From 15853954a9d7424d04943cd4163d21eb8807740d Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期三, 20 十一月 2024 11:07:12 +0800
Subject: [PATCH] V1.0提交未收控制版本
---
keil/uwb_app.c | 743 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 743 insertions(+), 0 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
new file mode 100644
index 0000000..d9f2bc5
--- /dev/null
+++ b/keil/uwb_app.c
@@ -0,0 +1,743 @@
+#include "mk_trace.h"
+#include "mk_uwb.h"
+#include "mk_phy.h"
+#include "mk_misc.h"
+#include "mk_power.h"
+#include "mk_sleep_timer.h"
+#include "lib_ranging.h"
+#include "dw_app_anchor.h"
+#include "global_param.h"
+#include "board.h"
+#include "HIDO_TypeDef.h"
+
+
+extern int simple_main(void);
+extern int temp_main(void);
+extern void Air780E_4G_POLL(void);
+void TagListUpdate(void);
+void Calibration_Time(void);
+extern void IO_LED_control_change(uint8_t data);
+extern void IO_control_init(void);
+
+extern void updata_led_power_state(void);
+/*receive buffer*/
+static uint8_t rx_buf[150];
+static uint8_t uwb_sendbuffer[150];
+static volatile uint16_t rx_state;
+static volatile uint16_t rx_length;
+
+//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];
+static int16_t rec_ancdistlist[TAG_NUM_IN_SYS];
+extern uint8_t group_id;
+static uint16_t anc_id_recv,tag_id_recv;
+static int16_t rec_antdelay;
+extern uint32_t dev_id;
+static uint16_t taglist_pos,tmp_time;
+extern uint16_t tag_frequency;
+extern uint16_t disoffset;
+static uint8_t frame_len,recpoll_len,current_syncid,new_tagid,seize_anchor,result,g_start_sync_flag;
+extern uint8_t gps_power_state,motor_power_state,uwb_state,air780_power_state,gps_success_state,red_charge_state,green_charge_state,air780_success_state;
+int poll_rx_num,resp_tx_num;
+//resp函数
+void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary);//找到自己的id信息对应位置更新自己的交互信息
+static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts);//用来对应位置放入时间戳
+static 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];
+static uint8_t tagofflinetime[TAG_NUM_IN_SYS];
+uint32_t temp_count=0;
+uint32_t temp_count1=0;
+uint32_t temp_count2=0;
+uint32_t temp_count3=0;
+uint32_t temp_internal=0;
+int32_t distance;
+uint8_t taglist_num;
+extern uint8_t recev_error_num;
+
+extern Operation_step UWB_work_state;
+extern int16_t first_search_flag;
+/* Ranging period */
+#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 //yuan450
+
+#define RESP_TX_TO_FINAL_RX_DLY_US 500U
+
+/* RX sync window size 50 ms*/
+#define RX_SYNC_WIN_US 5000U //yuan1000 7000success
+
+/* RX sync window size 50 ms*/
+#define RX_SYNC_WIN_US_TEMP 2000000U //yuan1000 7000success
+
+/* Receive poll timeout 500us*/
+#define POLL_RX_TIMEOUT_US 500
+
+/* Receive final timeout 500us */
+#define FINAL_RX_TIMEOUT_US 500
+
+/* RX window open in advance */
+#define RX_WIN_IN_ADVANCE_US (150)
+
+#define DELAY_BETWEEN_TWO_FRAME_UUS 600 //yuan1400
+
+/* Field index in frame */
+#define MSG_SEQ_NUM_IDX 2
+#define FINAL_MSG_POLL_TX_TS_IDX 10
+#define FINAL_MSG_RESP_RX_TS_IDX 14
+#define FINAL_MSG_FINAL_TX_TS_IDX 18
+#define DELAY_DEFAULT 1000
+#define HALF_SECOND_TIME 624000000
+/* Length of the common part of the message */
+#define MSG_COMMON_LEN 10
+
+#define UWB_DELAY_TIME_US 496
+static uint8_t receive_flag=0;
+struct mk_uwb_configure
+{
+ uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
+ struct UWB_CONFIG_T phy_cfg;
+};
+
+///* Default communication configuration. */
+//static struct mk_uwb_configure config = {//原来的基站非110k代码
+// .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
+// .phy_cfg.ch_num = 5, /* 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 */
+//};
+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 = 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 */
+};
+/* Buffer to store received frame */
+
+/* Frames used in the ranging process
+ * Poll message:
+ * - byte 0 - 1: 0x8841 to indicate a data frame using 16-bit addressing.
+ * - byte 2: sequence number, incremented for each new frame.
+ * - byte 3 - 4: PAN Id 0x4B4d
+ * - byte 5 - 6: Destination address
+ * - byte 7 - 8: Source address
+ * - byte 9: Message type (0x02 RANGING_POLL / 0x03 RANGING_RESPONSE / 0x04 RANGING_FINAL)
+ * Response message:
+ * - byte 10: activity code (0x07 to tell the initiator to go on with the ranging exchange)
+ * Final message:
+ * - byte 10 - 13: poll message transmission timestamp.
+ * - byte 14 - 17: response message reception timestamp.
+ * - byte 18 - 21: final message transmission timestamp.
+ */
+static uint8_t rx_poll_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x02};
+static uint8_t tx_resp_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x4D, 0x49, 0x53, 0x45, 0x03, 0x07};
+static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x04, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+
+/* Count value of phy counter when transmitting and receiving frames */
+static uint32_t poll_rx_en_start_u32;
+static uint32_t resp_tx_en_start_u32;
+static uint32_t resp_tx_timeout;
+int64_t temp_resp_i64;
+/* 41 bits timestamps of frames transmission/reception. */
+int64_t poll_rx_ts_i64;
+int64_t resp_tx_ts_i64;
+int64_t final_rx_ts_i64;
+
+/* Frame sequence number, incremented after each transmission. */
+static uint8_t frame_seq_nb = 0;
+
+/* MAC report data structure */
+static struct MAC_HW_REPORT_T rx_rpt;
+
+enum SIMPLE_FSM_T
+{
+ SIMPLE_IDLE = 0,
+ SIMPLE_POLL = 1,
+ SIMPLE_RESPONSE = 2,
+ SIMPLE_FINAL = 3,
+};
+
+static enum SIMPLE_FSM_T state = SIMPLE_IDLE;
+
+/**
+ * @brief Correct TX timestamp of the ranging frame.
+ *
+ * @param[in] timestamp PHY timer count of TX
+ * @return TX timestamp (unit: 15.65ps)
+ */
+static int64_t ranging_tx_time_correct(uint32_t timestamp)
+{
+ int64_t tx_timestamp = ranging_tx_time(timestamp);
+
+ // correct antenna delay (TX using the same antenna as RX)
+ tx_timestamp += ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;
+
+ return tx_timestamp;
+}
+
+/**
+ * @brief Correct RX timestamp of the ranging frame.
+ *
+ * @param[in] ind MAC RX report
+ * @return RX timestamp (unit: 15.65ps)
+ */
+static int64_t ranging_rx_time_correct(const struct MAC_HW_REPORT_T *ind)
+{
+ int64_t rx_timestamp = ranging_rx_time(ind);
+
+ // correct antenna delay
+ rx_timestamp -= ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;
+
+ return rx_timestamp;
+}
+
+/* RX done process handler. */
+int8_t rssi;
+static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
+{
+ // Power off radio
+ power_off_radio();
+
+ /** UWB RX success */
+ if (rx_report->err_code == UWB_RX_OK)
+ {
+ /* Received data does not contain FCS */
+ rx_length = rx_report->pkt_len;
+ 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++;
+ rssi = rx_report->rssi;
+ receive_flag=1;
+
+ }
+ else
+ {
+ /* UWB_PLD_ERR payload error */
+ /* UWB_PHR_ERR PHR error */
+ /* UWB_SFD_ERR Sfd error */
+ /* UWB_BD_ERR Preamble detection error */
+ /* UWB_TO_ERR Receive timeout */
+ /* UWB_STS_ERR STS error */
+ temp_count= phy_timer_count_get();
+ memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
+ rx_length = 0;
+
+ }
+}
+
+/* TX done process handler. */
+static void tx_int_callback(struct MAC_HW_REPORT_T *tx_report)
+{
+ // Power off radio
+ power_off_radio();
+
+ /** UWB TX success */
+ if (tx_report->err_code == UWB_TX_OK)
+ {
+ temp_count= phy_timer_count_get();
+ temp_internal=temp_count;
+ resp_tx_num++;
+ //LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
+ }
+}
+uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
+uint32_t start_receive_count_calibration;
+uint32_t current_count_calibration;
+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];
+uint16_t random_time;
+//anchor
+int32_t hist_dist;
+int16_t temp_recdist_before_offset;
+int16_t dist_temp;
+void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary)
+{
+ uint8_t i;
+ for(i=0; i<anchordata_num; i++)
+ {
+ if(anchordata_id[i] == ancid)//查询标签是否在自己已通讯列表中
+ {
+
+ break;
+ }
+ }
+ if(i==anchordata_num)
+ {
+ if(anchordata_num<TAG_NUM_IN_SYS-1)
+ anchordata_num++;
+ }
+ anchordata_id[i] = ancid;//与之通信的标签id存入当前表中
+ anchordata_dist[i] = dist;
+ anchordata_bat[i] = battary;
+ tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
+ dist_temp=dist;
+// if(dist>0)
+ if(temp_recdist_before_offset!=0&&distance!=0x1ffff)
+ {
+ distance=dist*0.5+distance*0.5;
+ }else{
+ distance=dist;
+ }
+}
+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;
+}
+
+static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts)
+{
+ int i,ts2;
+ ts2=(int32_t)ts;
+ for (i = 0; i < 4; i++)
+ {
+ ts_field[i] = (uint8_t)ts2;
+ ts2 >>= 8;
+ }
+}
+
+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;
+}
+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;
+
+ 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 = 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);//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 = 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);//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_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);
+ 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_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();
+ while(mac_is_busy());
+ #ifdef BO_XING
+ gpio_pin_clr(SCL_PIN);
+ #endif
+}
+uint32_t range_timeout_us = 5000;
+uint16_t uwb_searchcount;
+uint8_t flag_recsuccess;
+uint8_t secondtask_search_count,secondtask_search_flag;
+uint8_t flag_temp2,flag_temp1;
+extern HIDO_UINT32 u32CurTick;
+extern float nomove_count;
+extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag,flag_secondtask;
+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);
+
+ receive_flag = 0;
+ flag_recsuccess = 0;
+ temp_count3=phy_timer_count_get();
+ #ifdef BO_XING
+ gpio_pin_set(SCL_PIN);
+ #endif
+ flag_temp1=uwb_rx(0, 0, range_timeout_us);//开启接收
+
+ // 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);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启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(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())
+ {
+
+// MotorPoll();
+ IdleTask();
+ UserKeyTask();
+ IMUTask();
+ current_count=phy_timer_count_get();
+ if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
+ {
+ break;
+ }
+ }
+
+ if(receive_flag==1)//成功接收
+ {
+
+ 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;
+ sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
+ 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
+ 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);
+ 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);
+ }
+ recev_error_num=0;
+ range_timeout_us=5000;//恢复为5000进入range后
+ 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);
+ #ifdef BO_XING
+ gpio_pin_clr(SCL_PIN);
+ #endif
+ break;
+ }
+ }
+ //失败或者接受被高发射机打断都会再次开启接收
+ flag_temp1=uwb_rx(0, 0, range_timeout_us);
+ }
+ delay_us(1);
+ uwb_rx_force_off(1);
+ if(!flag_recsuccess)
+ {
+ sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-3));//测试
+ LOG_INFO(TRACE_MODULE_APP,"测距失败，计数：%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;
+ }
+ }
+
+
+
+ return 0;
+}
+
+void Calibration_Time(void)
+{
+ current_count_calibration=phy_timer_count_get();
+ if((current_count_calibration-start_receive_count_calibration>=MS_TO_PHY_TIMER_COUNT(500)||current_count_calibration+(UINT32_MAX-start_receive_count_calibration)>=MS_TO_PHY_TIMER_COUNT(500))
+ &&!((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)
+ {
+ secondtask_search_flag = 1;
+ }else{
+ secondtask_search_flag = 0;
+ }
+ if(secondtask_search_flag)//更新S时间TICK
+ {
+ HIDO_TimerTick();
+ TagListUpdate();
+ //GPS_Poll();
+ if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
+ nomove_count++;
+ else{
+ nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
+ }
+ }
+ update_led_power_state();//更新等状态防止震动卡死在搜索
+ }
+// if(current_count_calibration-start_receive_count_calibration>=MS_TO_PHY_TIMER_COUNT(1000)||current_count_calibration+(UINT32_MAX-start_receive_count_calibration)>=MS_TO_PHY_TIMER_COUNT(1000))
+// {
+// HIDO_TimerTick();
+// }
+}
+
+//主函数绑定接受逻辑
+int UwbSearch(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);
+
+ receive_flag = 0;
+ temp_count3=phy_timer_count_get();
+ #ifdef BO_XING
+ gpio_pin_set(SCL_PIN);
+ #endif
+ flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收
+ start_receive_count=phy_timer_count_get();
+ start_receive_count_calibration=start_receive_count;
+ poll_timeout=US_TO_PHY_TIMER_COUNT(1000000);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启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(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
+ {
+ while(mac_is_busy())
+ { Calibration_Time();
+ IdleTask();
+ UserKeyTask();
+ IMUTask();
+ current_count=phy_timer_count_get();
+ if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
+ {
+ break;
+ }
+ }
+
+ temp_count2=phy_timer_count_get();
+ if(receive_flag==1)//成功接收
+ {
+ 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
+ {
+ sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-13));//测试
+ range_timeout_us=20000;//将下次range开启后超时时间设为20ms之后再range里恢复
+ 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
+ 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);
+ 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);
+ }
+ #ifdef BO_XING
+ gpio_pin_clr(SCL_PIN);//测试
+ #endif
+ 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);
+ return 1;//返回发送成功标志
+ }
+
+ }
+ temp_count3=phy_timer_count_get();
+ flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
+ }
+ delay_us(2);
+ uwb_rx_force_off(1);
+ // LOG_INFO(TRACE_MODULE_APP,"超时定时器：%x,%x,%x\r\n",start_receive_count,end_receive_count,current_count);
+ #ifdef BO_XING
+ gpio_pin_clr(SCL_PIN);//测试
+ #endif
+ return 0;//返回绑定失败标志
+}
+//}
+
+#define SEARCH_TIMESTEMP 20
+void UWBPoll(void)
+{
+ switch(UWB_work_state)
+ {
+ case LINK_SUCCESS:
+ { //连接成功进行轮询测距
+
+ uwb_led_on();
+ UwbRange();
+ uwb_led_off();
+
+ }
+ break;
+ case SEARCH_DEV:
+ { //接包不成功或者通讯失败进入搜索模式
+ if(search_open_flag)
+ {
+ LOG_INFO(TRACE_MODULE_APP,"开启搜索\r\n");
+ search_open_flag=0;
+ uwb_led_on();
+ link_success_flag=UwbSearch();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
+ Calibration_Time();
+ uwb_led_off();
+ if(link_success_flag)
+ UWB_work_state=LINK_SUCCESS;
+ }else{
+ LOG_INFO(TRACE_MODULE_APP,"等待进入搜索模式：%d\r\n",SEARCH_TIMESTEMP-uwb_searchcount);
+ }
+
+ }
+ break;
+ case UN_BIND:
+ {
+ uwb_led_off();//关闭uwb指示灯
+ }
+ break;
+ }
+ if(UWB_work_state==LINK_SUCCESS)
+ { //成功时清0错误计数
+ uwb_searchcount=0;
+ }
+ if(UWB_work_state==SEARCH_DEV)
+ {
+ if(!search_open_flag)
+ {
+ if(uwb_searchcount++>SEARCH_TIMESTEMP)
+ {
+ uwb_searchcount=0;
+ search_open_flag=1;
+ }
+ }
+ //link_error_count+=g_com_map[COM_INTERVAL];
+ //if(link_error_count>=g_com_map[4G_INTERNAL])
+ //link_error_count=0;
+ // update_led_power_state();//更新灯状态
+ }
+ LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
+}
+
+uint8_t GetUWBBindState(void)
+{
+ if(UWB_work_state == UN_BIND)
+ {
+ return 0;
+ }
+ return 1;
+}
+
--
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