V1.9版本，优化误报逻辑，保证异常状态一定alarm，对alarm有10S缓冲，优化断线重连测距过滤

chen

2024-09-28 6905adcb1e7e19e9ee7c451491ed8c059fd5fdc4

 keil/uwb_app.c

@@ -50,7 +50,7 @@
uint32_t temp_count2=0;
uint32_t temp_count3=0;
uint32_t temp_internal=0;
int temp_flag,distance;
int32_t distance;
uint8_t taglist_num;
extern uint8_t recev_error_num;

@@ -60,7 +60,7 @@
#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 450U //yuan750 7500Haoyong
#define POLL_RX_TO_RESP_TX_DLY_US 670U //yuan450

#define RESP_TX_TO_FINAL_RX_DLY_US 500U

@@ -79,7 +79,7 @@
/* RX window open in advance */
#define RX_WIN_IN_ADVANCE_US (150)

#define DELAY_BETWEEN_TWO_FRAME_UUS 400
#define DELAY_BETWEEN_TWO_FRAME_UUS 1400

/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -87,7 +87,7 @@
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define DELAY_DEFAULT 1000
#define HALF_SECOND_TIME 62400000
#define HALF_SECOND_TIME 624000000
/* Length of the common part of the message */
#define MSG_COMMON_LEN 10

@@ -99,23 +99,37 @@
    struct UWB_CONFIG_T phy_cfg;
};

/* Default communication configuration. */
///* 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                       */
//};
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.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.                          */
    .phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF,  /* IEEE802.15.4z - BPRF mode                 */
    .phy_cfg.sfd_sym = NON_STD_NSFD5_8,          /* Identifier for SFD sequence               */
    .phy_cfg.ranging_bit = 1,                 /* ranging bit set 1                         */
    .phy_cfg.trx_mode = TRX_MODE_15_4A,  /* 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                       */
};

/* Buffer to store received frame */

/*     Frames used in the ranging process
@@ -143,9 +157,9 @@
static uint32_t resp_tx_timeout;
int64_t temp_resp_i64;
/* 41 bits timestamps of frames transmission/reception. */
 int64_t poll_rx_ts_i64;
 int64_t resp_tx_ts_i64;
 int64_t final_rx_ts_i64;
int64_t poll_rx_ts_i64;
int64_t resp_tx_ts_i64;
int64_t final_rx_ts_i64;

/* Frame sequence number, incremented after each transmission. */
static uint8_t frame_seq_nb = 0;
@@ -196,6 +210,7 @@
}

/* RX done process handler. */
int8_t rssi;
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{
    // Power off radio
@@ -213,8 +228,9 @@
        poll_rx_en_start_u32 = rx_rpt.timestamp - phy_shr_duration();
        poll_rx_ts_i64 = ranging_rx_time_correct(&rx_rpt);
        poll_rx_num++;
        rssi = rx_report->rssi;
        receive_flag=1;
        recev_error_num=0;
        
    }
    else
    {
@@ -224,9 +240,10 @@
        /* UWB_BD_ERR      Preamble detection error  */
        /* UWB_TO_ERR      Receive timeout           */
        /* UWB_STS_ERR     STS error                 */
                 temp_count= phy_timer_count_get();
        memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
        rx_length = 0;
        

    }
}

@@ -252,6 +269,7 @@
static int32_t tagdist_list[TAG_NUM_IN_SYS];
uint16_t random_time;
//anchor
int32_t hist_dist;
void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary)
{
    uint8_t i;
@@ -272,7 +290,13 @@
    anchordata_dist[i] = dist;
    anchordata_bat[i] = battary;
    tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
    distance=dist;
//    if(dist>0)
      if(distance!=0x1ffff&&distance!=0)
      {
    distance=dist*0.5+distance*0.5;
      }else{
         distance=dist;
      }
}
uint16_t CmpTagInList(uint16_t tagid)
{   uint16_t i;
@@ -286,6 +310,7 @@
    //tagofflinetime[i] = 0;
    return i;
}

static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts)
{
    int i,ts2;
@@ -321,14 +346,16 @@

    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
        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 = random_time+phy_timer_count_get()+ US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+rec_nearbase_num*US_TO_PHY_TIMER_COUNT(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_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 = phy_timer_count_get() + US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+(ancrec_nearbasepos+1)*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//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_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()

    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. */
@@ -337,11 +364,15 @@
    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
    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());
    gpio_pin_clr(SCL_PIN);
}
uint32_t range_timeout_us = 5000;
uint16_t uwb_searchcount;
uint8_t flag_recsuccess;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
int UwbRange(void)
{
    uint8_t i;
@@ -371,24 +402,38 @@
    mac_register_process_handler(tx_int_callback, rx_int_callback);

    receive_flag = 0;
      flag_recsuccess = 0;
    temp_count3=phy_timer_count_get();
    gpio_pin_set(SCL_PIN);
    uwb_rx(0, 0, RX_SYNC_WIN_US);//开启接收
    while(mac_is_busy());
    temp_count2=phy_timer_count_get();
//      start_receive_count=phy_timer_count_get();
//   poll_timeout=rec_nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(DELAY_DEFAULT);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
//   end_receive_count=start_receive_count+poll_timeout;
//   if(end_receive_count>=UINT32_MAX)
//   {end_receive_count-=UINT32_MAX;}
//   current_count=phy_timer_count_get();
//      while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//循环接受包体,若为124.8K则是+62400000
//      {
    uwb_rx(0, 0, range_timeout_us);//开启接收
   // while(mac_is_busy());
  //  temp_count2=phy_timer_count_get();
      start_receive_count=phy_timer_count_get();
   poll_timeout=US_TO_PHY_TIMER_COUNT(range_timeout_us);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
   end_receive_count=start_receive_count+poll_timeout;
   if(end_receive_count>=UINT32_MAX)
   {end_receive_count-=UINT32_MAX;}
   current_count=phy_timer_count_get();
      while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//循环接受包体,若为124.8K则是+62400000
      {
         current_count=phy_timer_count_get();
         while(mac_is_busy())
        {
            IdleTask();
            current_count=phy_timer_count_get();
            if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)
            {
                    break;
            }
        }
			
    if(receive_flag==1)//成功接收
    {

        if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL&&!memcmp(&rx_buf[TAG_ID_IDX],&g_com_map[BIND_DEV_ID],2))//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();
        {   flag_recsuccess = 1;
                sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
                 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
@@ -400,6 +445,7 @@
            {
                if(rec_ancidlist[i] == dev_id)
                {
                    rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
                    PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
                }
            }
@@ -418,27 +464,42 @@
            {
                seize_anchor=1;   //抢占anchor
                Anchor_RecNearPoll(i);
                
            }

        }      
    }else{
     
        if(recev_error_num++>20)
            {
                recev_error_num=0;
                UWB_work_state=SEARCH_DEV;
            }
    }        
    sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
                  recev_error_num=0;
           
            LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度：%d.\r\n",g_com_map[BIND_DEV_ID],distance,rssi);
        break;
            }
    } else {
         uwb_rx(0, 0, range_timeout_us);
    }
   }
      delay_us(1);
      uwb_rx_force_off(1);
      if(!flag_recsuccess)
      {
         sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-3));//测试
        LOG_INFO(TRACE_MODULE_APP,"测距失败，计数：%d\r\n",recev_error_num);
        if(recev_error_num++>5)
        {
            recev_error_num=0;
            UWB_work_state=SEARCH_DEV;
            uwb_searchcount = 0;
            search_open_flag = 1;
        }
         }

    gpio_pin_clr(SCL_PIN);
			
         return 0;
}


//主函数绑定接受逻辑
int UwbSearch(void)
{
    

    uint8_t i;
    uint16_t tempid;
    // The following peripherals will be initialized in the uwb_open function
@@ -475,23 +536,26 @@
    {
        end_receive_count-=UINT32_MAX;
    }
    
    current_count=phy_timer_count_get();
    while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//循环接受包体,若为124.8K则是+62400000
    {
        while(mac_is_busy())
        { 
        {
            IdleTask();
            current_count=phy_timer_count_get();
            if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)
            {
                
                    break;
            }
        }
       

        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&&!memcmp(&rx_buf[TAG_ID_IDX],&g_com_map[BIND_DEV_ID],2))//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();
            {   
                       sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-1));//测试
                        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
@@ -522,47 +586,51 @@
                    seize_anchor=1;   //抢占anchor
                    Anchor_RecNearPoll(i);
                }
                sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
                 gpio_pin_clr(SCL_PIN);//测试
            return 1;//返回发送成功标志
                
                gpio_pin_clr(SCL_PIN);//测试
                return 1;//返回发送成功标志
            }
           

        }
        
      uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
            temp_count3=phy_timer_count_get();
        uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收

    }
      delay_us(1);
      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
    return 0;//返回绑定失败标志
}
//}

#define SEARCH_TIMESTEMP 120
uint16_t uwb_searchcount;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
#define SEARCH_TIMESTEMP 20
void UWBPoll(void)
{
    switch(UWB_work_state) 
        {
    switch(UWB_work_state)
    {
    case LINK_SUCCESS:
    {   //连接成功进行轮询测距
        
            uwb_led_on();
            UwbRange();
            uwb_led_off();
        

        uwb_led_on();
        UwbRange();
        uwb_led_off();

    }
    break;
    case SEARCH_DEV:
    {   //接包不成功或者通讯失败进入搜索模式
        if(search_open_flag) 
            {
            first_search_flag=0;
        if(search_open_flag)
        {
            LOG_INFO(TRACE_MODULE_APP,"开启搜索\r\n");
            search_open_flag=0;
            uwb_led_on();
            link_success_flag=UwbSearch();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
            uwb_led_off();
            if(link_success_flag)
                UWB_work_state=LINK_SUCCESS;
        }else{
            LOG_INFO(TRACE_MODULE_APP,"等待进入搜索模式：%d\r\n",SEARCH_TIMESTEMP-uwb_searchcount);
        }

    }
@@ -574,24 +642,25 @@
    break;
    }
    if(UWB_work_state==LINK_SUCCESS)
        { //成功时清0错误计数
        uwb_searchcount=0;      
    {   //成功时清0错误计数
        uwb_searchcount=0;
    }
    if(UWB_work_state==SEARCH_DEV)
        {
    {
        if(!search_open_flag)
        {            
        {
            if(uwb_searchcount++>SEARCH_TIMESTEMP)
                {
                    uwb_searchcount=0;
                    search_open_flag=1;
                }
            {
                uwb_searchcount=0;
                search_open_flag=1;
            }
        }
        //link_error_count+=g_com_map[COM_INTERVAL];
        //if(link_error_count>=g_com_map[4G_INTERNAL])
        //link_error_count=0;
        update_led_power_state();//更新灯状态
    }
     LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
}

uint8_t GetUWBBindState(void)