现场试用版

zhangbo

2 天以前 ae0b42614c7f3de6f13c2ebacd3c1b46662ed9e9

 keil/uwb_app.c

@@ -12,7 +12,7 @@
#include "PCA9555.h"

#define TAG_KEEPTIMES           20
#define REPORT_TAG_KEEPTIMES     1
#define REPORT_TAG_KEEPTIMES     20

#define GROUP_NUM   3
uint16_t group_min_dist[GROUP_NUM+1];
@@ -98,6 +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 550U //yuan750 7500Haoyong
#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan750 7500Haoyong

#define RESP_TX_TO_FINAL_RX_DLY_US 500U
@@ -325,6 +326,7 @@
uint16_t ERR_RX_NUM;
uint8_t send_qiangzhan_NUM;
uint8_t resp_tx_flag;
uint32_t temp_c[10];
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{      uint8_t valid_sts=0;
    // Power off radio
@@ -340,18 +342,19 @@
        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);
        poll_rx_num++;
            REV_RX_NUM++;
        rssi = rx_report->rssi;
        receive_flag=1;
            temp_count= phy_timer_count_get();
            Anchor_App();
        if(resp_tx_flag==0)
        {
            OpenUWB();
        }			
          if(resp_tx_flag==0)
         {
           OpenUWB();
         }
         #ifdef STS_MODE
            valid_sts= sts_valid_check();
      if (valid_sts)
@@ -385,8 +388,14 @@

            OpenUWB();//再次开启UWB接收
    }
//     OpenUWB();//再次开启UWB接收

//   OpenUWB();//再次开启UWB接收
#ifdef USE_TX_UWBON			
            if(UWB_STATE==UWB_STATE_IDLE)
            {
               UWB_STATE=UWB_RX_STATE_BUSY;
               OpenUWB();//再次开启UWB接收
            }
#endif
}
uint16_t TX_CALL_POLL_NUM;
/* TX done process handler. */
@@ -394,6 +403,11 @@
{
    // Power off radio
    power_off_radio();
#ifdef USE_TX_UWBON
        UWB_STATE=UWB_STATE_IDLE;			
            UWB_STATE=UWB_RX_STATE_BUSY;
           OpenUWB();//再次开启UWB接收	
#endif
    /** UWB TX success */
    if (tx_report->err_code == UWB_TX_OK)
    {
@@ -401,9 +415,8 @@
         
        temp_count= phy_timer_count_get();
        temp_internal=temp_count;
        
        OpenUWB();
           TX_CALL_POLL_NUM++;
           OpenUWB();
//           if(send_qiangzhan_NUM)
//            {
//            send_qiangzhan_NUM=0;
@@ -525,26 +538,14 @@
uint16_t response_num;
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;
//    temp_count2=phy_timer_count_get();
    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 = phy_timer_count_get()+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(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+ancrec_nearbasepos*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()
      position=ancrec_nearbasepos;
     temp_count1=phy_timer_count_get();
	 
      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
//    resp_tx_en_start_u32 = temp_count1+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
    resp_tx_ts_i64 = ranging_tx_time_correct(resp_tx_en_start_u32 + phy_shr_duration());//修正时间戳
@@ -553,18 +554,11 @@
    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();
    
    UWB_STATE==UWB_TX_STATE_BUSY;
      flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
    resp_tx_flag=1;
		
      tagofflinetime[taglist_pos] = 0;//更新标签通信
//    temp_count1=phy_timer_count_get();
//      temp_tx_flag=1;
//      Delay_Ms(2);

//    while(mac_is_busy());
//    gpio_pin_clr(SCL_PIN);
}
uint16_t uwb_searchcount= 2000000;
uint8_t flag_recsuccess;
@@ -698,10 +692,12 @@

//uint16_t REV_POLL_NUM;
//uint16_t REPLY_POLL_NUM;
extern uint8_t uwbled,gpsled,loraled,powerled;
int Anchor_App(void)
{
            uint8_t i;
            uint16_t tempid;
   temp_count1=phy_timer_count_get();
         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
@@ -714,11 +710,14 @@
            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);
               temp_count2=phy_timer_count_get();
            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);
                  taglist_pos=CmpTagInList(tag_id_recv);
                  UWB_LED_ON;
               //   UWB_LED_ON;
                 uwbled=1;
                temp_count3=phy_timer_count_get();
                if(taglist_num>=ANC_MAX_NUM)
                              return 0;
                         for(i=0; i<rec_nearbase_num; i++)
@@ -737,6 +736,7 @@
                                    break;
                              }
                        }
								 
                         if((i==rec_nearbase_num&&taglist_pos==taglist_num)||(rec_nearbase_num==0&&!ExistInTagList(tag_id_recv)))//当基站不在标签列表中，标签也不在基站列表中时，随机找个时间片回复基站。
                {
                       Anchor_RecNearPoll(rec_nearbase_num);