From 4cdc4b3d488e15b1d6572bdcd61a2ce92d0c8c9b Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期五, 16 五月 2025 18:13:14 +0800
Subject: [PATCH] 成功分离2个测距功能
---
keil/include/main/main.c | 86 +++++++++++++++++-----------
keil/include/components/app/src/ranging_fira.c | 15 +++-
pin_config.c | 13 ++++
keil/include/drivers/mk_uwb.c | 16 ++--
keil/include/board/board.h | 1
keil/include/board/board.c | 8 +-
user_config.h | 3
7 files changed, 91 insertions(+), 51 deletions(-)
diff --git a/keil/include/board/board.c b/keil/include/board/board.c
index 875e4af..9f59a21 100644
--- a/keil/include/board/board.c
+++ b/keil/include/board/board.c
@@ -408,10 +408,10 @@
void board_led_init(void)
{
- //灯
- io_pin_mux_set(LED_PIN, IO_FUNC0);
- gpio_pin_set_dir( LED_PIN, GPIO_DIR_OUT, 0);
- io_pull_set(LED_PIN , IO_PULL_DOWN, IO_PULL_UP_LEVEL4);
+ // 判断是Airtag还是免布线模式
+ io_pin_mux_set(MODE_CHANGE_PIN, IO_FUNC0);
+ gpio_pin_set_dir( MODE_CHANGE_PIN, GPIO_DIR_IN, 0);
+ io_pull_set(MODE_CHANGE_PIN , IO_PULL_DOWN, IO_PULL_UP_LEVEL2);
}
void board_led_on(enum IO_PIN_T idx)
diff --git a/keil/include/board/board.h b/keil/include/board/board.h
index 640d879..c1f6482 100644
--- a/keil/include/board/board.h
+++ b/keil/include/board/board.h
@@ -143,6 +143,7 @@
*/
void board_pins_config(void);
+void boot_deinit(void);
/**
* @brief Configure debug trace port.
* @param[in] port Trace port
diff --git a/keil/include/components/app/src/ranging_fira.c b/keil/include/components/app/src/ranging_fira.c
index 55e8933..beb9436 100644
--- a/keil/include/components/app/src/ranging_fira.c
+++ b/keil/include/components/app/src/ranging_fira.c
@@ -136,12 +136,14 @@
// This function will be called by uwbapi_session_init()
void app_session_init(void)
-{
- normal_uwb_change_to_fira();//变为fira配置的uwb
+{
+ #ifdef MY_MODE
+ normal_uwb_change_to_fira();
+ #endif
// register process handler for MAC TX done and RX done
mac_register_process_handler(ranging_tx_process, ranging_rx_process);
+ uwbs_handler_init(&op);
- uwbs_handler_init(&op);
}
void ranging_configure(void)
@@ -309,10 +311,10 @@
.phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
};
#endif
-uint8_t normal_flag=1;
+
void uwb_fira_init(void)
{
- uwb_open();
+// uwb_open();
// set advanced parameters
struct PHY_ADV_CONFIG_T adv_config =
@@ -340,6 +342,7 @@
uwb_app_config.session_param.tx_power_level = board_param.tx_power_fcc[CALIB_CH(uwb_app_config.ppdu_params.ch_num)];
uwb_app_config.ppdu_params.rx_ant_id = (uint8_t)(RX_MAIN_ANT_PORT);
}
+uint8_t normal_flag=0;
void uwb_normal_init(void)
{
Uwb_init();
@@ -403,7 +406,9 @@
void ranging_stop(void)
{
ranging_env.enable = 0;
+ #ifdef MY_MODE
fira_uwb_change_to_normal();//变为normal配置的uwb
+ #endif
ranging_monitor_stop();
LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_APP, "Ranging stop\r\n");
}
diff --git a/keil/include/drivers/mk_uwb.c b/keil/include/drivers/mk_uwb.c
index 320fe04..d215f0e 100644
--- a/keil/include/drivers/mk_uwb.c
+++ b/keil/include/drivers/mk_uwb.c
@@ -402,22 +402,22 @@
{
ranging_ant_delays_set(i, board_param.ant_delays[ch_idx][i]);
}
- LOG_INFO(TRACE_MODULE_DRIVER, "ToF ant delays %d %d %d %d\r\n", board_param.ant_delays[ch_idx][0], board_param.ant_delays[ch_idx][1],
- board_param.ant_delays[ch_idx][2], board_param.ant_delays[ch_idx][3]);
+ //LOG_INFO(TRACE_MODULE_DRIVER, "ToF ant delays %d %d %d %d\r\n", board_param.ant_delays[ch_idx][0], board_param.ant_delays[ch_idx][1],
+ // board_param.ant_delays[ch_idx][2], board_param.ant_delays[ch_idx][3]);
pdoa_ant_delays_set(&board_param.pdoa_delays[ch_idx][0], 4);
- LOG_INFO(TRACE_MODULE_DRIVER, "PDoA delays %d %d %d %d\r\n", board_param.pdoa_delays[ch_idx][0], board_param.pdoa_delays[ch_idx][1],
- board_param.pdoa_delays[ch_idx][2], board_param.pdoa_delays[ch_idx][3]);
+ //LOG_INFO(TRACE_MODULE_DRIVER, "PDoA delays %d %d %d %d\r\n", board_param.pdoa_delays[ch_idx][0], board_param.pdoa_delays[ch_idx][1],
+ // board_param.pdoa_delays[ch_idx][2], board_param.pdoa_delays[ch_idx][3]);
pdoa_gain_set(&board_param.pdoa_gains[ch_idx][0], 4);
- LOG_INFO(TRACE_MODULE_DRIVER, "PDoA gains %d %d %d %d\r\n", board_param.pdoa_gains[ch_idx][0], board_param.pdoa_gains[ch_idx][1],
- board_param.pdoa_gains[ch_idx][2], board_param.pdoa_gains[ch_idx][3]);
+ //LOG_INFO(TRACE_MODULE_DRIVER, "PDoA gains %d %d %d %d\r\n", board_param.pdoa_gains[ch_idx][0], board_param.pdoa_gains[ch_idx][1],
+ // board_param.pdoa_gains[ch_idx][2], board_param.pdoa_gains[ch_idx][3]);
pdoa_ant_space_set(board_param.pdoa_ant_space);
- LOG_INFO(TRACE_MODULE_DRIVER, "PDoA ant space %d\r\n", board_param.pdoa_ant_space);
+ //LOG_INFO(TRACE_MODULE_DRIVER, "PDoA ant space %d\r\n", board_param.pdoa_ant_space);
pdoa_angle_offset_set(board_param.pdoa_offsets);
- LOG_INFO(TRACE_MODULE_DRIVER, "PDoA angle offsets %d %d\r\n", board_param.pdoa_offsets[0], board_param.pdoa_offsets[1]);
+ //LOG_INFO(TRACE_MODULE_DRIVER, "PDoA angle offsets %d %d\r\n", board_param.pdoa_offsets[0], board_param.pdoa_offsets[1]);
}
void *uwb_configure(uint8_t mode, uint8_t tx_power_level, const struct UWB_CONFIG_T *ppdu_params)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index b2df95a..6c9ab6b 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -158,6 +158,7 @@
LOG_INFO(TRACE_MODULE_APP,"固件版本:4G-GPS定位手环 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
LOG_INFO(TRACE_MODULE_APP,"服务器地址: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port);
}
+
static void board_init(void)
{
uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
@@ -165,6 +166,7 @@
// Clock configuration
board_clock_run();
+ boot_deinit();//新加的
// Pin configuration
board_pins_config();
// Trace configuration
@@ -203,7 +205,7 @@
#else
Program_Init();
// led
- // board_led_init();
+ board_led_init();
// board_led_on(BOARD_LED_1);
#endif
board_configure();
@@ -241,13 +243,15 @@
}
int main(void)
-{
- // Initialize MCU system
+{
+ // Initialize MCU system
board_init();
-
- // Disable watchdog timer
+ // Disable watchdog timer
wdt_close(WDT_ID0);
LOG_INFO(TRACE_MODULE_APP, "UCI FiRa example\r\n");
+ if(gpio_pin_get_val(MODE_CHANGE_PIN))
+ {
+
// Platform init for WSF
PalSysInit();
@@ -288,35 +292,40 @@
uwb_test_init(handlerId);
#endif
+#ifndef MY_MODE
uwb_open();
-// // set advanced parameters
-// struct PHY_ADV_CONFIG_T adv_config =
-// {
-// // RPM0: 40, RPM3: 60
-// .thres_fap_detect = 60,
-// // RPM0: 4, RPM3: 8
-// .nth_scale_factor = 8,
-// // RFrame SP0: 0/1, Others: 0/1/2/3
-// .ranging_performance_mode = 3,
-//#if RX_ANT_PORTS_NUM == 4
-// .skip_weakest_port_en = 1,
-//#else
-// .skip_weakest_port_en = 0,
-//#endif
-// };
-// phy_adv_params_configure(&adv_config);
+ // set advanced parameters
+ struct PHY_ADV_CONFIG_T adv_config =
+ {
+ // RPM0: 40, RPM3: 60
+ .thres_fap_detect = 60,
+ // RPM0: 4, RPM3: 8
+ .nth_scale_factor = 8,
+ // RFrame SP0: 0/1, Others: 0/1/2/3
+ .ranging_performance_mode = 3,
+#if RX_ANT_PORTS_NUM == 4
+ .skip_weakest_port_en = 1,
+#else
+ .skip_weakest_port_en = 0,
+#endif
+ };
+ phy_adv_params_configure(&adv_config);
-// // which RX ports will be used for AoA/PDoA
-// phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
+ // which RX ports will be used for AoA/PDoA
+ phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
-// uwbs_init();
-// uwb_app_config.ranging_flow_mode = (uint8_t)(RANGING_FLOW_FIRA);
-// uwb_app_config.filter_en = (uint8_t)(FILTER_EN);
-// uwb_app_config.session_param.tx_power_level = board_param.tx_power_fcc[CALIB_CH(uwb_app_config.ppdu_params.ch_num)];
-// uwb_app_config.ppdu_params.rx_ant_id = (uint8_t)(RX_MAIN_ANT_PORT);
+ uwbs_init();
+ uwb_app_config.ranging_flow_mode = (uint8_t)(RANGING_FLOW_FIRA);
+ uwb_app_config.filter_en = (uint8_t)(FILTER_EN);
+ uwb_app_config.session_param.tx_power_level = board_param.tx_power_fcc[CALIB_CH(uwb_app_config.ppdu_params.ch_num)];
+ uwb_app_config.ppdu_params.rx_ant_id = (uint8_t)(RX_MAIN_ANT_PORT);
+
+#elif defined MY_MODE
Uwb_init();//默认为我们测距配置
OpenUWB();
+ uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+#endif
//
// Create UCI transmission layer task
//
@@ -335,19 +344,30 @@
// Enable sleep timer
sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, sleep_timer_callback);
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+
while (1)
{
wsfOsDispatcher();
+#ifdef MY_MODE
if(normal_flag)
{
-
+ IdleTask();
+ }
+#endif
+ power_manage();
+ }
+ }else{
+// adc_open(&usr_adc_cfg);
+ Uwb_init();//默认为我们测距配置
+ OpenUWB();
+ uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+ while (1)
+ {
uwb_app_poll();//我们的测距逻辑
IdleTask();
}
- power_manage();
- }
-
+ }
+
}
void app_restore_from_power_down(void)
diff --git a/pin_config.c b/pin_config.c
index 884c6cc..3b07f6c 100644
--- a/pin_config.c
+++ b/pin_config.c
@@ -40,6 +40,18 @@
#include "mk_io.h"
#include "board.h"
+void boot_deinit(void)
+{
+ //将boot中串口返回普通gpio
+// UART0 TX/RX
+ io_pin_mux_set(IO_PIN_5, IO_FUNC0);
+ io_pin_mux_set(IO_PIN_6, IO_FUNC0);
+ // UART1 RX/TX
+ io_pin_mux_set(IO_PIN_10, IO_FUNC0);
+ io_pin_mux_set(IO_PIN_9, IO_FUNC0);
+ uart_close(UART_ID1);//解绑原来串口1
+ uart_close(UART_ID0);//解绑原来串口0
+}
void board_pins_config(void)
{
@@ -80,6 +92,7 @@
io_pin_mux_set(IO_PIN_0, IO_FUNC4);
io_pin_mux_set(IO_PIN_1, IO_FUNC4);
+
#elif BOARD_TYPE == MK8000_DK
// UART1 TX/RX
diff --git a/user_config.h b/user_config.h
index da1d376..bf92b71 100644
--- a/user_config.h
+++ b/user_config.h
@@ -305,7 +305,7 @@
/// Antenna pattern
#define ANT_PATTERN (ANT_PATTERN_LINEAR)
#endif
-
+//#define MY_MODE
/** Enable load cap automatic tuning during ranging procedure */
#define XTAL_AUTO_TUNE_EN (1)
@@ -328,6 +328,7 @@
#define UWB_RX_WINDOW (US_TO_PHY_TIMER_COUNT(750))
#define LED_PIN IO_PIN_4
#define INPUT_5V_Pin IO_PIN_11
+#define MODE_CHANGE_PIN IO_PIN_4
/* =========================================================================================================================== */
/* ================ End ================ */
/* =========================================================================================================================== */
--
Gitblit v1.9.3