ChinaUWBProject.git

			@@ -78,7 +78,7 @@
			#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 2000U //yuan670 with urt 3000success
			#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan550极限

			#define RESP_TX_TO_FINAL_RX_DLY_US 500U

			@@ -97,7 +97,7 @@
			/* RX window open in advance */
			#define RX_WIN_IN_ADVANCE_US (150)

			#define DELAY_BETWEEN_TWO_FRAME_UUS 300 //yuan1400
			#define DELAY_BETWEEN_TWO_FRAME_UUS 500 //yuan1400

			/* Field index in frame */
			#define MSG_SEQ_NUM_IDX 2
			@@ -133,7 +133,7 @@
			// .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 */
			//};
			#ifndef STS_MODE
			#ifdef DW1000
			static struct mk_uwb_configure config = {
			.phy_work_mode = (uint8_t)(PHY_TX \| PHY_RX),
			.phy_cfg.ch_num = 5, /* Channel number. */
			@@ -149,7 +149,7 @@
			.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 */
			};
			#else
			#elif defined STS_MODE
			static struct mk_uwb_configure config = {
			.phy_work_mode = (uint8_t)(PHY_TX \| PHY_RX),
			.phy_cfg.ch_num = 5, /* Channel number. */
			@@ -165,7 +165,6 @@
			.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
			/* Use the default key and IV specified in the IEEE 802.15.4z attachment */
			static struct UWB_STS_KEY_CONFIG_T sts_iv_key = {
			.sts_vcounter = 0x1F9A3DE4,
			@@ -177,6 +176,24 @@
			.sts_key2 = 0xD1D336AA,
			.sts_key3 = 0x14148674,
			};
			#elif defined MK_MODE
			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.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 */
			};
			#endif

			static struct anchor_id_car{
			uint16_t anchor_new_id;
			uint16_t change_num;
			@@ -312,9 +329,9 @@
			temp_count= phy_timer_count_get();
			memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
			rx_length = 0;
			OpenUWB();//再次开启UWB接收
			// OpenUWB();//再次开启UWB接收
			}
			//OpenUWB();//再次开启UWB接收
			OpenUWB();//再次开启UWB接收
			}

			/* TX done process handler. */
			@@ -329,7 +346,7 @@
			temp_count= phy_timer_count_get();
			temp_internal=temp_count;
			resp_tx_num++;
			OpenUWB();//再次开启UWB接收
			// 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);
			}
			}
			@@ -375,17 +392,35 @@
			// }

			}
			//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;
			//}yuan
			uint16_t CmpTagInList(uint16_t tagid)
			{ uint16_t i;
			for(i=0; i<taglist_num; i++)
			{
			if(memcmp(&tagid,&anchordata_id[i],2)==0)
			if(memcmp(&tagid,&tagid_list[i],2)==0)
			break;
			}
			if(i==taglist_num)
			return taglist_num;
			//tagofflinetime[i] = 0;
			return i;
			}
			uint16_t ExistInTagList(uint16_t tagid)
			{ uint16_t i;
			for(i=0; i<taglist_num; i++)
			{
			if(memcmp(&tagid,&tagid_list[i],2)==0)
			return 1;
			}
			return 0;
			}

			uint16_t CmpCarInExistList(uint16_t tagid)
			@@ -412,22 +447,36 @@
			}
			}

			//void TagListUpdate(void)
			//{
			// uint8_t i,j=0;
			// for(i=0; i<anchordata_num; i++)
			// {
			// if(tagofflinetime[i]++<QUIT_SLOT_TIME)
			// {
			// anchordata_id[j]=anchordata_id[i];
			// tagofflinetime[j++]=tagofflinetime[i];
			// }
			// }
			// anchordata_num=j;
			//}
			void TagListUpdate(void)
			{
			uint8_t i,j=0;
			for(i=0; i<anchordata_num; i++)
			uint16_t i,j=0,k=0;
			for(i=0; i<taglist_num; i++)
			{
			if(tagofflinetime[i]++<QUIT_SLOT_TIME)
			if(tagofflinetime[i]++<TAG_KEEPTIMES)
			{
			anchordata_id[j]=anchordata_id[i];
			tagid_list[j]=tagid_list[i];
			tagdist_list[j] = tagdist_list[i];
			anchordata_bat[j]=anchordata_bat[i];//电量随之更新
			tagofflinetime[j++]=tagofflinetime[i];
			}
			}
			anchordata_num=j;
			}
			taglist_num=j;
			}



			uint8_t position;
			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;
			@@ -449,7 +498,8 @@
			// resp_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(20rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+ancrec_nearbaseposDELAY_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_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US);
			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
			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);
			@@ -458,9 +508,10 @@
			temp_resp_i64=resp_tx_ts_i64;
			temp_count3= phy_timer_count_get();
			flag_temp2=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();
			tagofflinetime[taglist_pos] = 0;//更新标签通信
			// temp_count1=phy_timer_count_get();
			//while(mac_is_busy());
			gpio_pin_clr(SCL_PIN);
			//gpio_pin_clr(SCL_PIN);
			}

			uint16_t uwb_searchcount;
			@@ -497,7 +548,7 @@
			&&!((end_receive_count-current_count_calibration<=MS_TO_PHY_TIMER_COUNT(200))\|\|(end_receive_count+(UINT32_MAX-current_count_calibration)<=MS_TO_PHY_TIMER_COUNT(200))))
			{
			start_receive_count_calibration=current_count_calibration;//更新开始时间
			// MotorPoll();


			if(secondtask_search_count++%2==0)
			{
			@@ -524,17 +575,20 @@
			{
			uwb_rx_force_off(1);
			uwb_rx_flag=0;
			LOG_INFO(TRACE_MODULE_APP,"关闭uwb_rx\r\n");
			//LOG_INFO(TRACE_MODULE_APP,"关闭uwb_rx\r\n");
			}
			void OpenUWB(void)
			{
			flag_temp1=uwb_rx(0, 0,range_timeout_us);//提交接收请求
			uwb_rx_flag=1;
			LOG_INFO(TRACE_MODULE_APP,"打开uwb_rx\r\n");
			//LOG_INFO(TRACE_MODULE_APP,"打开uwb_rx\r\n");
			}
			void UWBOneSecondTask(void)
			{
			TagListUpdate();//更新标签数
			uwb_losttimer++;
			if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
			uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//防止溢出
			}
			void UWBIdleTask(void)
			{
			@@ -547,46 +601,46 @@
			}
			int uwb_app_poll(void)
			{
			switch(wltag_state)
			{
			case RANGE:
			if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
			{
			wltag_uwbtimer = HIDO_TimerGetTick();
			OpenUWB();
			}
			else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1)
			{
			wltag_uwbtimer = HIDO_TimerGetTick();
			CloseUWB();
			}
			if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
			{
			wltag_statetimer = HIDO_TimerGetTick();
			if(uwb_rx_flag==0)//若要切换到搜索模式时没有开启则开启UWB
			{
			OpenUWB();
			}
			wltag_state = SEARCH;
			}
			break;
			case SEARCH:
			if(HIDO_TimerGetTick()-wltag_statetimer>1)
			{
			wltag_statetimer = HIDO_TimerGetTick();
			wltag_state = CLOSE;
			CloseUWB();
			}
			break;
			case CLOSE:
			if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
			{
			wltag_statetimer = HIDO_TimerGetTick();
			wltag_state = SEARCH;
			OpenUWB();
			}
			break;
			}
			// switch(wltag_state)
			// {
			// case RANGE:
			// if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
			// {
			// wltag_uwbtimer = HIDO_TimerGetTick();
			// OpenUWB();
			// }
			// else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1)
			// {
			// wltag_uwbtimer = HIDO_TimerGetTick();
			// CloseUWB();
			// }
			// if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
			// {
			// wltag_statetimer = HIDO_TimerGetTick();
			// if(uwb_rx_flag==0)//若要切换到搜索模式时没有开启则开启UWB
			// {
			// OpenUWB();
			// }
			// wltag_state = SEARCH;
			// }
			// break;
			// case SEARCH:
			// if(HIDO_TimerGetTick()-wltag_statetimer>1)
			// {
			// wltag_statetimer = HIDO_TimerGetTick();
			// wltag_state = CLOSE;
			// CloseUWB();
			// }
			// break;
			// case CLOSE:
			// if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
			// {
			// wltag_statetimer = HIDO_TimerGetTick();
			// wltag_state = SEARCH;
			// OpenUWB();
			// }
			// break;
			// }
			UWBIdleTask();
			}
			int Anchor_App(void)
			@@ -595,8 +649,9 @@
			uint16_t tempid;
			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
			memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
			temp_count2=phy_timer_count_get();
			//temp_count2=phy_timer_count_get();
			uwb_losttimer=0;//成功测距清0 lost时间
			frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
			battary = rx_buf[BATTARY_IDX];
			@@ -605,33 +660,56 @@
			memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
			memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2rec_nearbase_num],2rec_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)
			{ temp_recdist_before_offset=rec_ancdistlist[i];
			rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
			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;
			}
			}
			// for(i=0; i<rec_nearbase_num; i++)
			// {
			// if(rec_ancidlist[i] == dev_id)
			// { temp_recdist_before_offset=rec_ancdistlist[i];
			// rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
			// 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{
			OpenUWB();//接收到不是自己的包再次开启UWB接收
			// if(i==rec_nearbase_num)
			// {
			// seize_anchor=1; //抢占anchor
			// Anchor_RecNearPoll(i);
			// }
			taglist_pos=CmpTagInList(tag_id_recv);
			if(taglist_num>=ANC_MAX_NUM)
			return 0;
			for(i=0; i<rec_nearbase_num; i++)
			{
			memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
			if(tempid==dev_id)
			{
			Anchor_RecNearPoll(i);
			tagdist_list[taglist_pos]=rec_ancdistlist[i];
			anchordata_bat[taglist_pos] = battary;//保存该基站电量
			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
			tagid_list[taglist_pos] = tag_id_recv;

			}
			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);
			}
			}


			}
			int UwbRange(void)
			@@ -802,7 +880,7 @@

			// uwb configure
			uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);
			#ifdef STS_MODE
			#if (defined STS_MODE) \|\| (defined MK_MODE)
			ranging_lib_init();
			#endif
			ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);