Merge branch 'MK大工卡-低精度GPS-1/5HZ' of http://47.108.70.204:60062/r/ChinaUWBP...

WXK

2025-05-06 8217c70984ac4feb7bfc952e4f6e944bf824527d

 keil/uwb_app.c

@@ -37,7 +37,7 @@
extern uint8_t group_id;
static uint16_t anc_id_recv,tag_id_recv;
static int16_t rec_antdelay;
extern uint32_t dev_id;
extern uint16_t dev_id;
static uint16_t taglist_pos,tmp_time;
extern uint16_t tag_frequency;
extern uint16_t disoffset;
@@ -75,14 +75,17 @@
    CLOSE,
    RANGE,
}enumwltagstate;
#define TAGFREQ_IDX                  7

/* 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 550U //yuan550极限
//#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan550极限

#define RESP_TX_TO_FINAL_RX_DLY_US 500U

//#define RESP_TX_TO_FINAL_RX_DLY_US 500U
/* RX sync window size 50 ms*/
#define RX_SYNC_WIN_US 5000U //yuan1000  7000success

@@ -99,6 +102,7 @@
#define RX_WIN_IN_ADVANCE_US (150)

#define DELAY_BETWEEN_TWO_FRAME_UUS 500 //yuan1400
//#define DELAY_BETWEEN_TWO_FRAME_UUS 500 //yuan1400

/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -111,6 +115,9 @@
#define MSG_COMMON_LEN 10

#define UWB_DELAY_TIME_US 496



uint8_t receive_flag=0;
struct mk_uwb_configure
{
@@ -134,7 +141,7 @@
//    .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                       */
//};
#ifdef DW1000
#ifdef UWB_DW1000_XB
static struct mk_uwb_configure config = {
    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
    .phy_cfg.ch_num = 5,                      /* Channel number.                           */
@@ -150,6 +157,43 @@
    .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                       */
};
#endif
#ifdef UWB_DW1000_MBXJZ
static struct mk_uwb_configure config = {
    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
    .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_64,        /* Preamble duration, length of preamble 128 */
    .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                       */
};
#endif

#ifdef DW1000

//static struct mk_uwb_configure config = {
//    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
//    .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_64,        /* Preamble duration, length of preamble 128 */
//    .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                       */
//};

#elif defined STS_MODE
static struct mk_uwb_configure config = {
    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
@@ -309,10 +353,12 @@
        poll_rx_num++;
        rssi = rx_report->rssi;
        receive_flag=1;
            Anchor_App();
      Anchor_App();
        if(resp_tx_flag==0)
        {
        OpenUWB();

            OpenUWB();

        }
//         #ifdef STS_MODE
//            valid_sts= sts_valid_check();
@@ -343,7 +389,10 @@
        memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
        rx_length = 0;
        receive_error_flag=1;
      OpenUWB();//再次开启UWB接收
	
               OpenUWB();

//      OpenUWB();//再次开启UWB接收
    }
//    CloseUWB();
//   OpenUWB();//再次开启UWB接收
@@ -363,14 +412,18 @@
        temp_count= phy_timer_count_get();
        temp_internal=temp_count;
        resp_tx_num++;
//      OpenUWB();//再次开启UWB接收

            OpenUWB();

//          OpenUWB();//再次开启UWB接收
        //LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
    }
    OpenUWB();//再次开启UWB接收
//    OpenUWB();//再次开启UWB接收
}
uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
 uint16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
static int8_t anchor_rssi[TAG_NUM_IN_SYS];
uint8_t anchordata_num = 0;
static int16_t tagdist_list[TAG_NUM_IN_SYS];
uint16_t random_time;
@@ -488,6 +541,7 @@
            tagid_list[j]=tagid_list[i];
            tagdist_list[j] = tagdist_list[i];
                  anchordata_bat[j]=anchordata_bat[i];//电量随之更新
            anchor_rssi[j]=anchor_rssi[i];
            tagofflinetime[j++]=tagofflinetime[i];
        }
      }
@@ -504,6 +558,7 @@
    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;
     memcpy(&send_buffer[TAGFREQ_IDX],&tag_frequency,2);

    position=ancrec_nearbasepos;
    resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+ancrec_nearbasepos*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//加入帧间隔
@@ -626,15 +681,19 @@
            {
                uint16_t id,dist;
                uint8_t bat;
                int8_t rssi1;
                id = tagid_list[j];
                dist = tagdist_list[j];
                bat = anchordata_bat[j];
                rssi1=anchor_rssi[j];
                tagid_list[j] = tagid_list[j+1];
                tagdist_list[j] = tagdist_list[j+1];
                anchordata_bat[j] = anchordata_bat[j+1];
                anchor_rssi[j] = anchor_rssi[j+1];
                tagid_list[j+1] = id;
                tagdist_list[j+1] = dist;
                anchordata_bat[j+1] = bat;
                anchor_rssi[j+1] = rssi1;
            }
        }
    
@@ -695,7 +754,7 @@
   {
      uwbtasktimer = HIDO_TimerGetTick();
      UWBOneSecondTask();
        UWBSendUDPTask();
//        UWBSendUDPTask();
   }
}
int uwb_app_poll(void)
@@ -755,6 +814,7 @@
                                    Anchor_RecNearPoll(i);
                                    tagdist_list[taglist_pos]=rec_ancdistlist[i];
                                    anchordata_bat[taglist_pos] = battary;//保存该基站电量
                        anchor_rssi[taglist_pos]=rssi;
                                    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