From 4b19ce29c8c25010cdba0bf4e0835b4e97c971e9 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期三, 25 九月 2024 11:18:46 +0800
Subject: [PATCH] 解决测距失败计数会影响基站和车载测距9位数问题，基站帧间隔单独改为1000
---
keil/uwb_app.c | 118 +++++++++++++++++++++++++++++++++++++++++------------------
1 files changed, 82 insertions(+), 36 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index def6e7f..0f23254 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 1000
/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -99,23 +99,37 @@
struct UWB_CONFIG_T phy_cfg;
};
-/* Default communication configuration. */
+///* 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 = 9, /* 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.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 = 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.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
@@ -216,7 +230,7 @@
poll_rx_num++;
rssi = rx_report->rssi;
receive_flag=1;
- recev_error_num=0;
+
}
else
{
@@ -226,6 +240,7 @@
/* 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;
@@ -275,7 +290,7 @@
anchordata_dist[i] = dist;
anchordata_bat[i] = battary;
tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
- if(dist>0)
+// if(dist>0)
distance=dist*0.5+distance*0.5;
}
uint16_t CmpTagInList(uint16_t tagid)
@@ -290,6 +305,7 @@
//tagofflinetime[i] = 0;
return i;
}
+
static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts)
{
int i,ts2;
@@ -325,14 +341,16 @@
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 = random_time+poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num)+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_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)+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,自己非抢占
+ //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. */
@@ -346,7 +364,9 @@
while(mac_is_busy());
gpio_pin_clr(SCL_PIN);
}
+uint32_t range_timeout_us = 5000;
uint16_t uwb_searchcount;
+uint8_t flag_recsuccess;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
int UwbRange(void)
{
@@ -377,24 +397,37 @@
mac_register_process_handler(tx_int_callback, rx_int_callback);
receive_flag = 0;
+ flag_recsuccess = 0;
temp_count3=phy_timer_count_get();
gpio_pin_set(SCL_PIN);
- uwb_rx(0, 0, RX_SYNC_WIN_US);//开启接收
- while(mac_is_busy());
- temp_count2=phy_timer_count_get();
-// start_receive_count=phy_timer_count_get();
-// poll_timeout=rec_nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(DELAY_DEFAULT);//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
-// {
+ 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())
+ {
+ IdleTask();
+ 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
- { temp_count2=phy_timer_count_get();
+ { 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
@@ -427,11 +460,20 @@
Anchor_RecNearPoll(i);
}
+ 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);
- }
+ break;
+ }
} else {
- sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
+ 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)
{
@@ -440,9 +482,11 @@
uwb_searchcount = 0;
search_open_flag = 1;
}
- }
-
+ }
+
gpio_pin_clr(SCL_PIN);
+
+ return 0;
}
@@ -540,17 +584,19 @@
}
}
-
+ temp_count3=phy_timer_count_get();
uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
}
+ delay_us(1);
+ 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
}
//}
-#define SEARCH_TIMESTEMP 120
+#define SEARCH_TIMESTEMP 20
void UWBPoll(void)
{
switch(UWB_work_state)
--
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