能够SS测距与MK8000_SS_demo_Anchor配合使用

chen

2024-07-29 55579b9ada2fc22edcae817e7d6e65710c47edd3

 keil/simple_ss_twr_dw_resp.c

@@ -5,53 +5,23 @@
#include "mk_power.h"
#include "mk_sleep_timer.h"
#include "lib_ranging.h"
#include "dw_app_anchor.h"

#include "board.h"

#if defined(MK_SS_TWR_DW_RESP)

extern int simple_main(void);
/*receive buffer*/
static uint8_t rx_buf[150];
static uint8_t uwb_sendbuffer[150];
static volatile uint16_t rx_state;
static volatile uint16_t rx_length;

//resp变量
static uint8_t frame_seq_nb2,battary,button,rec_nearbase_num,ancidlist_num;
static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS],rec_ancdistlist[TAG_NUM_IN_SYS];
extern uint8_t group_id;
static uint16_t anc_id_recv,tag_id_recv;
static int16_t rec_antdelay;
extern uint32_t dev_id;
static uint16_t taglist_num=0,taglist_pos,tmp_time;
extern uint16_t tag_frequency;
extern uint16_t disoffset;
static uint8_t frame_len,recpoll_len,current_syncid,new_tagid,seize_anchor,result,g_start_sync_flag;
//resp函数
void PushAnchorDataArray(uint16_t ancid,uint16_t dist,uint8_t battary);//找到自己的id信息对应位置更新自己的交互信息
static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts);//用来对应位置放入时间戳
static uint16_t tagid_list[TAG_NUM_IN_SYS];
uint16_t CmpTagInList(uint16_t tagid);
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos);
static uint8_t send_buffer[100];
uint32_t temp_count=0;
uint32_t temp_count1=0;
uint32_t temp_count2=0;
uint32_t temp_count3=0;
uint32_t temp_internal=0;
int temp_flag;
/* 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 750U //yuan750 7500Haoyong
#define POLL_RX_TO_RESP_TX_DLY_US 750U

#define RESP_TX_TO_FINAL_RX_DLY_US 500U

/* RX sync window size 50 ms*/
#define RX_SYNC_WIN_US 500U
#define RX_SYNC_WIN_US 50000U

/* Receive poll timeout 500us*/
#define POLL_RX_TIMEOUT_US 500
@@ -71,8 +41,6 @@
/* Length of the common part of the message */
#define MSG_COMMON_LEN 10


static uint8_t receive_flag=0;
struct mk_uwb_configure
{
    uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
@@ -82,7 +50,7 @@
/* Default communication configuration. */
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,                  /* 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.                           */
@@ -93,10 +61,11 @@
    .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                       */
    .phy_cfg.rx_ant_id = UWB_RX_ANTENNA_3,    /* UWB RX antenna port                       */
};

/* Buffer to store received frame */
static uint8_t rx_buf[128];

/*     Frames used in the ranging process
 *     Poll message:
@@ -120,8 +89,7 @@
/* Count value of phy counter when transmitting and receiving frames */
static uint32_t poll_rx_en_start_u32;
static uint32_t resp_tx_en_start_u32;
static uint32_t resp_tx_timeout;
int64_t temp_resp_i64;

/* 41 bits timestamps of frames transmission/reception. */
static int64_t poll_rx_ts_i64;
static int64_t resp_tx_ts_i64;
@@ -185,15 +153,8 @@
    if (rx_report->err_code == UWB_RX_OK)
    {
        /* Received data does not contain FCS */
           /* Received data does not contain FCS */
        rx_length = rx_report->pkt_len;
        memcpy(rx_buf, rx_report->pkt_data, rx_length);
            memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
        /* Calculate rx timestamp */
            temp_count= phy_timer_count_get();
         poll_rx_en_start_u32 = rx_rpt.timestamp - phy_shr_duration();
         poll_rx_ts_i64 = ranging_rx_time_correct(&rx_rpt);
            receive_flag=1;
        memcpy(rx_buf, rx_report->pkt_data, rx_report->pkt_len);
        memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
    }
    else
    {
@@ -204,8 +165,6 @@
        /* UWB_TO_ERR      Receive timeout           */
        /* UWB_STS_ERR     STS error                 */
        memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
           rx_length = 0;
            receive_flag=2;
    }
}

@@ -218,90 +177,9 @@
    /** UWB TX success */
    if (tx_report->err_code == UWB_TX_OK)
    {
         temp_count= phy_timer_count_get();
         temp_internal=temp_count;
    }
}
static uint16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
static uint8_t anchordata_num = 0;
static int32_t tagdist_list[TAG_NUM_IN_SYS];
uint16_t random_time;
//anchor
void PushAnchorDataArray(uint16_t ancid,uint16_t dist,uint8_t battary)
{
    uint8_t i;
    for(i=0;i<anchordata_num;i++)
    {
        if(anchordata_id[i] == ancid)//查询标签是否在自己已通讯列表中
        {
            
            break;
        }
    }
    if(i==anchordata_num)
    {
        if(anchordata_num<TAG_NUM_IN_SYS-1)
        anchordata_num++;
    }
    anchordata_id[i] = ancid;//与之通信的标签id存入当前表中
    anchordata_dist[i] = dist;
    anchordata_bat[i] = battary;  
}
uint16_t CmpTagInList(uint16_t tagid)
{uint16_t i;
   for(i=0;i<taglist_num;i++)
   {
      if(memcmp(&tagid,&anchordata_id[i],2)==0)
         break;
   }
   if(i==taglist_num)
      return taglist_num;
    //tagofflinetime[i] = 0;
   return i;
}
static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts)
{
    int i,ts2;
      ts2=(int32_t)ts;
    for (i = 0; i < 4; i++)
    {
    ts_field[i] = (uint8_t)ts2;
    ts2 >>= 8;
    }
}

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;
			
         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()%1000);//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 = random_time+poll_rx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+rec_nearbase_num*50000;//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(POLL_RX_TO_RESP_TX_DLY_US)+(ancrec_nearbasepos+1)*50000;//后面的需要根据已有基站数量进行更改,自己非抢占
    }//此处设置绝对时间将poll u32改为phy_timer_count_get()
			
      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();
      temp_flag=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());
}
int simple_main(void)
{
    // The following peripherals will be initialized in the uwb_open function
@@ -316,7 +194,7 @@
        .thres_fap_detect = 40,
        .nth_scale_factor = 4,
        .ranging_performance_mode = 0,
         .skip_weakest_port_en = 0,
        .dynamic_port_sel_en = 0,
    };
    phy_adv_params_configure(&adv_config);

@@ -327,61 +205,8 @@

    // Register rx interrupt callback function
    mac_register_process_handler(tx_int_callback, rx_int_callback);
      //#if LOW_POWER_EN
//    // Initialize low power mode
//    power_init();
//    // Enable sleep timer
//    sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, NULL);
//#endif
         uint8_t i;
         uint16_t tempid;
      temp_count3=phy_timer_count_get();
      uwb_rx(0, 0, RX_SYNC_WIN_US);//开启接收
      while(mac_is_busy());
      temp_count2=phy_timer_count_get();
      if(receive_flag==1)//成功接收
      {	
         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
         {      temp_count2=phy_timer_count_get();
                frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
                battary = rx_buf[BATTARY_IDX];
                rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX];  //标签传过来的他与基站交互的基站id数目              
                        memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
                memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
                memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
                memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
                for(i=0;i<rec_nearbase_num;i++)
                {
                    if(rec_ancidlist[i] == dev_id)
                    {
                        PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);  
                    }
                }
            for(i=0;i<rec_nearbase_num;i++)
            {
                memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
               if(tempid==dev_id)//也是比id如果有就更新没有就抢占
               {
                  seize_anchor=0;  //非抢占。已存在列表中
                  Anchor_RecNearPoll(i);	
                  break;
               }						
            }
			
               if(i==rec_nearbase_num)
               {
                  seize_anchor=1;   //抢占anchor
                  Anchor_RecNearPoll(i);	
               }
				
         }
         }else if (receive_flag==2)//接受失败
      {
      //清除错误标志位
      }
      receive_flag=0;
		
}

#endif