 +759,8 @@
			Anchor_RecNearPoll(i);
			tagdist_list[taglist_pos]=rec_ancdistlist[i];
			anchordata_bat[taglist_pos] = battary;//保存该基站电量
			// anchordata_version[taglist_pos] = battary;//保存该基站版本号
			memcpy(& anchordata_version[taglist_pos],&rx_buf[7],2);
			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
			@@ -876,7 +824,7 @@
			current_count=phy_timer_count_get();
			while(mac_is_busy())
			{
			Calibration_Time();
			// Calibration_Time();
			IdleTask();
			current_count=phy_timer_count_get();
			if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)
			@@ -974,6 +922,7 @@
			phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
			#endif
			// Set calibration parameters
			// config.phy_cfg.ch_num=g_com_map[NEARBASE_ID1];
			uwb_calibration_params_set(config.phy_cfg.ch_num);
			#ifndef STS_MODE
			// set advanced parameters