实现，1对1通信，超时时间2ms

zhangbo

2024-12-04 6d08f540240e0baad08328f06c66d8e2fb1f336f

 keil/uwb_app.c

@@ -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 670U //yuan750 7500Haoyong
#define POLL_RX_TO_RESP_TX_DLY_US 750U //yuan750 7500Haoyong

#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 600

/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -107,9 +107,9 @@
    .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.sfd_sym = NON_STD_NSFD5_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.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       */
@@ -349,18 +349,28 @@
    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();
                temp_count3= phy_timer_count_get();
                
    while(mac_is_busy());
    gpio_pin_clr(SCL_PIN);
}
uint16_t uwb_searchcount,range_timeout_us = 5000;
uint16_t uwb_searchcount,range_timeout_us = 1700;
uint8_t flag_recsuccess;

extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
uint16_t uwb_rxflag;
uint16_t uwb_rxflag_num;
uint16_t uwb_rxflag_num1;
uint32_t time_count_dkjs=0;
uint32_t time_count_sdsj=0;
uint32_t UWB_shoudao_count=0;
uint32_t UWB_fachu_count=0;
uint32_t UWB_qiangzhanfachu_count=0;

int UwbRange(void)
{
    uint8_t i;
@@ -369,7 +379,7 @@
    // phy/mac/aes/lsp/phy timers initialized
//    uwb_open();

//    // Set calibration parameters
////    // Set calibration parameters
//    uwb_calibration_params_set(config.phy_cfg.ch_num);

//    // set advanced parameters
@@ -393,10 +403,18 @@
      flag_recsuccess = 0;
//    temp_count3=phy_timer_count_get();
    //gpio_pin_set(SCL_PIN);
    uwb_rxflag=uwb_rx(0, 0, range_timeout_us);//开启接收
      #ifdef DEBUG_BOXING
      time_count_dkjs=phy_timer_count_get();
      gpio_pin_set(IO_PIN_5);//测试
     #endif
//      gpio_pin_clr(IO_PIN_5);
    uwb_rxflag=uwb_rx(0, 0, range_timeout_us);//开启接收
//      gpio_pin_clr(IO_PIN_5);//测试
      #ifdef DEBUG_BOXING
//      gpio_pin_clr(IO_PIN_5);//测试
//      gpio_pin_set(IO_PIN_5);//测试
      #endif
//      #ifdef DEBUG_BOXING
//      gpio_pin_set(IO_PIN_5);//测试
//     #endif
//     #ifdef DEBUG_BOXING
//      gpio_pin_set(IO_PIN_5);//测试
//      #endif
@@ -409,32 +427,40 @@
   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)
            if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)//超时时间为4.992秒
            {
                    break;
            }
        }
			
    if(receive_flag==1)//成功接收
    {

      time_count_sdsj=phy_timer_count_get();
         UWB_shoudao_count++;
//               gpio_pin_set(IO_PIN_5);//测试
      gpio_pin_clr(IO_PIN_5);
      #ifdef DEBUG_BOXING
//      gpio_pin_set(IO_PIN_5);//测试
//      gpio_pin_clr(IO_PIN_5);//测试
      #endif
//            timeceshi1=phy_timer_count_get();
//            temp_count7=poll_rx_en_start_u32;
        receive_flag=0;
        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
        {  

               flag_recsuccess = 1;
						
                  flag_recsuccess = 1;
//                 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
					
                 //rec_nearbase_num=25;  
					
            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);
@@ -447,6 +473,11 @@
                {
                    rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
                    PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
                             UWB_fachu_count++;
//      #ifdef DEBUG_BOXING
////      gpio_pin_clr(IO_PIN_5);//测试
//      gpio_pin_set(IO_PIN_5);//测试
//      #endif
                }
            }
            for(i=0; i<rec_nearbase_num; i++)
@@ -456,39 +487,36 @@
                {
                    seize_anchor=0;  //非抢占。已存在列表中
                    Anchor_RecNearPoll(i);
                             UWB_qiangzhanfachu_count++;
                    break;
                }
            }

            if(i==rec_nearbase_num)
            {
							
                seize_anchor=1;   //抢占anchor
                Anchor_RecNearPoll(i);
                       UWB_qiangzhanfachu_count++;

            }
                  recev_error_num=0;
//            sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
//            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;
       
            }
      //  uwb_rxflag=uwb_rx(0, 0, range_timeout_us);
    } 
    else {
            delay_us(1);
    uwb_rx_force_off(1);
         uwb_rxflag=uwb_rx(0, 0, range_timeout_us);
        uwb_rxflag_num++;
    }
    }    
      #ifdef DEBUG_BOXING
      gpio_pin_clr(IO_PIN_5);//测试
      gpio_pin_set(IO_PIN_5);//测试
//      gpio_pin_set(IO_PIN_5);//测试
      #endif
   }
	
    delay_us(1);
    uwb_rx_force_off(1);
      #ifdef DEBUG_BOXING
      gpio_pin_clr(IO_PIN_5);//测试
      #endif
//      #ifdef DEBUG_BOXING
//      gpio_pin_clr(IO_PIN_5);//测试.
//      #endif
//      if(!flag_recsuccess)
//      {
//         sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-3));//测试
@@ -501,7 +529,10 @@
//            search_open_flag = 1;
//        }
//         }
    
//      #ifdef DEBUG_BOXING
//      gpio_pin_clr(IO_PIN_5);//测试
////      gpio_pin_set(IO_PIN_5);//测试
//      #endif    
}
int Uwbinit(void)
{