From 65d6ddb1de4064ba058cd718873a73115735211a Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期三, 04 十二月 2024 15:53:25 +0800
Subject: [PATCH] 不丢包版本，加入接收窗口退出机制，抢占问题未解决
---
keil/uwb_tag_.c | 27 ++++++++++++++++++++-------
1 files changed, 20 insertions(+), 7 deletions(-)
diff --git a/keil/uwb_tag_.c b/keil/uwb_tag_.c
index 8cb31a8..1345310 100644
--- a/keil/uwb_tag_.c
+++ b/keil/uwb_tag_.c
@@ -12,7 +12,7 @@
#if defined(MK_SS_TWR_DW_INIT)
extern int TagRange(void);
-
+void Tag_uwb_init(void);
/* Ranging period: 1s */
#define RANGING_PERIOD_MS (1000)
@@ -398,11 +398,11 @@
}
uint32_t count_index;
int tt=1;
-int TagRange(void)
+void Tag_uwb_init(void)
{
- // The following peripherals will be initialized in the uwb_open function
+ // The following peripherals will be initialized in the uwb_open function
// phy/mac/aes/lsp/phy timers initialized
- uwb_open();
+ uwb_open();
#ifdef STS_MODE
// Set STS key and IV
phy_sts_key_configure(&sts_iv_key);
@@ -435,6 +435,10 @@
#endif
ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
+}
+int TagRange(void)
+{
+ phy_timer_open(1, IRQ_PRIORITY_HIGH);
// Register rx interrupt callback function
mac_register_process_handler(tx_int_callback, rx_int_callback);
@@ -460,7 +464,8 @@
start_receive_count=phy_timer_count_get();
- poll_timeout=nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(RESP_RX_TIMEOUT_US);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
+ //poll_timeout=nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(RESP_RX_TIMEOUT_US);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
+ poll_timeout=US_TO_PHY_TIMER_COUNT(RESP_RX_TIMEOUT_US);
end_receive_count=start_receive_count+poll_timeout;
if(end_receive_count>=UINT32_MAX)
@@ -473,7 +478,15 @@
current_count=phy_timer_count_get();//不断刷新当前计数器值
temp_count2=phy_timer_count_get();
- while(mac_is_busy());//等待接收完成
+ while(mac_is_busy())//等待接收完成
+ {
+ IdleTask();
+ current_count=phy_timer_count_get();
+ if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
+ {
+ break;
+ }
+ }
temp_count3=phy_timer_count_get();
if(receive_flag==1)//成功接收数据
{
@@ -498,7 +511,6 @@
// uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
// while(mac_is_busy());
//break;//成功接收就退出
-
}
// #ifdef BOXING
@@ -506,6 +518,7 @@
// #endif
}else if(receive_flag==2){//接收出错
receive_flag=0;
+ sleep_timer_start(__MS_TO_32K_CNT(sleep_time_count-phy_timer_count_get()%10));//测试
tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
temp_count3=phy_timer_count_get();
// while(mac_is_busy());
--
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