ChinaUWBProject.git

			@@ -78,7 +78,7 @@
			#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 2000U //yuan670 with urt 3000success
			#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan600 success 并且不卡busy

			#define RESP_TX_TO_FINAL_RX_DLY_US 500U

			@@ -97,7 +97,7 @@
			/* RX window open in advance */
			#define RX_WIN_IN_ADVANCE_US (150)

			#define DELAY_BETWEEN_TWO_FRAME_UUS 300 //yuan1400
			#define DELAY_BETWEEN_TWO_FRAME_UUS 500 //yuan1400

			/* Field index in frame */
			#define MSG_SEQ_NUM_IDX 2
			@@ -133,7 +133,7 @@
			// .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 */
			//};
			#ifndef STS_MODE
			#ifdef DW1000
			static struct mk_uwb_configure config = {
			.phy_work_mode = (uint8_t)(PHY_TX \| PHY_RX),
			.phy_cfg.ch_num = 5, /* Channel number. */
			@@ -149,7 +149,7 @@
			.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 */
			};
			#else
			#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. */
			@@ -165,7 +165,6 @@
			.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,
			@@ -177,6 +176,24 @@
			.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;
			uint16_t change_num;
			@@ -312,9 +329,9 @@
			temp_count= phy_timer_count_get();
			memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
			rx_length = 0;
			OpenUWB();//再次开启UWB接收
			// OpenUWB();//再次开启UWB接收
			}
			//OpenUWB();//再次开启UWB接收
			OpenUWB();//再次开启UWB接收
			}

			/* TX done process handler. */
			@@ -329,7 +346,7 @@
			temp_count= phy_timer_count_get();
			temp_internal=temp_count;
			resp_tx_num++;
			OpenUWB();//再次开启UWB接收
			// 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);
			}
			}
			@@ -427,7 +444,7 @@
			}



			uint8_t position;
			uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos)//根据自己是否为新基站定制消息去发送，根据是否抢占判断
			{
			temp_count2=poll_rx_en_start_u32;
			@@ -449,7 +466,8 @@
			// resp_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(20rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+ancrec_nearbaseposDELAY_BETWEEN_TWO_FRAME_UUS);//后面的需要根据已有基站数量进行更改，如果是抢占自己最后一个回复，要有底数
			// //这里应该有问题问一下钟工
			// }//此处设置绝对时间将poll u32改为phy_timer_count_get()
			resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US);
			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
			resp_tx_ts_i64 = ranging_tx_time_correct(resp_tx_en_start_u32 + phy_shr_duration());//修正时间戳
			/* 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);
			@@ -458,9 +476,9 @@
			temp_resp_i64=resp_tx_ts_i64;
			temp_count3= phy_timer_count_get();
			flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
			temp_count1=phy_timer_count_get();
			// temp_count1=phy_timer_count_get();
			//while(mac_is_busy());
			gpio_pin_clr(SCL_PIN);
			//gpio_pin_clr(SCL_PIN);
			}

			uint16_t uwb_searchcount;
			@@ -534,7 +552,10 @@
			}
			void UWBOneSecondTask(void)
			{
			TagListUpdate();//更新标签数
			uwb_losttimer++;
			if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
			uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//防止溢出
			}
			void UWBIdleTask(void)
			{
			@@ -547,46 +568,46 @@
			}
			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;
			}
			// switch(wltag_state)
			// {
			// case RANGE:
			// if(HIDO_TimerGetTick()-wltag_uwbtimer>0&&uwb_rx_flag==0)
			// {
			// wltag_uwbtimer = HIDO_TimerGetTick();
			// OpenUWB();
			// }
			// else if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&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)
			@@ -595,8 +616,9 @@
			uint16_t tempid;
			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
			memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
			temp_count2=phy_timer_count_get();
			//temp_count2=phy_timer_count_get();
			uwb_losttimer=0;//成功测距清0 lost时间
			frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
			battary = rx_buf[BATTARY_IDX];
			@@ -630,7 +652,7 @@
			Anchor_RecNearPoll(i);
			}
			}else{
			OpenUWB();//接收到不是自己的包再次开启UWB接收
			// OpenUWB();//接收到不是自己的包再次开启UWB接收
			}

			}
			@@ -802,7 +824,7 @@

			// 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
			#if (defined STS_MODE) \|\| (defined MK_MODE)
			ranging_lib_init();
			#endif
			ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);