基站稳定与标签测距测信号强度STS版本，一对一

chen

2024-11-21 34f575a6cb201ca70e142de59f1e9750b863d7f2

 keil/uwb_app.c

@@ -9,7 +9,7 @@
#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);
@@ -66,7 +66,7 @@
#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 670U //yuan450
#define POLL_RX_TO_RESP_TX_DLY_US 1000U //yuan670 with urt 3000success

#define RESP_TX_TO_FINAL_RX_DLY_US 500U

@@ -104,17 +104,7 @@
    uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
    struct UWB_CONFIG_T phy_cfg;
};
/* 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,
};

///* 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),
@@ -164,6 +154,17 @@
    .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
@@ -418,7 +419,7 @@
    while(mac_is_busy());
    gpio_pin_clr(SCL_PIN);
}
uint32_t range_timeout_us = 5000;
uint32_t range_timeout_us = 1000000;//yuan5000
uint16_t uwb_searchcount;
uint8_t flag_recsuccess;
uint8_t flag_temp2,flag_temp1;
@@ -488,6 +489,7 @@
      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);//开启接收
   
   // while(mac_is_busy());
@@ -511,6 +513,8 @@
                    break;
            }
        }
         sts_lsp_store_stop();
			
         
    if(receive_flag==1)//成功接收
    {
@@ -552,11 +556,12 @@
            }
                  recev_error_num=0;
              range_timeout_us=5000;//恢复为5000进入range后
           LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度ANT0:%d,信号强度ANT2:%d\r\n",g_com_map[BIND_DEV_ID],distance,sts_rssi[0],sts_rssi[2]);
           LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度ANT0: %f,信号强度ANT2: %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();
      //失败或者接受被高发射机打断都会再次开启接收
         flag_temp1=uwb_rx(0, 0, range_timeout_us);
   }
@@ -625,6 +630,7 @@
    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);//开启接收
    start_receive_count=phy_timer_count_get();
    poll_timeout=US_TO_PHY_TIMER_COUNT(2000000);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
@@ -645,7 +651,9 @@
                    break;
            }
        }

            sts_lsp_store_stop();
				
				
        temp_count2=phy_timer_count_get();
        if(receive_flag==1)//成功接收
        {
@@ -688,15 +696,17 @@
                }
                
                gpio_pin_clr(SCL_PIN);//测试
                        LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度ANT0:%d,信号强度ANT2:%d\r\n",g_com_map[BIND_DEV_ID],distance,sts_rssi[0],sts_rssi[2]);
                        LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度ANT0:%f,信号强度ANT2: %f\r\n",g_com_map[BIND_DEV_ID],distance,sts_rssi[0],sts_rssi[2]);
                return 1;//返回发送成功标志
            }

        }
            temp_count3=phy_timer_count_get();
            sts_lsp_store();
        flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
    }
      delay_us(2);
      sts_lsp_store_stop();
      uwb_rx_force_off(1);
    // LOG_INFO(TRACE_MODULE_APP,"超时定时器：%x,%x,%x\r\n",start_receive_count,end_receive_count,current_count);
    gpio_pin_clr(SCL_PIN);//测试