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 | 117 +++++++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 90 insertions(+), 27 deletions(-)
diff --git a/keil/uwb_tag_.c b/keil/uwb_tag_.c
index 5f3ecee..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)
@@ -25,7 +25,7 @@
#define POLL_DELAY 100U //yuan100U
/* Receive response timeout */
-#define RESP_RX_TIMEOUT_US 5000U //Yuan500 10mssuccess 300jixian
+#define RESP_RX_TIMEOUT_US 2500U //Yuan500 10mssuccess 300jixian
/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -33,7 +33,7 @@
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define DELAY_DEFAULT 50000
-#define DELAY_BETWEEN_TWO_FRAME_UUS 400
+#define DELAY_BETWEEN_TWO_FRAME_UUS 600 //yuan1400
#define HALF_SECOND_TIME 62400000
uint16_t CmpTagInList(uint16_t tagid);
@@ -47,6 +47,7 @@
};
uint32_t dev_id;
uint8_t group_id;
+#ifndef STS_MODE
/* Default communication configuration. */
static struct mk_uwb_configure config = {//yuan
.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
@@ -63,6 +64,34 @@
.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 */
};
+#else
+static struct mk_uwb_configure config = {
+ .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
+ .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 1 */
+ .phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF, /* IEEE802.15.4z - BPRF mode */
+ .phy_cfg.sts_pkt_cfg = STS_PKT_CFG_1, /* SP1 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 */
+};
+/* Use the default key and IV specified in the IEEE 802.15.4z attachment */
+static struct UWB_STS_KEY_CONFIG_T sts_iv_key = {
+ .sts_vcounter = 0x1F9A3DE4,
+ .sts_vupper0 = 0xD37EC3CA,
+ .sts_vupper1 = 0xC44FA8FB,
+ .sts_vupper2 = 0x362EEB34,
+ .sts_key0 = 0x14EB220F,
+ .sts_key1 = 0xF86050A8,
+ .sts_key2 = 0xD1D336AA,
+ .sts_key3 = 0x14148674,
+};
+#endif
///* Default communication configuration. */
//static struct mk_uwb_configure config = {
// .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
@@ -220,6 +249,7 @@
//获取发射端时钟偏差
resp_rx_num++;
freq_offset=phy_freq_offset_get();
+
// freq_offset_filter=average_filter(freq_offset);//获取频偏
//int32_t ppm = freq_offset_filter / (int32_t)(ch_center_freq_map[UWB_CH_NUM] * 1e-6);
//calib_xtal38m4_load_cap_auto_tune(ppm);//利用电容调整晶振适配频偏应在完整的一包之后调整，需要关闭XTAL_AUTO_TUNE_EN 宏定义避免收包中途校准导致测距错误
@@ -366,16 +396,28 @@
temp = AddNewTagIntoList(tagid);
return temp;
}
-
-int TagRange(void)
+uint32_t count_index;
+int tt=1;
+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);
+#endif
// Set calibration parameters
uwb_calibration_params_set(config.phy_cfg.ch_num);
-
+#ifdef STS_MODE
+ // set advanced parameters
+ struct PHY_ADV_CONFIG_T adv_config = {
+ .thres_fap_detect = 40,
+ .nth_scale_factor = 4,
+ .ranging_performance_mode = 3,
+ .skip_weakest_port_en = 0,
+ };
+#else
// set advanced parameters
struct PHY_ADV_CONFIG_T adv_config = {
.thres_fap_detect = 40,
@@ -383,22 +425,24 @@
.ranging_performance_mode = 0,
.skip_weakest_port_en = 0,
};
+#endif
phy_adv_params_configure(&adv_config);
// uwb configure
uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);
-
+#ifdef STS_MODE
+ ranging_lib_init();
+#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);
-//#if LOW_POWER_EN
-// // Initialize low power mode
-// power_init();
-// // Enable sleep timer
-// sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, NULL);
-//#endif
+
uwb_poll_buffer_construct();
temp_tag_num=0;//临时数量为0
poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//发送必须要延时发送才可以用于测距否则立即发送会获取时间戳不对，需要计算程序运行时间，避免设置过去时间
@@ -410,6 +454,8 @@
poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//修正时间戳
temp_count1=phy_timer_count_get();
while(mac_is_busy());//等待发送完成
+ gpio_pin_clr(IO_PIN_5);//测试
+ gpio_pin_set(IO_PIN_5);//测试
temp_count2=phy_timer_count_get();
resp_rx_en_start_u32 = poll_tx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);//设置发送多少s后接收按target独立时间起点算+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US为发送后要多久开启接收时间
temp_resp=resp_rx_en_start_u32;
@@ -418,22 +464,34 @@
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(DELAY_DEFAULT);//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)
{end_receive_count-=UINT32_MAX;}
current_count=phy_timer_count_get();
+ count_index=end_receive_count+HALF_SECOND_TIME;
+// if(tt){
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();//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
{
receive_flag=0;
-
+ tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
//接收成功则判断是否为同一组
if (rx_buf[MESSAGE_TYPE_IDX] == MBX_RESPONSE&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2)&&rx_buf[GROUP_ID_IDX]==group_id) //判断接收到的数据是否是response数据
{
@@ -453,25 +511,30 @@
// 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
-
}
- tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
- #ifdef BOXING
- gpio_pin_clr(IO_PIN_5);//测试
- #endif
+
+// #ifdef BOXING
+// gpio_pin_clr(IO_PIN_5);//测试
+// #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());
temp_count1=phy_timer_count_get();
}
- #ifdef BOXING
+ #ifdef 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);
+// }
+ #ifdef BOXING
+ gpio_pin_clr(IO_PIN_5);//测试
+ #endif
+ delay_us(1);
+ uwb_rx_force_off(1);
//dwt_forecetrxoff();
CalculateDists(poll_tx_ts_i64); //计算距离并更新距离表
AnchorListUpdate();//更新存活基站列表
--
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