From 39842cc2707c7ceb890bd963d1d226cc7542bc91 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期五, 16 五月 2025 17:47:05 +0800
Subject: [PATCH] 对比PCA9555的修改
---
keil/uwb_app.c | 235 ++++++----------------------------------------------------
1 files changed, 26 insertions(+), 209 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index fc6b031..13b32ec 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -12,7 +12,7 @@
#include "PCA9555.h"
#define TAG_KEEPTIMES 20
-#define REPORT_TAG_KEEPTIMES 1
+#define REPORT_TAG_KEEPTIMES 20
#define GROUP_NUM 3
uint16_t group_min_dist[GROUP_NUM+1];
@@ -98,6 +98,7 @@
#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 550U //yuan750 7500Haoyong
#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan750 7500Haoyong
#define RESP_TX_TO_FINAL_RX_DLY_US 500U
@@ -324,6 +325,8 @@
uint16_t REPLY_POLL_NUM;
uint16_t ERR_RX_NUM;
uint8_t send_qiangzhan_NUM;
+uint8_t resp_tx_flag;
+uint32_t temp_c[10];
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{ uint8_t valid_sts=0;
// Power off radio
@@ -333,20 +336,25 @@
if (rx_report->err_code == UWB_RX_OK)
{
-
+ resp_tx_flag=0;
/* 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++;
REV_RX_NUM++;
rssi = rx_report->rssi;
receive_flag=1;
+ temp_count= phy_timer_count_get();
Anchor_App();
+ if(resp_tx_flag==0)
+ {
+ OpenUWB();
+ }
#ifdef STS_MODE
valid_sts= sts_valid_check();
if (valid_sts)
@@ -378,9 +386,9 @@
ERR_RX_NUM++;
UWB_STATE=UWB_STATE_IDLE;
- // 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
#ifdef USE_TX_UWBON
if(UWB_STATE==UWB_STATE_IDLE)
{
@@ -407,7 +415,7 @@
temp_count= phy_timer_count_get();
temp_internal=temp_count;
-
+ OpenUWB();
TX_CALL_POLL_NUM++;
// if(send_qiangzhan_NUM)
// {
@@ -530,7 +538,7 @@
uint16_t response_num;
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;
+// temp_count2=phy_timer_count_get();
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
@@ -549,7 +557,7 @@
// //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()
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);//加入帧间隔
// 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);//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
@@ -558,10 +566,10 @@
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_STATE==UWB_TX_STATE_BUSY;
flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
-
+ resp_tx_flag=1;
tagofflinetime[taglist_pos] = 0;//更新标签通信
// temp_count1=phy_timer_count_get();
@@ -584,146 +592,7 @@
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;
-
-// 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);//开启接收
-
-// 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);//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(mac_is_busy())
-// {
-//// IdleTask();
-// current_count=phy_timer_count_get();
-// if(current_count>end_receive_count&¤t_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
-// {
-//// 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+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);//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)
-// {
-// 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);
-//
-// }
-// // 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
-//// 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;
-//// }
-//// }
-//// #ifdef DEBUG_BOXING
-//// gpio_pin_clr(IO_PIN_5);//测试
-////// gpio_pin_set(IO_PIN_5);//测试
-//// #endif
-//}
int Uwbinit(void)
{
uwb_open();
@@ -837,78 +706,21 @@
//uint32_t wltag_statetimer,wltag_uwbtimer;
int uwb_app_poll(void)
{
-
-
-// switch(wltag_state)
-// {
-// case RANGE:
-// if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
-// {
-//
-// 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)//若要切换到搜索模式时没有开启则开启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();
}
//uint16_t REV_POLL_NUM;
//uint16_t REPLY_POLL_NUM;
+extern uint8_t uwbled,gpsled,loraled,powerled;
int Anchor_App(void)
{
uint8_t i;
uint16_t tempid;
+ temp_count1=phy_timer_count_get();
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
+
REV_POLL_NUM++;
memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
//temp_count2=phy_timer_count_get();
@@ -917,10 +729,14 @@
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);
+ temp_count2=phy_timer_count_get();
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);
taglist_pos=CmpTagInList(tag_id_recv);
+ // UWB_LED_ON;
+ uwbled=1;
+ temp_count3=phy_timer_count_get();
if(taglist_num>=ANC_MAX_NUM)
return 0;
for(i=0; i<rec_nearbase_num; i++)
@@ -939,6 +755,7 @@
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);
--
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