From 47f192f2df5c40a0cc0f063e8dc98b813174b8d3 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期五, 18 十月 2024 18:27:10 +0800
Subject: [PATCH] 手环低功耗优化版本，手环绑定报警下15分钟内平均功耗26MA左右，修改手环range循环接收逻辑，减少帧间隔为600，通过修改震动1s停2s优化功耗，对应URT帧间隔400，能实现稳定测距
---
keil/uwb_app.c | 75 +++++++++++++++++++++++++------------
1 files changed, 51 insertions(+), 24 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index e3e072d..11b4535 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -60,7 +60,7 @@
#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 450U //yuan750 7500Haoyong
+#define POLL_RX_TO_RESP_TX_DLY_US 670U //yuan450
#define RESP_TX_TO_FINAL_RX_DLY_US 500U
@@ -79,7 +79,7 @@
/* 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 //yuan1400
/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -270,6 +270,8 @@
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;
@@ -290,8 +292,14 @@
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;
@@ -341,14 +349,16 @@
if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式自己为新基站
{
- random_time = (phy_timer_count_get()%1000);//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
+ 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 = random_time+phy_timer_count_get()+ US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+rec_nearbase_num*US_TO_PHY_TIMER_COUNT(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_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 = phy_timer_count_get() + US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+(ancrec_nearbasepos+1)*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//后面的需要根据已有基站数量进行更改,自己非抢占
- }//此处设置绝对时间将poll u32改为phy_timer_count_get()
+ 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. */
@@ -362,8 +372,10 @@
while(mac_is_busy());
gpio_pin_clr(SCL_PIN);
}
-uint16_t uwb_searchcount,range_timeout_us = 5000;
+uint32_t range_timeout_us = 5000;
+uint16_t uwb_searchcount;
uint8_t flag_recsuccess;
+uint8_t flag_temp2,flag_temp1;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
int UwbRange(void)
{
@@ -397,8 +409,9 @@
flag_recsuccess = 0;
temp_count3=phy_timer_count_get();
gpio_pin_set(SCL_PIN);
- uwb_rx(0, 0, range_timeout_us);//开启接收
- // while(mac_is_busy());
+ 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
@@ -418,11 +431,13 @@
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;
+ { 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];
@@ -434,7 +449,7 @@
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);
}
@@ -454,17 +469,19 @@
{
seize_anchor=1; //抢占anchor
Anchor_RecNearPoll(i);
-
}
recev_error_num=0;
- sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
+ 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);
+ gpio_pin_clr(SCL_PIN);
break;
}
- } else {
- uwb_rx(0, 0, range_timeout_us);
- }
+ }
+ //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
@@ -477,7 +494,10 @@
search_open_flag = 1;
}
}
- gpio_pin_clr(SCL_PIN);
+
+
+
+ return 0;
}
@@ -513,7 +533,7 @@
receive_flag = 0;
temp_count3=phy_timer_count_get();
gpio_pin_set(SCL_PIN);
- uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收
+ flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收
start_receive_count=phy_timer_count_get();
poll_timeout=US_TO_PHY_TIMER_COUNT(2000000);//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;
@@ -538,7 +558,10 @@
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
- { temp_count2=phy_timer_count_get();
+ {
+ 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
@@ -550,6 +573,8 @@
{
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);
}
}
@@ -569,16 +594,18 @@
seize_anchor=1; //抢占anchor
Anchor_RecNearPoll(i);
}
- sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
+
gpio_pin_clr(SCL_PIN);//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);
return 1;//返回发送成功标志
}
}
temp_count3=phy_timer_count_get();
- uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
-
+ 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);
gpio_pin_clr(SCL_PIN);//测试
return 0;//返回绑定失败标志
@@ -639,7 +666,7 @@
//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
+ // update_led_power_state();//更新灯状态
}
LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
}
--
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