初步调号极限稳定测距rx间隔

chen

2025-03-13 f317cd42f19ea851e851600216750ababf89d6c0

 keil/uwb_tag_.c

@@ -25,7 +25,7 @@
#define POLL_DELAY  100U //yuan100U

/* Receive response timeout */
#define RESP_RX_TIMEOUT_US 2500U //Yuan500 10mssuccess 300jixian
#define RESP_RX_TIMEOUT_US 6000U //Yuan500 10mssuccess 300jixian

/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -47,38 +47,38 @@
};
uint32_t dev_id;
uint8_t group_id;
/* Default communication configuration. */
static struct mk_uwb_configure config = {//yuan
    .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_128,        /* 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                       */
};
///* Default communication configuration. */
//static struct mk_uwb_configure config = {
//static struct mk_uwb_configure config = {//yuan
//    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
//    .phy_cfg.ch_num = 5,                      /* Channel number.                           */
//    .phy_cfg.code_index = 3,                  /* TX preamble code.                         */
//    .phy_cfg.mean_prf = MEAN_PRF_16M,         /* Data rate 6.8M                            */
//    .phy_cfg.data_bit_rate = DATA_BR_110K,     /* data rate 6.8M.                           */
//    .phy_cfg.sync_sym = PREAM_LEN_1024,        /* Preamble duration, length of preamble 128 */
//    .phy_cfg.sfd_sym = NSFD_64,          /* Identifier for SFD sequence               */
//    .phy_cfg.ranging_bit = 1,                 /* ranging bit set.                          */
//    .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_128,        /* 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                       */
//};
/* Default communication configuration. */
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 = 3,                  /* TX preamble code.                         */
    .phy_cfg.mean_prf = MEAN_PRF_16M,         /* Data rate 6.8M                            */
    .phy_cfg.data_bit_rate = DATA_BR_110K,     /* data rate 6.8M.                           */
    .phy_cfg.sync_sym = PREAM_LEN_1024,        /* Preamble duration, length of preamble 128 */
    .phy_cfg.sfd_sym = NSFD_64,          /* Identifier for SFD sequence               */
    .phy_cfg.ranging_bit = 1,                 /* ranging bit set.                          */
    .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                       */
};
/* Buffer to store received frame */
static uint8_t rx_buf[150];
static uint8_t uwb_sendbuffer[150];
@@ -369,9 +369,9 @@
}
uint32_t count_index;
int tt=1;
int TagRange(void)
void uwb_tag_init(void)
{
    // The following peripherals will be initialized in the uwb_open function
// The following peripherals will be initialized in the uwb_open function
    // phy/mac/aes/lsp/phy timers initialized
    uwb_open();

@@ -392,15 +392,21 @@

    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);

   
}
int TagRange(void)
{
    
 phy_timer_open(1, IRQ_PRIORITY_HIGH);
//#if LOW_POWER_EN
//    // Initialize low power mode
//    power_init();
//    // Enable sleep timer
//    sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, NULL);
//#endif
    // Register rx interrupt callback function
	
    mac_register_process_handler(tx_int_callback, rx_int_callback);
      uwb_poll_buffer_construct();
      temp_tag_num=0;//临时数量为0
      poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//发送必须要延时发送才可以用于测距否则立即发送会获取时间戳不对，需要计算程序运行时间，避免设置过去时间
@@ -432,7 +438,6 @@
//   if(tt){
   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();//不断刷新当前计数器值
      temp_count2=phy_timer_count_get();
      while(mac_is_busy());//等待接收完成