| keil/Listings/uwb_simple_example.map | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| keil/Objects/uwb_simple_example.build_log.htm | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| keil/Objects/uwb_simple_example.hex | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| keil/Objects/uwb_simple_example.htm | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| keil/Objects/uwb_simple_example_MK8000 Release.dep | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| keil/include/drivers/PCA9555.c | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| keil/include/main/main.c | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| keil/include/src/Radio/lora_1268.c | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| keil/uwb_app.c | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| keil/uwb_simple_example.uvoptx | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 |
keil/Listings/uwb_simple_example.map
ÎļþÌ«´ó keil/Objects/uwb_simple_example.build_log.htm
@@ -21,20 +21,14 @@ Dialog DLL: TARMCM1.DLL V1.14.2.0 <h2>Project:</h2> D:\zhangbo\2024\Code\ChinaUWB\3Shuanxing\ChinaUWBProject-biaoqian-RX - BT-è¿å£lora\keil\uwb_simple_example.uvprojx D:\zhangbo\2024\Code\ChinaUWB\3Shuanxing\ChinaUWBProject-biaoqian-RX - BT-jinkoulora\keil\uwb_simple_example.uvprojx Project File Date: 03/03/2025 <h2>Output:</h2> *** Using Compiler 'V6.14', folder: 'D:\keil\ARM\ARMCLANG\Bin' Build Project 'uwb_simple_example' - Target 'MK8000 Release' compiling main.c... linking... D:\zhangbo\2024\Code\ChinaUWB\3Shuanxing\ChinaUWBProject-biaoqian-RX - BT-è¿å£lora\keil\include\devices\MK800X\Source\ARM\MK800X_ac6_copy.sct(25): warning: L6314W: No section matches pattern *(.XIP_SECTION). Program Size: Code=79472 RO-data=8956 RW-data=1748 ZI-data=27064 Finished: 0 information, 1 warning and 0 error messages. FromELF: creating hex file... After Build - User command #1: fromelf.exe --bincombined -o "Output\uwb_simple_example.bin" "D:\zhangbo\2024\Code\ChinaUWB\3Shuanxing\ChinaUWBProject-biaoqian-RX - BT-è¿å£lora\keil\Objects\uwb_simple_example.axf" ".\Objects\uwb_simple_example.axf" - 0 Error(s), 1 Warning(s). After Build - User command #1: fromelf.exe --bincombined -o "Output\uwb_simple_example.bin" "D:\zhangbo\2024\Code\ChinaUWB\3Shuanxing\ChinaUWBProject-biaoqian-RX - BT-jinkoulora\keil\Objects\uwb_simple_example.axf" ".\Objects\uwb_simple_example.axf" - 0 Error(s), 0 Warning(s). <h2>Software Packages used:</h2> @@ -48,7 +42,7 @@ D:\keil\pack\MKSEMI\MK800X_DFP\1.0.3\Device\Include <h2>Collection of Component Files used:</h2> Build Time Elapsed: 00:00:01 Build Time Elapsed: 00:00:00 </pre> </body> </html> keil/Objects/uwb_simple_example.hex
ÎļþÌ«´ó keil/Objects/uwb_simple_example.htm
ÎļþÌ«´ó keil/Objects/uwb_simple_example_MK8000 Release.dep
@@ -529,7 +529,7 @@ I (include\drivers\mk_dma.h)(0x672473BD) I (D:\keil\ARM\ARMCLANG\include\stdarg.h)(0x5DDFFD72) F (.\include\drivers\mk_timer.h)(0x67206CDD)() F (.\include\drivers\PCA9555.c)(0x67C658BA)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -w -I ./include/drivers -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include -I ./include/src/Radio -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include -ID:/keil/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/pca9555.o -MD) F (.\include\drivers\PCA9555.c)(0x67C6B09C)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -w -I ./include/drivers -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include -I ./include/src/Radio -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include -ID:/keil/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/pca9555.o -MD) I (include\drivers\PCA9555.h)(0x67BFDB96) I (include\board\board.h)(0x67AC74B2) I (include\drivers\mk_common.h)(0x67206CDC) @@ -748,7 +748,7 @@ I (include\drivers\mk_gpio.h)(0x67206CDC) I (include\drivers\Usart.h)(0x67B4382E) I (..\keil\lora_3029.h)(0x67C55DCF) F (.\include\main\main.c)(0x67C6A882)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include -I ./include/src/Radio -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include -ID:/keil/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/main.o -MD) F (.\include\main\main.c)(0x67CAAF6E)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include -I ./include/src/Radio -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include -ID:/keil/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/main.o -MD) I (include\drivers\mk_trace.h)(0x67206CDC) I (include\drivers\mk_common.h)(0x67206CDC) I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72) @@ -865,7 +865,7 @@ I (D:\keil\ARM\ARMCLANG\include\stdarg.h)(0x5DDFFD72) I (include\drivers\mk_gpio.h)(0x67206CDC) I (include\drivers\mk_io.h)(0x67206CDC) F (.\uwb_app.c)(0x67C55E0E)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include -I ./include/src/Radio -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include -ID:/keil/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/uwb_app.o -MD) F (.\uwb_app.c)(0x67CAB16B)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include -I ./include/src/Radio -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include -ID:/keil/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/uwb_app.o -MD) I (include\drivers\mk_trace.h)(0x67206CDC) I (include\drivers\mk_common.h)(0x67206CDC) I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72) @@ -898,6 +898,7 @@ I (include\drivers\mk_gpio.h)(0x67206CDC) I (include\drivers\mk_io.h)(0x67206CDC) I (..\keil\lora_1268.h)(0x67C561EC) I (include\drivers\PCA9555.h)(0x67BFDB96) F (.\lora_3029.c)(0x67C563BA)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include -I ./include/src/Radio -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include -ID:/keil/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/lora_3029.o -MD) F (.\include\components\wsf\sources\port\baremetal\wsf_assert.c)(0x67206CDE)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -w -I ./include/components/wsf/include/platform -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include -I ./include/src/Radio -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include -ID:/keil/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/wsf_assert.o -MD) I (include\components\wsf\include\wsf_assert.h)(0x67206CDE) @@ -1429,7 +1430,7 @@ I (include\devices\MK800X\Include\system_MK800X.h)(0x67206CDC) I (..\user_config.h)(0x67AC72E5) I (include\drivers\mk_dma.h)(0x672473BD) F (.\include\src\Radio\lora_1268.c)(0x67C6A25E)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -w -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include -I ./include/src/Radio -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include -ID:/keil/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/lora_1268.o -MD) F (.\include\src\Radio\lora_1268.c)(0x67CA9C01)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -w -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include -I ./include/src/Radio -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include -ID:/keil/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/lora_1268.o -MD) I (D:\keil\ARM\ARMCLANG\include\math.h)(0x5DDFFD6C) I (D:\keil\ARM\ARMCLANG\include\string.h)(0x5DDFFD6C) I (include\src\Radio\sx126x.h)(0x675256A6) keil/include/drivers/PCA9555.c
@@ -568,7 +568,7 @@ // PCA9555_Set_One_Value_Config(SOS_ENBALE,1);//设置SOSæé®è¾å ¥ LORA_NRST_UP; LORA_LED_ON; LORA_LED_OFF; GREEN_LED_OFF; UWB_LED_OFF; RED_LED_OFF; @@ -600,26 +600,15 @@ uint8_t Sos_state; void SOS_irq_callback() { Sos_state=!Sos_state; if(Sos_state) { UWB_LED_ON; RED_LED_ON; } else { UWB_LED_OFF; RED_LED_OFF; } } //void WAKE_UP_irq_callback() @@ -632,11 +621,11 @@ Sos_state=!Sos_state; if(Sos_state) { LORA_LED_ON; GREEN_LED_ON; } else { LORA_LED_OFF; GREEN_LED_OFF; } } keil/include/main/main.c
@@ -297,7 +297,7 @@ } } HIDO_TimerTick(); // HIDO_TimerTick(); nomove_count++; } uint8_t flag_sleeptimer,flag_secondtask,secondtask_count; @@ -306,12 +306,13 @@ static void sleep_timer_callback(void *dev, uint32_t time) { g_start_send_flag=1; HIDO_TimerTick(); // #ifdef DEBUG_BOXING //// gpio_pin_clr(IO_PIN_5);//æµè¯ // gpio_pin_set(IO_PIN_5);//æµè¯ // lora_wg_up=1; lora_tx_flag++; lora_tx_flag=1; // lora_qiehuan++; // IO_control_init(); // UWBPoll(); @@ -383,6 +384,7 @@ // g_com_map[GROUP_ID]=1; dev_id=g_com_map[DEV_ID];//è¿éä¸å¤ªå¯¹ group_id=g_com_map[GROUP_ID];//ç»ID g_com_map[LORA_POWER]=22; tag_frequency = 1000/g_com_map[COM_INTERVAL];//æµè·é¢çè¿ä¸ªåçæ¯æµè·æ¶é´ memcpy(&disoffset,&g_com_map[DIST_OFFSET],2); // g_com_map[ALARM_DISTANCE1] = 40; @@ -554,31 +556,7 @@ /********************************************************************************************************/ /********************************************************************************************************/ /********************************************************************************************************/ //static uint16_t delaytime = 771; //extern uint16_t wg_report_freq,wg_report_id; //extern uint32_t wg_lost_count; //extern uint8_t shengji_flag; //extern uint8_t lora_jianting_flag,report_ancnum; //uint8_t imu_enable,motor_enable; //uint32_t time_flag_lorarx=0; //uint32_t lora_huanxing_count=0; //uint16_t Lora_wangguanid=0; //wg_state_enum wg_state = WG_Lost; //uint16_t wangguan_up_id; //uint8_t LoraUp_flag; //uint16_t rec_wenjian_daxiao; //uint16_t recnum[3]; //uint16_t recv_flag=0; //uint16_t tx_flag=0; //uint16_t CRC16=0; //uint16_t DEST_ID=0; //uint16_t rec_value,rec_delaytime,rx_count,datalen_offset; //uint16_t Loratx_flag=0; //uint16_t Lorarx_flag=0; //uint16_t Lorarx_time_out_flag=0; //uint8_t tx_buf[5]={0,1,0,1,1}; //uint32_t sleep_time_count=0; //uint32_t uwb_ceju_count=0; wg_state_enum wg_state = WG_Lost; /********************************************************************************************************/ static void Lora_irq_handler(enum IO_PIN_T pin) @@ -610,6 +588,7 @@ uint8_t TXBuffer[8]={0,1,2,3,4,5,6,7}; uint8_t test_buf[10]={0,1,1,1,1,1,1,1,1,1}; int main(void) { board_clock_run(); // boot_deinit(); @@ -626,21 +605,26 @@ //board_led_init(); spi_init(); Board_LORA_NVIC_Init(Lora_irq_handler); pca_input_detection_init(pca_handler); IIC2_Init(); Accelerometer_Init(); PCA9555_init(); Lora_1268_Init(); SwitchLoraSettings(478,7,22); // SwitchLoraSettings(473,7,0); Program_Init(); sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback); sleep_timer_start(__MS_TO_32K_CNT(1000));//æµè¯ Uwbinit(); OpenUWB(); while (1) { Lora_Tx_Poll(); // uwb_app_poll(); IdleTask(); } } keil/include/src/Radio/lora_1268.c
@@ -165,6 +165,7 @@ uint16_t heatbeat_count = HEATBEAT_UPDATE_TIME-1 ; uint16_t flag_getwgresp = 0; int16_t intheight; //æ°å uint16_t FACHU_FLAG=0; extern uint32_t dangqian_frqe; uint16_t recnum[3]; extern uint32_t freq_list[4]; @@ -175,6 +176,8 @@ uint8_t BT_NUM=0; extern uint16_t report_ancdist[ANC_MAX_NUM],report_ancid[ANC_MAX_NUM]; extern uint8_t bat_percent; extern int32_t tagdist_list[TAG_NUM_IN_SYS]; extern uint16_t tagid_list[TAG_NUM_IN_SYS]; void LoraReportPoll(void) { // delay_ms(100); @@ -191,14 +194,9 @@ LoraReportFreqPoll(); flag_getwgresp = 0; // wg_report_freq = REPORT_MANGE_CHANNEL_FRQ; //Lora_init(); uint32_t para; para=freq_list[2] * 100000; // wg_report_freq = REPORT_MANGE_CHANNEL_FRQ; // rf_set_sf(REPORT_CHANNEL_SF); SwitchLoraSettings(para,REPORT_CHANNEL_SF,0); SwitchLoraSettings(wg_report_freq,REPORT_CHANNEL_SF,g_com_map[LORA_POWER]); //rf_set_default_para(wg_report_freq,REPORT_CHANNEL_SF); // SwitchLoraSettings(wg_report_freq,REPORT_CHANNEL_SF,g_com_map[LORA_POWER]); // dangqian_frqe=rf_read_freq(); @@ -261,8 +259,12 @@ // memcpy(&report_ancdist,test_temp2,10); lora_sendbuffer[ANCNUM_IDX] = report_ancnum; memcpy(&lora_sendbuffer[ANCID_IDX],report_ancid,report_ancnum*2); memcpy(&lora_sendbuffer[ANCID_IDX+report_ancnum*2],report_ancdist,report_ancnum*2); // memcpy(&lora_sendbuffer[ANCID_IDX],report_ancid,report_ancnum*2); // memcpy(&lora_sendbuffer[ANCID_IDX+report_ancnum*2],report_ancdist,report_ancnum*2); memcpy(&lora_sendbuffer[ANCID_IDX],tagid_list,report_ancnum*2); memcpy(&lora_sendbuffer[ANCID_IDX+report_ancnum*2],tagdist_list,report_ancnum*2); // tagdist_list[taglist_pos]tagid_list uint8_t LORA_RETRANSNUSSION_BT=0; BT_NUM=DMA_RXBuf_BT[0]; if(0<BT_NUM&&BT_NUM<11) @@ -290,7 +292,7 @@ Radio.Send(lora_sendbuffer,ANCID_IDX+report_ancnum*4+BT_NUM*4+2); } FACHU_FLAG++; // LORA_3029_SINGLE_SEND(lora_sendbuffer,ANCID_IDX+report_ancnum*4+BT_NUM*4+4,0); memset(DMA_RXBuf_BT, 0,200); memset(&lora_sendbuffer[ANCID_IDX],0,200); @@ -387,6 +389,7 @@ if(lora_send_count++%10==0||lora_jianting_flag) { lora_tx_flag=0; // Anchor_RecNearPoll(); #ifdef GROUPID_SWITCH if(rec_secdelay>0) { @@ -505,6 +508,7 @@ uint16_t BufferSize = BUFFER_SIZE; uint16_t CRC16=0; uint16_t DEST_ID=0; uint16_t JIESHOU_FLAG=0; uint8_t shengji_flag; int8_t RssiValue = 0; int8_t SnrValue = 0; @@ -524,8 +528,8 @@ void OnRxDone( uint8_t *payload, uint16_t size, int16_t rssi, int8_t snr ) { uint16_t checksum1; // LORA_LED_ON; uint16_t checksum1; BufferSize = size; memcpy( RX_Buffer, payload, BufferSize ); RssiValue = rssi; @@ -536,7 +540,7 @@ if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_WGRESPTAG) { checksum1=Checksum_u16(RX_Buffer,BufferSize-2); JIESHOU_FLAG++; memcpy(&DEST_ID,&RX_Buffer[DEST_ID_IDX],2); memcpy(&CRC16,&RX_Buffer[BufferSize-2],2); if(!memcmp(&checksum1,&RX_Buffer[BufferSize-2],2)) @@ -554,23 +558,24 @@ switch(RX_Buffer[PWTAG_RW_FLAG_IDX]) { case WGRSP_RWTAG_NONE: wg_report_freq = RX_Buffer[POLL_FREQ_IDX]+400; memcpy(&rec_delaytime,&RX_Buffer[NEXTPOLL_TIME_IDX],2); if(report_ancnum<2) { datalen_offset = report_ancnum*85; }else{ datalen_offset = (report_ancnum-1)*46+85; } rec_secdelay = RX_Buffer[PWTAG_SECDELAY_IDX]; if(BufferSize!=13||rec_secdelay>20) { rec_secdelay = 0; } sleep_time_count = rec_delaytime - delaytime-datalen_offset; while(sleep_time_count>=1000) sleep_time_count-=1000; sleep_timer_start(sleep_time_count); // LORA_LED_OFF; // wg_report_freq = RX_Buffer[POLL_FREQ_IDX]+400; // memcpy(&rec_delaytime,&RX_Buffer[NEXTPOLL_TIME_IDX],2); // if(report_ancnum<2) // { // datalen_offset = report_ancnum*85; // }else{ // datalen_offset = (report_ancnum-1)*46+85; // } // rec_secdelay = RX_Buffer[PWTAG_SECDELAY_IDX]; // if(BufferSize!=13||rec_secdelay>20) // { // rec_secdelay = 0; // } // sleep_time_count = rec_delaytime - delaytime-datalen_offset; // while(sleep_time_count>=1000) // sleep_time_count-=1000; // sleep_timer_start(sleep_time_count); break; case WGRSP_RWTAG_READ: @@ -629,6 +634,7 @@ Radio.Rx(0); } } } void OnTxTimeout( void ) keil/uwb_app.c
@@ -9,10 +9,18 @@ #include "global_param.h" #include "board.h" #include "lora_1268.h" #include "PCA9555.h" #define TAG_KEEPTIMES 30 #define REPORT_TAG_KEEPTIMES 1 /************************************ä¿¡å·é *******************************************************/ typedef enum { UWB_STATE_IDLE, UWB_TX_STATE_BUSY, UWB_RX_STATE_BUSY } UWB_State_t; // å ¨å±ç¶æåé volatile UWB_State_t UWB_STATE = UWB_STATE_IDLE; /************************************ä¿¡å·é *******************************************************/ #define GROUP_NUM 3 uint16_t group_min_dist[GROUP_NUM+1]; @@ -46,7 +54,8 @@ //respå½æ° void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary);//æ¾å°èªå·±çidä¿¡æ¯å¯¹åºä½ç½®æ´æ°èªå·±ç交äºä¿¡æ¯ static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts);//ç¨æ¥å¯¹åºä½ç½®æ¾å ¥æ¶é´æ³ static uint16_t tagid_list[TAG_NUM_IN_SYS]; //static uint16_t tagid_list[TAG_NUM_IN_SYS]; uint16_t tagid_list[TAG_NUM_IN_SYS]; uint16_t CmpTagInList(uint16_t tagid); uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos); static uint8_t send_buffer[100]; @@ -87,7 +96,7 @@ #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 750U //yuan750 7500Haoyong #define POLL_RX_TO_RESP_TX_DLY_US 1800U //yuan750 7500Haoyong #define RESP_TX_TO_FINAL_RX_DLY_US 500U @@ -268,10 +277,12 @@ { uint8_t valid_sts=0; // Power off radio power_off_radio(); UWB_STATE=UWB_STATE_IDLE; /** UWB RX success */ if (rx_report->err_code == UWB_RX_OK) { UWB_LED_ON; /* Received data does not contain FCS */ rx_length = rx_report->pkt_len; memcpy(rx_buf, rx_report->pkt_data, rx_length); @@ -283,6 +294,7 @@ poll_rx_num++; rssi = rx_report->rssi; receive_flag=1; // UWB_LED_ON; Anchor_App(); #ifdef STS_MODE valid_sts= sts_valid_check(); @@ -311,22 +323,39 @@ temp_count= phy_timer_count_get(); memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T)); rx_length = 0; // OpenUWB();//å次å¼å¯UWBæ¥æ¶ if(UWB_STATE==UWB_STATE_IDLE) { UWB_STATE=UWB_RX_STATE_BUSY; OpenUWB();//å次å¼å¯UWBæ¥æ¶ } } OpenUWB();//å次å¼å¯UWBæ¥æ¶ } uint8_t temp_tx_flag; /* TX done process handler. */ static void tx_int_callback(struct MAC_HW_REPORT_T *tx_report) { // Power off radio power_off_radio(); UWB_STATE=UWB_STATE_IDLE; /** UWB TX success */ if (tx_report->err_code == UWB_TX_OK) { temp_count= phy_timer_count_get(); temp_internal=temp_count; resp_tx_num++; if(temp_tx_flag==1) { temp_tx_flag=0; // UWB_LED_OFF; UWB_STATE=UWB_RX_STATE_BUSY; OpenUWB();//å次å¼å¯UWBæ¥æ¶ } //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); } @@ -335,7 +364,8 @@ static uint16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS]; static uint8_t anchordata_bat[TAG_NUM_IN_SYS]; uint8_t anchordata_num = 0; static int32_t tagdist_list[TAG_NUM_IN_SYS]; //static int32_t tagdist_list[TAG_NUM_IN_SYS]; int32_t tagdist_list[TAG_NUM_IN_SYS]; uint16_t random_time; //anchor int32_t hist_dist; @@ -433,45 +463,92 @@ uint32_t temp_count7; uint32_t timeceshi1; uint32_t timeceshi2; uint8_t position; //uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos)//æ ¹æ®èªå·±æ¯å¦ä¸ºæ°åºç«å®å¶æ¶æ¯å»åéï¼æ ¹æ®æ¯å¦æ¢å å¤æ //{ // temp_count2=poll_rx_en_start_u32; // memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//ç»id // memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);//èªèº«id // memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);//æ¥åè id // send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE; // if(rec_nearbase_num == ancrec_nearbasepos)//æ¢å 模å¼èªå·±ä¸ºæ°åºç« // { // random_time = (phy_timer_count_get()%100);//å¤åºç«æ¢å ä¸ä¸ªä½ç½®æ¶é¿å ä¸ä¸ªä¹æ¶ä¸å°çæ åµå°±æ¯ä¸ä¸ªéæºéå¼å åuS // //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ç®Responseåéæ¶é´T3ã // // (resp_tx_en_start_u32) is the moment when TX enable // resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_num*DELAY_BETWEEN_TWO_FRAME_UUS);//åé¢çéè¦æ ¹æ®å·²æåºç«æ°éè¿è¡æ´æ¹ï¼å¦ææ¯æ¢å èªå·±æåä¸ä¸ªåå¤ï¼è¦æåºæ° // // } 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ç®Responseåéæ¶é´T3ã // resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_num*DELAY_BETWEEN_TWO_FRAME_UUS);//åé¢çéè¦æ ¹æ®å·²æåºç«æ°éè¿è¡æ´æ¹ï¼å¦ææ¯æ¢å èªå·±æåä¸ä¸ªåå¤ï¼è¦æåºæ° // //è¿éåºè¯¥æé®é¢é®ä¸ä¸éå·¥ // }//æ¤å¤è®¾ç½®ç»å¯¹æ¶é´å°poll u32æ¹ä¸ºphy_timer_count_get() // temp_count7=resp_tx_en_start_u32; // resp_tx_ts_i64 = ranging_tx_time_correct(resp_tx_en_start_u32 + phy_shr_duration());//ä¿®æ£æ¶é´æ³ // /* 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); // resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts_i64);//æ¤å¤æ¶é´æ³int64ç´æ¥è½¬æ¢ä¸ºuint64ä¸ç¥éä¼ä¸ä¼æé误 // memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&disoffset,2);//差个修æ£offset,ä¿®æ£æ符å·ä½æ¯è¿ä¸ªcom表为æ 符å·ç,ä¼ è¿å»ç´æ¥èµç»Int16_tç¸å½äºè¿åäº // 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);//ç«å³åéæµè¯sizeå¤§å° //// temp_count1=phy_timer_count_get(); // // while(mac_is_busy()); // tagofflinetime[taglist_pos] = 0; // gpio_pin_clr(SCL_PIN); //} //uint8_t temp_tx_flag; uint8_t buf_1[40]; uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos)//æ ¹æ®èªå·±æ¯å¦ä¸ºæ°åºç«å®å¶æ¶æ¯å»åéï¼æ ¹æ®æ¯å¦æ¢å å¤æ { temp_count2=poll_rx_en_start_u32; memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//ç»id memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);//èªèº«id memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);//æ¥åè id send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE; if(rec_nearbase_num == ancrec_nearbasepos)//æ¢å 模å¼èªå·±ä¸ºæ°åºç« { random_time = (phy_timer_count_get()%100);//å¤åºç«æ¢å ä¸ä¸ªä½ç½®æ¶é¿å ä¸ä¸ªä¹æ¶ä¸å°çæ åµå°±æ¯ä¸ä¸ªéæºéå¼å åuS //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ç®Responseåéæ¶é´T3ã // (resp_tx_en_start_u32) is the moment when TX enable resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_num*DELAY_BETWEEN_TWO_FRAME_UUS);//åé¢çéè¦æ ¹æ®å·²æåºç«æ°éè¿è¡æ´æ¹ï¼å¦ææ¯æ¢å èªå·±æåä¸ä¸ªåå¤ï¼è¦æåºæ° } 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ç®Responseåéæ¶é´T3ã resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_num*DELAY_BETWEEN_TWO_FRAME_UUS);//åé¢çéè¦æ ¹æ®å·²æåºç«æ°éè¿è¡æ´æ¹ï¼å¦ææ¯æ¢å èªå·±æåä¸ä¸ªåå¤ï¼è¦æåºæ° //è¿éåºè¯¥æé®é¢é®ä¸ä¸éå·¥ }//æ¤å¤è®¾ç½®ç»å¯¹æ¶é´å°poll u32æ¹ä¸ºphy_timer_count_get() temp_count7=resp_tx_en_start_u32; // if(rec_nearbase_num == ancrec_nearbasepos)//æ¢å 模å¼èªå·±ä¸ºæ°åºç« // { // random_time = (phy_timer_count_get()%100);//å¤åºç«æ¢å ä¸ä¸ªä½ç½®æ¶é¿å ä¸ä¸ªä¹æ¶ä¸å°çæ åµå°±æ¯ä¸ä¸ªéæºéå¼å åuS // //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ç®Responseåéæ¶é´T3ã // // (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);//åé¢çéè¦æ ¹æ®å·²æåºç«æ°éè¿è¡æ´æ¹ï¼å¦ææ¯æ¢å èªå·±æåä¸ä¸ªåå¤ï¼è¦æåºæ° // // } 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ç®Responseåéæ¶é´T3ã // 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);//åé¢çéè¦æ ¹æ®å·²æåºç«æ°éè¿è¡æ´æ¹ï¼å¦ææ¯æ¢å èªå·±æåä¸ä¸ªåå¤ï¼è¦æåºæ° // //è¿éåºè¯¥æé®é¢é®ä¸ä¸éå·¥ // }//æ¤å¤è®¾ç½®ç»å¯¹æ¶é´å°poll u32æ¹ä¸ºphy_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);//å å ¥å¸§é´é // 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);//å å ¥å¸§é´é resp_tx_ts_i64 = ranging_tx_time_correct(resp_tx_en_start_u32 + phy_shr_duration());//ä¿®æ£æ¶é´æ³ /* 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); resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts_i64);//æ¤å¤æ¶é´æ³int64ç´æ¥è½¬æ¢ä¸ºuint64ä¸ç¥éä¼ä¸ä¼æé误 memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&disoffset,2);//差个修æ£offset,ä¿®æ£æ符å·ä½æ¯è¿ä¸ªcom表为æ 符å·ç,ä¼ è¿å»ç´æ¥èµç»Int16_tç¸å½äºè¿åäº 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);//ç«å³åéæµè¯sizeå¤§å° // temp_count1=phy_timer_count_get(); while(mac_is_busy()); tagofflinetime[taglist_pos] = 0; gpio_pin_clr(SCL_PIN); temp_count3= phy_timer_count_get(); // temp_rx=uwb_rx(buf_1,0,10); // CloseUWB(); UWB_STATE==UWB_TX_STATE_BUSY; flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//ç«å³åéæµè¯sizeå¤§å° tagofflinetime[taglist_pos] = 0;//æ´æ°æ ç¾éä¿¡ 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; @@ -487,168 +564,192 @@ uint32_t UWB_fachu_count=0; uint32_t UWB_qiangzhanfachu_count=0; uint32_t UWB_1003_count,UWB_6666_count=0; int UwbRange(void) { //int UwbRange(void) //{ uint8_t i; uint16_t tempid; // uint8_t i; // uint16_t tempid; mac_register_process_handler(tx_int_callback, rx_int_callback); receive_flag = 0; flag_recsuccess = 0; // mac_register_process_handler(tx_int_callback, rx_int_callback); // receive_flag = 0; // flag_recsuccess = 0; uwb_rxflag=uwb_rx(0, 0, range_timeout_us);//å¼å¯æ¥æ¶ //// uwb_rxflag=uwb_rx(0, 0, range_timeout_us);//å¼å¯æ¥æ¶ uwb_rxflag_num1++; // while(mac_is_busy()); // temp_count2=phy_timer_count_get(); start_receive_count=phy_timer_count_get(); poll_timeout=US_TO_PHY_TIMER_COUNT(range_timeout_us);//å¤ä¸ä¸ªå¤0.4msé»è®¤0.4ms计ç®ä¸º0.125*4*100000,é»è®¤å¼å¯1mss end_receive_count=start_receive_count+poll_timeout; if(end_receive_count>=UINT32_MAX) {end_receive_count-=UINT32_MAX;} current_count=phy_timer_count_get(); while(mac_is_busy()) { // IdleTask(); current_count=phy_timer_count_get(); if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)//è¶ æ¶æ¶é´ä¸º4.992ç§ { break; } } if(receive_flag==1)//æåæ¥æ¶ { 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);//æµè¯ // gpio_pin_clr(IO_PIN_5);//æµè¯ #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)*///å¤ææ¯å¦æ¯åèªå·±æ¯åä¸ç»é讯çä¸ä¸ºpollå { // UWB_shoudao_count++; flag_recsuccess = 1; // temp_count2=phy_timer_count_get(); frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//è·åå åº battary = rx_buf[BATTARY_IDX]; rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX]; //æ ç¾ä¼ è¿æ¥çä»ä¸åºç«äº¤äºçåºç«idæ°ç® //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+2*rec_nearbase_num],2*rec_nearbase_num); // 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++; // uwb_rxflag_num1++; // // while(mac_is_busy()); // // temp_count2=phy_timer_count_get(); // start_receive_count=phy_timer_count_get(); // poll_timeout=US_TO_PHY_TIMER_COUNT(range_timeout_us);//å¤ä¸ä¸ªå¤0.4msé»è®¤0.4ms计ç®ä¸º0.125*4*100000,é»è®¤å¼å¯1mss // end_receive_count=start_receive_count+poll_timeout; // if(end_receive_count>=UINT32_MAX) // {end_receive_count-=UINT32_MAX;} // current_count=phy_timer_count_get(); // while(mac_is_busy()) // { //// IdleTask(); // current_count=phy_timer_count_get(); // if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)//è¶ æ¶æ¶é´ä¸º4.992ç§ // { // break; // } // } // // if(receive_flag==1)//æåæ¥æ¶ // { // 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);//æµè¯ //// gpio_pin_clr(IO_PIN_5);//æµè¯ // #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)*///å¤ææ¯å¦æ¯åèªå·±æ¯åä¸ç»é讯çä¸ä¸ºpollå // { //// UWB_shoudao_count++; // flag_recsuccess = 1; //// temp_count2=phy_timer_count_get(); // frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//è·åå åº // battary = rx_buf[BATTARY_IDX]; // rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX]; //æ ç¾ä¼ è¿æ¥çä»ä¸åºç«äº¤äºçåºç«idæ°ç® // // //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+2*rec_nearbase_num],2*rec_nearbase_num); // // 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);//æµè¯ //// gpio_pin_set(IO_PIN_5);//æµè¯ //// #endif // } // } // 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]; // 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æè¿ä¸ªåºç«ä¸å¨å½ååè¡¨ä¸ // { //tempid==dev_id 说æåºç«ä¸åæµè·æ¥ææè¿ä¸ªæ ç¾çä¿¡æ¯ // taglist_num++; //满足ä¸è¿°ä¸¤ç§æ åµæä¼æ·»å åºç«IDè¿å ¥å表ä¸ï¼å¦åä¼åºç°æ ç¾ä¸å¨åºç«å表ä¸ï¼æ ç¾ä¹ä¸ååºçæ åµ // tagid_list[taglist_pos] = tag_id_recv; // } // break; // } // } // if(i==rec_nearbase_num) // { // // seize_anchor=1; //æ¢å anchor // Anchor_RecNearPoll(i); // UWB_qiangzhanfachu_count++; // } // recev_error_num=0; //// sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//æµè¯ //// LOG_INFO(TRACE_MODULE_APP,"æ ç¾IDï¼%X,è·ç¦»: %d ä¿¡å·å¼ºåº¦ï¼%d.\r\n",g_com_map[BIND_DEV_ID],distance,rssi); // // } // // uwb_rxflag=uwb_rx(0, 0, range_timeout_us); // } // #ifdef DEBUG_BOXING //// gpio_pin_clr(IO_PIN_5);//æµè¯ // gpio_pin_set(IO_PIN_5);//æµè¯ // #endif } } 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]; 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æè¿ä¸ªåºç«ä¸å¨å½ååè¡¨ä¸ { //tempid==dev_id 说æåºç«ä¸åæµè·æ¥ææè¿ä¸ªæ ç¾çä¿¡æ¯ taglist_num++; //满足ä¸è¿°ä¸¤ç§æ åµæä¼æ·»å åºç«IDè¿å ¥å表ä¸ï¼å¦åä¼åºç°æ ç¾ä¸å¨åºç«å表ä¸ï¼æ ç¾ä¹ä¸ååºçæ åµ tagid_list[taglist_pos] = tag_id_recv; } break; } } if(i==rec_nearbase_num) { seize_anchor=1; //æ¢å anchor Anchor_RecNearPoll(i); UWB_qiangzhanfachu_count++; } recev_error_num=0; // sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//æµè¯ // LOG_INFO(TRACE_MODULE_APP,"æ ç¾IDï¼%X,è·ç¦»: %d ä¿¡å·å¼ºåº¦ï¼%d.\r\n",g_com_map[BIND_DEV_ID],distance,rssi); } // uwb_rxflag=uwb_rx(0, 0, range_timeout_us); } #ifdef DEBUG_BOXING // gpio_pin_clr(IO_PIN_5);//æµè¯ // gpio_pin_set(IO_PIN_5);//æµè¯ #endif delay_us(1); uwb_rx_force_off(1); // gpio_pin_clr(IO_PIN_5); // #ifdef DEBUG_BOXING // gpio_pin_clr(IO_PIN_5);//æµè¯. // #endif // if(!flag_recsuccess) // { // sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-3));//æµè¯ // LOG_INFO(TRACE_MODULE_APP,"æµè·å¤±è´¥ï¼è®¡æ°ï¼%d\r\n",recev_error_num); // if(recev_error_num++>5) // { // recev_error_num=0; // UWB_work_state=SEARCH_DEV; // uwb_searchcount = 0; // search_open_flag = 1; // } // } // #ifdef DEBUG_BOXING // gpio_pin_clr(IO_PIN_5);//æµè¯ //// gpio_pin_set(IO_PIN_5);//æµè¯ // #endif } // #endif // // delay_us(1); // uwb_rx_force_off(1); //// gpio_pin_clr(IO_PIN_5); //// #ifdef DEBUG_BOXING //// gpio_pin_clr(IO_PIN_5);//æµè¯. //// #endif //// if(!flag_recsuccess) //// { //// sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-3));//æµè¯ //// LOG_INFO(TRACE_MODULE_APP,"æµè·å¤±è´¥ï¼è®¡æ°ï¼%d\r\n",recev_error_num); //// if(recev_error_num++>5) //// { //// recev_error_num=0; //// UWB_work_state=SEARCH_DEV; //// uwb_searchcount = 0; //// search_open_flag = 1; //// } //// } //// #ifdef DEBUG_BOXING //// gpio_pin_clr(IO_PIN_5);//æµè¯ ////// gpio_pin_set(IO_PIN_5);//æµè¯ //// #endif //} int Uwbinit(void) { uwb_open(); // Set calibration parameters uwb_open(); #ifdef STS_MODE // Set STS key and IV phy_sts_key_configure(&sts_iv_key); // which RX ports will be used for AoA/PDoA phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION); #endif // Set calibration parameters uwb_calibration_params_set(config.phy_cfg.ch_num); // set advanced parameters struct PHY_ADV_CONFIG_T adv_config = { #ifndef STS_MODE // 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, }; #else // set advanced parameters struct PHY_ADV_CONFIG_T adv_config = { .thres_fap_detect = 40, .nth_scale_factor = 4, .ranging_performance_mode = 3, .skip_weakest_port_en = 0, }; #endif 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); #if (defined STS_MODE) || (defined MK_MODE) ranging_lib_init(); #endif ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg); #ifdef STS_MODE aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM); aoa_steering_vector_set((const float *)((uint32_t)((config.phy_cfg.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) | SRAM_BASE)); // Register rx interrupt callback function mac_register_process_handler(tx_int_callback, rx_int_callback); aoa_param_config(); phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0); #endif mac_register_process_handler(tx_int_callback, rx_int_callback);//åå§ååè° } uint16_t g_com_receive_id; void CloseUWB(void) @@ -690,56 +791,80 @@ } enumwltagstate wltag_state=RANGE; uint32_t wltag_statetimer,wltag_uwbtimer; uint16_t time_flag; 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)//è¥è¦åæ¢å°æ索模å¼æ¶æ²¡æå¼å¯åå¼å¯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(); // switch(wltag_state) // { // // case RANGE: //// time_flag=HIDO_TimerGetTick()-wltag_uwbtimer; // if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0) // { //// // // UWB_LED_ON; // wltag_uwbtimer = HIDO_TimerGetTick(); // if(UWB_STATE==UWB_STATE_IDLE) // { // UWB_STATE=UWB_RX_STATE_BUSY; // OpenUWB(); // } // } // else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1) // { //// time_flag=HIDO_TimerGetTick()-wltag_uwbtimer; // UWB_LED_OFF; // wltag_uwbtimer = HIDO_TimerGetTick(); // CloseUWB(); // UWB_STATE=UWB_STATE_IDLE; // } // if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME]) // { // wltag_statetimer = HIDO_TimerGetTick(); // if(uwb_rx_flag==0)//è¥è¦åæ¢å°æ索模å¼æ¶æ²¡æå¼å¯åå¼å¯UWB // { // if(UWB_STATE==UWB_STATE_IDLE) // { // UWB_STATE=UWB_RX_STATE_BUSY; // OpenUWB(); // } // } // wltag_state = SEARCH; // } // break; // case SEARCH: // if(HIDO_TimerGetTick()-wltag_statetimer>1) // { // wltag_statetimer = HIDO_TimerGetTick(); // wltag_state = CLOSE; // CloseUWB(); // UWB_STATE=UWB_STATE_IDLE; // } // break; // case CLOSE: // if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME]) // { // wltag_statetimer = HIDO_TimerGetTick(); // wltag_state = SEARCH; // if(UWB_STATE==UWB_STATE_IDLE) // { // UWB_STATE=UWB_RX_STATE_BUSY; // OpenUWB(); // } // } // break; // } // UWBIdleTask(); } int Anchor_App(void) { uint8_t i; uint16_t tempid; if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//å¤ææ¯å¦æ¯åèªå·±æ¯åä¸ç»é讯çä¸ä¸ºpollå { flag_recsuccess = 1; if(group_id==(rx_buf[GROUP_ID_IDX])&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//å¤ææ¯å¦æ¯åèªå·±æ¯åä¸ç»é讯çä¸ä¸ºpollå { flag_recsuccess = 1; wltag_state=RANGE;//æååä»searchåæ¢ä¸ºrange memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2); //temp_count2=phy_timer_count_get(); @@ -751,40 +876,18 @@ 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); // 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)//ä¹æ¯æ¯idå¦ææå°±æ´æ°æ²¡æå°±æ¢å // { // seize_anchor=0; //éæ¢å ãå·²åå¨åè¡¨ä¸ // Anchor_RecNearPoll(i); // break; // } // } // if(i==rec_nearbase_num) // { // seize_anchor=1; //æ¢å anchor // Anchor_RecNearPoll(i); // } taglist_pos=CmpTagInList(tag_id_recv); if(taglist_num>=ANC_MAX_NUM) taglist_pos=CmpTagInList(tag_id_recv); if(taglist_num>=ANC_MAX_NUM) return 0; for(i=0; i<rec_nearbase_num; i++) for(i=0; i<rec_nearbase_num; i++) { memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2); if(tempid==dev_id) { UWB_shoudao_count++; Anchor_RecNearPoll(i); tagdist_list[taglist_pos]=rec_ancdistlist[i]; // UWB_LED_OFF; if(taglist_pos==taglist_num)// taglist_pos==taglist_num 说æè¿ä¸ªåºç«ä¸å¨å½ååè¡¨ä¸ { //tempid==dev_id 说æåºç«ä¸åæµè·æ¥ææè¿ä¸ªæ ç¾çä¿¡æ¯ taglist_num++; //满足ä¸è¿°ä¸¤ç§æ åµæä¼æ·»å åºç«IDè¿å ¥å表ä¸ï¼å¦åä¼åºç°æ ç¾ä¸å¨åºç«å表ä¸ï¼æ ç¾ä¹ä¸ååºçæ åµ @@ -798,6 +901,13 @@ Anchor_RecNearPoll(rec_nearbase_num); } } else{ if(UWB_STATE==UWB_STATE_IDLE) { UWB_STATE=UWB_RX_STATE_BUSY; OpenUWB(); } } } @@ -950,4 +1060,24 @@ } return 1; } //typedef enum { // UWB_STATE_IDLE,UWB_STATE = UWB_RX_READY; // UWB_TX_STATE_BUSY, // UWB_RX_STATE_BUSY //} UWB_State_t; //void UWB_Process(void) { // switch (UWB_STATE) { // case UWB_STATE_IDLE: // UWB_STATE = UWB_TX_STATE_BUSY; // break; // case UWB_TX_STATE_BUSY: // break; // case UWB_RX_STATE_BUSY: // UWB_RX_Start(); // uwb_state = UWB_STATE_IDLE; // è¿å ¥ RX ååå°ç©ºé²ç¶æ // break; // } //} keil/uwb_simple_example.uvoptx
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<WinNumber>2</WinNumber> <ItemText>buf</ItemText> <ItemText>tagid_list</ItemText> </Ww> <Ww> <count>6</count> <WinNumber>2</WinNumber> <ItemText>command</ItemText> <ItemText>tagdist_list</ItemText> </Ww> <Ww> <count>7</count> <WinNumber>2</WinNumber> <ItemText>buf</ItemText> <ItemText>rec_ancdistlist</ItemText> </Ww> <Ww> <count>8</count> <WinNumber>2</WinNumber> <ItemText>rec_nearbase_num</ItemText> </Ww> <Ww> <count>9</count> <WinNumber>2</WinNumber> <ItemText>UWB_shoudao_count</ItemText> </Ww> </WatchWindow2> <MemoryWindow1> @@ -946,7 +741,7 @@ <Group> <GroupName>Main</GroupName> <tvExp>0</tvExp> <tvExp>1</tvExp> <tvExpOptDlg>0</tvExpOptDlg> <cbSel>0</cbSel> <RteFlg>0</RteFlg> @@ -1354,7 +1149,7 @@ <Group> <GroupName>Internet</GroupName> <tvExp>1</tvExp> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> <cbSel>0</cbSel> <RteFlg>0</RteFlg> @@ -1446,7 +1241,7 @@ <Group> <GroupName>Hal</GroupName> <tvExp>1</tvExp> <tvExp>0</tvExp> <tvExpOptDlg>0</tvExpOptDlg> <cbSel>0</cbSel> <RteFlg>0</RteFlg>
