协议未更改版本，测距550us 和帧间隔500us

zhangbo

2025-03-13 367aa5722f83a17dcfe586726af74fef72db0081

 keil/uwb_app.c

@@ -98,7 +98,7 @@
#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 900U //yuan750 7500Haoyong
#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan750 7500Haoyong

#define RESP_TX_TO_FINAL_RX_DLY_US 500U

@@ -117,7 +117,7 @@
/* RX window open in advance */
#define RX_WIN_IN_ADVANCE_US (150)

#define DELAY_BETWEEN_TWO_FRAME_UUS 600
#define DELAY_BETWEEN_TWO_FRAME_UUS 500

/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -275,6 +275,10 @@
uint32_t range_timeout_us = 2000000;//yuan5000
uint8_t flag_temp2,flag_temp1;
uint16_t uwb_losttimer;
uint16_t REV_RX_NUM;
uint16_t REV_POLL_NUM;
uint16_t REPLY_POLL_NUM;
uint16_t ERR_RX_NUM;
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{      uint8_t valid_sts=0;
    // Power off radio
@@ -293,6 +297,7 @@
        poll_rx_en_start_u32 = rx_rpt.timestamp - phy_shr_duration();
        poll_rx_ts_i64 = ranging_rx_time_correct(&rx_rpt);
        poll_rx_num++;
            REV_RX_NUM++;
        rssi = rx_report->rssi;
        receive_flag=1;
            Anchor_App();
@@ -324,6 +329,7 @@
                 temp_count= phy_timer_count_get();
        memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
        rx_length = 0;
           ERR_RX_NUM++;
           UWB_STATE=UWB_STATE_IDLE;
            if(UWB_STATE==UWB_STATE_IDLE)
            {
@@ -334,6 +340,7 @@
    }
//   OpenUWB();//再次开启UWB接收
}
uint16_t TX_CALL_POLL_NUM;
/* TX done process handler. */
static void tx_int_callback(struct MAC_HW_REPORT_T *tx_report)
{
@@ -347,7 +354,7 @@
        temp_count= phy_timer_count_get();
        temp_internal=temp_count;
        resp_tx_num++;
			
           TX_CALL_POLL_NUM++;
            UWB_STATE=UWB_RX_STATE_BUSY;
           OpenUWB();//再次开启UWB接收
           //gpio_pin_clr(IO_PIN_5);
@@ -389,7 +396,7 @@
{   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)
@@ -432,72 +439,13 @@
    taglist_num=j;
}

//void TagListUpdate(void)
//{
//    uint8_t i,j=0,k=0;
//    for(i=0; i<anchordata_num; i++)
//    {
//        if(tagofflinetime[i]++<QUIT_SLOT_TIME)
//        {
//            anchordata_id[j]=anchordata_id[i];
//            tagofflinetime[j++]=tagofflinetime[i];
//        }
//            //标签存活时间
//            if(tagofflinetime[i]++<TAG_KEEPTIMES)
//        {
//            tagid_list[k]=tagid_list[i];
//            tagdist_list[k] = tagdist_list[i];
//            tagofflinetime[k++]=tagofflinetime[i];
//        }
//    }
//    anchordata_num=j;
//      taglist_num=k;
//}

//static uint8_t tagofflinetime[ANC_MAX_NUM];
int flag1=0;
uint32_t temp_count7;
uint32_t timeceshi1;
uint32_t timeceshi2;
//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;
//int flag1=0;
//uint32_t temp_count7;
//uint32_t timeceshi1;
//uint32_t timeceshi2;

//    memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//组id
//    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;

// if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式自己为新基站
//    {
//        random_time = (phy_timer_count_get()%100);//多基站抢占一个位置时避免一个也收不到的情况就每一个随机错开几十uS
//        //resp_tx_time = (poll_rx_ts+((random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
//        // (resp_tx_en_start_u32) is the moment when TX enable
//        resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_num*DELAY_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
//                                
//                } else {
//        //resp_tx_time = (poll_rx_ts + ((rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
//       resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_num*DELAY_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()
//    temp_count7=resp_tx_en_start_u32;
//    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);
//    resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts_i64);//此处时间戳int64直接转换为uint64不知道会不会有错误
//    memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&disoffset,2);//差个修正offset,修正有符号但是这个com表为无符号的,传过去直接赋给Int16_t相当于还原了
//    temp_resp_i64=resp_tx_ts_i64;
////    temp_count3= phy_timer_count_get();
////                timeceshi2=phy_timer_count_get();
//      //uint32_t time_add=1000;
//      //resp_tx_en_start_u32=resp_tx_en_start_u32+time_add;	
//      temp_count3= phy_timer_count_get();								
//    flag1=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();
//                
//    while(mac_is_busy());
//      tagofflinetime[taglist_pos] = 0;
//    gpio_pin_clr(SCL_PIN);
//}
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
{
@@ -763,67 +711,70 @@
uint32_t wltag_statetimer,wltag_uwbtimer;
int uwb_app_poll(void)
{
   switch(wltag_state)
   {
		
   case RANGE:
//   time_flag=HIDO_TimerGetTick()-wltag_uwbtimer;
   if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
      { 
            UWB_LED_ON;
            wltag_uwbtimer = HIDO_TimerGetTick();
            if(UWB_STATE==UWB_STATE_IDLE)
            {
               UWB_STATE=UWB_RX_STATE_BUSY;
               OpenUWB();
            }
      }
   else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1)
      {
//         time_flag=HIDO_TimerGetTick()-wltag_uwbtimer;
           UWB_LED_OFF;
            wltag_uwbtimer = HIDO_TimerGetTick();
            CloseUWB();
           UWB_STATE=UWB_STATE_IDLE;
      }
      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
         {
            if(UWB_STATE==UWB_STATE_IDLE)
            {
               UWB_STATE=UWB_RX_STATE_BUSY;
               OpenUWB();
            }
         }
     wltag_state = SEARCH;
      }
      break;
   case SEARCH:
      if(HIDO_TimerGetTick()-wltag_statetimer>1)
      {
         wltag_statetimer = HIDO_TimerGetTick();
         wltag_state = CLOSE;
         CloseUWB();
         UWB_STATE=UWB_STATE_IDLE;
      }
      break;
   case CLOSE:
      if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
      {
         wltag_statetimer = HIDO_TimerGetTick();
         wltag_state = SEARCH;
         if(UWB_STATE==UWB_STATE_IDLE)
         {
            UWB_STATE=UWB_RX_STATE_BUSY;
            OpenUWB();
         }
      }
      break;
   }
//   switch(wltag_state)
//   {
//		
//   case RANGE:
////   time_flag=HIDO_TimerGetTick()-wltag_uwbtimer;
//   if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
//      { 
//            UWB_LED_ON;
//            wltag_uwbtimer = HIDO_TimerGetTick();
//            if(UWB_STATE==UWB_STATE_IDLE)
//            {
//               UWB_STATE=UWB_RX_STATE_BUSY;
//               OpenUWB();
//            }
//      }
//      else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1)
//      {
////         time_flag=HIDO_TimerGetTick()-wltag_uwbtimer;
//           UWB_LED_OFF;
//            wltag_uwbtimer = HIDO_TimerGetTick();
//            CloseUWB();
//           UWB_STATE=UWB_STATE_IDLE;
//      }
//      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
//         {
//            if(UWB_STATE==UWB_STATE_IDLE)
//            {
//               UWB_STATE=UWB_RX_STATE_BUSY;
//               OpenUWB();
//            }
//         }
//     wltag_state = SEARCH;
//      }
//      break;
//   case SEARCH:
//      if(HIDO_TimerGetTick()-wltag_statetimer>1)
//      {
//         wltag_statetimer = HIDO_TimerGetTick();
//         wltag_state = CLOSE;
//         CloseUWB();
//         UWB_STATE=UWB_STATE_IDLE;
//      }
//      break;
//   case CLOSE:
//      if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
//      {
//         wltag_statetimer = HIDO_TimerGetTick();
//         wltag_state = SEARCH;
//         if(UWB_STATE==UWB_STATE_IDLE)
//         {
//            UWB_STATE=UWB_RX_STATE_BUSY;
//            OpenUWB();
//         }
//      }
//      break;
//   }
    UWBIdleTask();
}
//uint16_t REV_RX_NUM;
//uint16_t REV_POLL_NUM;
//uint16_t REPLY_POLL_NUM;
int Anchor_App(void)
{
            uint8_t i;
@@ -831,6 +782,7 @@
         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
                 REV_POLL_NUM++;
                  memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
                 //temp_count2=phy_timer_count_get();
                  uwb_losttimer=0;//成功测距清0 lost时间
@@ -854,6 +806,7 @@
                                    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
                                         REPLY_POLL_NUM++;
                                          tagid_list[taglist_pos] = tag_id_recv;
                                    }
                                    break;