ChinaUWBProject.git

			@@ -8,7 +8,13 @@
			#include "dw_app_anchor.h"
			#include "global_param.h"
			#include "board.h"
			#include "lora_3029.h"

			#define TAG_KEEPTIMES 30
			#define REPORT_TAG_KEEPTIMES 1

			#define GROUP_NUM 3
			uint16_t group_min_dist[GROUP_NUM+1];

			extern int simple_main(void);
			extern int temp_main(void);
			@@ -25,7 +31,7 @@

			//resp变量
			static uint8_t frame_seq_nb2,battary,button,rec_nearbase_num,ancidlist_num;
			static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS];
			uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS];
			static int16_t rec_ancdistlist[TAG_NUM_IN_SYS];
			extern uint8_t group_id;
			static uint16_t anc_id_recv,tag_id_recv;
			@@ -60,7 +66,7 @@
			#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 +85,7 @@
			/* 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 +113,9 @@
			.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 */
			@@ -245,6 +251,7 @@
			temp_count= phy_timer_count_get();
			temp_internal=temp_count;
			resp_tx_num++;
			//gpio_pin_clr(IO_PIN_5);
			//LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
			}
			}
			@@ -301,20 +308,51 @@
			ts2 >>= 8;
			}
			}

			uint8_t report_ancnum;
			uint16_t report_ancdist[ANC_MAX_NUM],report_ancid[ANC_MAX_NUM];
			void TagListUpdate(void)
			{
			uint8_t i,j=0;
			for(i=0; i<anchordata_num; i++)
			uint16_t i,j=0,k=0,temp[TAG_NUM_IN_SYS];
			for(i=0; i<taglist_num; i++)
			{
			if(tagofflinetime[i]++<QUIT_SLOT_TIME)
			if(tagofflinetime[i]++<REPORT_TAG_KEEPTIMES)
			{
			anchordata_id[j]=anchordata_id[i];
			report_ancid[k]=tagid_list[i];
			report_ancdist[k++]=tagdist_list[i];
			}
			if(tagofflinetime[i]++<TAG_KEEPTIMES)
			{
			tagid_list[j]=tagid_list[i];
			tagdist_list[j] = tagdist_list[i];
			tagofflinetime[j++]=tagofflinetime[i];
			}
			}
			anchordata_num=j;
			report_ancnum = k;
			taglist_num=j;
			}

			//void TagListUpdate(void)
			//{
			// uint8_t i,j=0,k=0;
			// for(i=0; i<anchordata_num; i++)
			// {
			// if(tagofflinetime[i]++<QUIT_SLOT_TIME)
			// {
			// anchordata_id[j]=anchordata_id[i];
			// tagofflinetime[j++]=tagofflinetime[i];
			// }
			// //标签存活时间
			// if(tagofflinetime[i]++<TAG_KEEPTIMES)
			// {
			// tagid_list[k]=tagid_list[i];
			// tagdist_list[k] = tagdist_list[i];
			// tagofflinetime[k++]=tagofflinetime[i];
			// }
			// }
			// anchordata_num=j;
			// taglist_num=k;
			//}
			//static uint8_t tagofflinetime[ANC_MAX_NUM];
			int flag1=0;
			uint32_t temp_count7;
			uint32_t timeceshi1;
			@@ -349,51 +387,41 @@
			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());
			tagofflinetime[taglist_pos] = 0;
			gpio_pin_clr(SCL_PIN);
			}
			uint16_t uwb_searchcount,range_timeout_us = 5000;
			uint16_t uwb_searchcount,range_timeout_us = 2000000;
			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;
			uint32_t UWB_1003_count,UWB_6666_count=0;
			int UwbRange(void)
			{

			uint8_t i;
			uint16_t tempid;
			// The following peripherals will be initialized in the uwb_open function
			// phy/mac/aes/lsp/phy timers initialized
			// uwb_open();

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

			// // set advanced parameters
			// struct PHY_ADV_CONFIG_T adv_config = {
			// .thres_fap_detect = 40,
			// .nth_scale_factor = 4,
			// .ranging_performance_mode = 0,
			// .skip_weakest_port_en = 0,
			// };
			// phy_adv_params_configure(&adv_config);

			// // uwb configure
			// uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);

			// ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);

			// Register rx interrupt callback function
			// mac_register_process_handler(tx_int_callback, rx_int_callback);

			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_rxflag=uwb_rx(0, 0, range_timeout_us);//开启接收

			uwb_rxflag_num1++;
			// while(mac_is_busy());
			// temp_count2=phy_timer_count_get();
			@@ -403,77 +431,108 @@
			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();
			// gpio_pin_set(IO_PIN_5);

			// 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;
			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
			{
			// UWB_shoudao_count++;
			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+2rec_nearbase_num],2rec_nearbase_num);
			memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
			// memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
			// timeceshi1=phy_timer_count_get();
			// temp_count7=poll_rx_en_start_u32;
			taglist_pos=CmpTagInList(tag_id_recv);
			for(i=0; i<rec_nearbase_num; i++)
			{

			if(rec_ancidlist[i] == dev_id)
			{
			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++)
			{
			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;
			}
			memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
			if(tempid==dev_id)
			{
			Anchor_RecNearPoll(i);
			tagdist_list[taglist_pos]=rec_ancdistlist[i];
			if(group_min_dist[group_id]>rec_ancdistlist[i])
			{
			group_min_dist[group_id] = rec_ancdistlist[i];
			}
			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)
			{

			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++;
			}
			}
			// uwb_rxflag=uwb_rx(0, 0, range_timeout_us);
			}
			#ifdef DEBUG_BOXING
			// gpio_pin_clr(IO_PIN_5);//测试
			// gpio_pin_set(IO_PIN_5);//测试
			#endif

			delay_us(1);
			uwb_rx_force_off(1);
			// gpio_pin_clr(IO_PIN_5);
			// #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
			@@ -486,7 +545,10 @@
			// search_open_flag = 1;
			// }
			// }
			gpio_pin_clr(SCL_PIN);
			// #ifdef DEBUG_BOXING
			// gpio_pin_clr(IO_PIN_5);//测试
			//// gpio_pin_set(IO_PIN_5);//测试
			// #endif
			}
			int Uwbinit(void)
			{