From 755f0e3a86e41e9e3cb98f36578b3199c6206e59 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期三, 23 四月 2025 11:14:46 +0800
Subject: [PATCH] 蓝牙现在通过PCA9555关闭使能，反初始化串口，拉低PCA中断脚，现在是0.8v
---
keil/uwb_app.c | 482 +++++++++++++++++++++++++++++++++-------------------
1 files changed, 305 insertions(+), 177 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 1a2af2b..fc6b031 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -11,7 +11,7 @@
#include "lora_1268.h"
#include "PCA9555.h"
-#define TAG_KEEPTIMES 30
+#define TAG_KEEPTIMES 20
#define REPORT_TAG_KEEPTIMES 1
#define GROUP_NUM 3
@@ -137,22 +137,66 @@
struct UWB_CONFIG_T phy_cfg;
};
-/* Default communication configuration. */
+#ifdef DW1000
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, /* 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.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 = NON_STD_NSFD5_8, /* Identifier for SFD sequence */
- .phy_cfg.ranging_bit = 1, /* ranging bit set. */
+ .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 */
};
+#elif defined STS_MODE
+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,
+};
+#elif defined MK_MODE
+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.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 */
+};
+#endif
/* Buffer to store received frame */
@@ -279,15 +323,17 @@
uint16_t REV_POLL_NUM;
uint16_t REPLY_POLL_NUM;
uint16_t ERR_RX_NUM;
+uint8_t send_qiangzhan_NUM;
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{ uint8_t valid_sts=0;
// Power off radio
power_off_radio();
-
+
/** UWB RX success */
if (rx_report->err_code == UWB_RX_OK)
{
- UWB_STATE=UWB_STATE_IDLE;
+
+
/* Received data does not contain FCS */
rx_length = rx_report->pkt_len;
memcpy(rx_buf, rx_report->pkt_data, rx_length);
@@ -326,19 +372,22 @@
/* UWB_BD_ERR Preamble detection error */
/* UWB_TO_ERR Receive timeout */
/* UWB_STS_ERR STS error */
- temp_count= phy_timer_count_get();
+ temp_count= phy_timer_count_get();
memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
rx_length = 0;
ERR_RX_NUM++;
- UWB_STATE=UWB_STATE_IDLE;
+ UWB_STATE=UWB_STATE_IDLE;
+
+ // OpenUWB();//再次开启UWB接收
+ }
+ OpenUWB();//再次开启UWB接收
+#ifdef USE_TX_UWBON
if(UWB_STATE==UWB_STATE_IDLE)
{
UWB_STATE=UWB_RX_STATE_BUSY;
OpenUWB();//再次开启UWB接收
}
- // OpenUWB();//再次开启UWB接收
- }
-// OpenUWB();//再次开启UWB接收
+#endif
}
uint16_t TX_CALL_POLL_NUM;
/* TX done process handler. */
@@ -346,17 +395,27 @@
{
// Power off radio
power_off_radio();
- UWB_STATE=UWB_STATE_IDLE;
+#ifdef USE_TX_UWBON
+ UWB_STATE=UWB_STATE_IDLE;
+ UWB_STATE=UWB_RX_STATE_BUSY;
+ OpenUWB();//再次开启UWB接收
+#endif
/** UWB TX success */
if (tx_report->err_code == UWB_TX_OK)
{
+
temp_count= phy_timer_count_get();
temp_internal=temp_count;
- resp_tx_num++;
+
TX_CALL_POLL_NUM++;
- UWB_STATE=UWB_RX_STATE_BUSY;
- OpenUWB();//再次开启UWB接收
+// if(send_qiangzhan_NUM)
+// {
+// send_qiangzhan_NUM=0;
+// resp_tx_num++;
+// }
+//
+
//gpio_pin_clr(IO_PIN_5);
//LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
}
@@ -392,6 +451,18 @@
// if(dist>0)
distance=dist*0.5+distance*0.5;
}
+//uint16_t CmpTagInList(uint16_t tagid)
+//{ uint16_t i;
+// for(i=0; i<taglist_num; i++)
+// {
+// if(memcmp(&tagid,&tagid_list[i],2)==0)
+// break;
+// }
+// if(i==taglist_num)
+// return taglist_num;
+// //tagofflinetime[i] = 0;
+// return i;
+//}
uint16_t CmpTagInList(uint16_t tagid)
{ uint16_t i;
for(i=0; i<taglist_num; i++)
@@ -399,12 +470,8 @@
if(memcmp(&tagid,&tagid_list[i],2)==0)
break;
}
- if(i==taglist_num)
- return taglist_num;
- //tagofflinetime[i] = 0;
return i;
}
-
static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts)
{
@@ -438,7 +505,20 @@
report_ancnum = k;
taglist_num=j;
}
-
+//void TagListUpdate(void)
+//{
+//uint16_t i,j=0,k=0;
+// for(i=0; i<taglist_num; i++)
+// {
+// if(tagofflinetime[i]++<TAG_KEEPTIMES)
+// {
+// tagid_list[j]=tagid_list[i];
+// tagdist_list[j] = tagdist_list[i];
+// tagofflinetime[j++]=tagofflinetime[i];
+// }
+// }
+// taglist_num=j;
+//}
//static uint8_t tagofflinetime[ANC_MAX_NUM];
//int flag1=0;
@@ -447,6 +527,7 @@
//uint32_t timeceshi2;
uint8_t position;
+uint16_t response_num;
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos)//根据自己是否为新基站定制消息去发送，根据是否抢占判断
{
temp_count2=poll_rx_en_start_u32;
@@ -478,15 +559,12 @@
memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&disoffset,2);//差个修正offset,修正有符号但是这个com表为无符号的,传过去直接赋给Int16_t相当于还原了
temp_resp_i64=resp_tx_ts_i64;
temp_count3= phy_timer_count_get();
-// temp_rx=uwb_rx(buf_1,0,10);
-// CloseUWB();
-// UWB_STATE==UWB_TX_STATE_BUSY;
-// gpio_pin_set(IO_PIN_1);
-// gpio_pin_clr(IO_PIN_1);
- flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
+ UWB_STATE==UWB_TX_STATE_BUSY;
+ flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
+
tagofflinetime[taglist_pos] = 0;//更新标签通信
- temp_count1=phy_timer_count_get();
+// temp_count1=phy_timer_count_get();
// temp_tx_flag=1;
// Delay_Ms(2);
@@ -506,146 +584,146 @@
uint32_t UWB_fachu_count=0;
uint32_t UWB_qiangzhanfachu_count=0;
uint32_t UWB_1003_count,UWB_6666_count=0;
-int UwbRange(void)
-{
+//int UwbRange(void)
+//{
- uint8_t i;
- uint16_t tempid;
+// uint8_t i;
+// uint16_t tempid;
- mac_register_process_handler(tx_int_callback, rx_int_callback);
- receive_flag = 0;
- flag_recsuccess = 0;
+// mac_register_process_handler(tx_int_callback, rx_int_callback);
+// receive_flag = 0;
+// flag_recsuccess = 0;
- uwb_rxflag=uwb_rx(0, 0, range_timeout_us);//开启接收
+// uwb_rxflag=uwb_rx(0, 0, range_timeout_us);//开启接收
- uwb_rxflag_num1++;
- // 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(mac_is_busy())
- {
-// IdleTask();
- current_count=phy_timer_count_get();
- if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)//超时时间为4.992秒
- {
- break;
- }
- }
-
- if(receive_flag==1)//成功接收
- {
- time_count_sdsj=phy_timer_count_get();
-// gpio_pin_set(IO_PIN_5);
-
-// gpio_pin_clr(IO_PIN_5);
- #ifdef DEBUG_BOXING
-// gpio_pin_set(IO_PIN_5);//测试
-// gpio_pin_clr(IO_PIN_5);//测试
- #endif
-// timeceshi1=phy_timer_count_get();
-// temp_count7=poll_rx_en_start_u32;
- receive_flag=0;
- 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
- {
-// UWB_shoudao_count++;
- 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
-
- //rec_nearbase_num=25;
-
- memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
- memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
- memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
- // memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
-// timeceshi1=phy_timer_count_get();
-// temp_count7=poll_rx_en_start_u32;
- taglist_pos=CmpTagInList(tag_id_recv);
- for(i=0; i<rec_nearbase_num; i++)
- {
-
- if(rec_ancidlist[i] == dev_id)
- {
- rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
- PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
- UWB_fachu_count++;
+// uwb_rxflag_num1++;
+// // 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(mac_is_busy())
+// {
+//// IdleTask();
+// current_count=phy_timer_count_get();
+// if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)//超时时间为4.992秒
+// {
+// break;
+// }
+// }
+//
+// if(receive_flag==1)//成功接收
+// {
+// time_count_sdsj=phy_timer_count_get();
+//// gpio_pin_set(IO_PIN_5);
+//
+//// gpio_pin_clr(IO_PIN_5);
+// #ifdef DEBUG_BOXING
+//// gpio_pin_set(IO_PIN_5);//测试
+//// gpio_pin_clr(IO_PIN_5);//测试
+// #endif
+//// timeceshi1=phy_timer_count_get();
+//// temp_count7=poll_rx_en_start_u32;
+// receive_flag=0;
+// 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
+// {
+//// UWB_shoudao_count++;
+// 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
+//
+// //rec_nearbase_num=25;
+//
+// memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
+// memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
+// memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
+// // memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
+//// timeceshi1=phy_timer_count_get();
+//// temp_count7=poll_rx_en_start_u32;
+// taglist_pos=CmpTagInList(tag_id_recv);
+// for(i=0; i<rec_nearbase_num; i++)
+// {
+//
+// if(rec_ancidlist[i] == dev_id)
+// {
+// rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
+// PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
+// UWB_fachu_count++;
+//// #ifdef DEBUG_BOXING
+////// gpio_pin_clr(IO_PIN_5);//测试
+//// gpio_pin_set(IO_PIN_5);//测试
+//// #endif
+// }
+// }
+// for(i=0; i<rec_nearbase_num; i++)
+// {
+// memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
+// if(tempid==dev_id)
+// {
+// Anchor_RecNearPoll(i);
+// tagdist_list[taglist_pos]=rec_ancdistlist[i];
+// if(group_min_dist[group_id]>rec_ancdistlist[i])
+// {
+// group_min_dist[group_id] = rec_ancdistlist[i];
+// }
+// if(taglist_pos==taglist_num)// taglist_pos==taglist_num 说明这个基站不在当前列表中
+// { //tempid==dev_id 说明基站下发测距报文有这个标签的信息
+// taglist_num++; //满足上述两种情况才会添加基站ID进入列表中，否则会出现标签不在基站列表中，标签也不响应的情况
+// tagid_list[taglist_pos] = tag_id_recv;
+// }
+// break;
+// }
+// }
+
+// if(i==rec_nearbase_num)
+// {
+//
+// seize_anchor=1; //抢占anchor
+// Anchor_RecNearPoll(i);
+// UWB_qiangzhanfachu_count++;
+
+// }
+// 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);
+//
+// }
+// // uwb_rxflag=uwb_rx(0, 0, range_timeout_us);
+// }
// #ifdef DEBUG_BOXING
//// gpio_pin_clr(IO_PIN_5);//测试
-// gpio_pin_set(IO_PIN_5);//测试
-// #endif
- }
- }
- for(i=0; i<rec_nearbase_num; i++)
- {
- memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
- if(tempid==dev_id)
- {
- Anchor_RecNearPoll(i);
- tagdist_list[taglist_pos]=rec_ancdistlist[i];
- if(group_min_dist[group_id]>rec_ancdistlist[i])
- {
- group_min_dist[group_id] = rec_ancdistlist[i];
- }
- if(taglist_pos==taglist_num)// taglist_pos==taglist_num 说明这个基站不在当前列表中
- { //tempid==dev_id 说明基站下发测距报文有这个标签的信息
- taglist_num++; //满足上述两种情况才会添加基站ID进入列表中，否则会出现标签不在基站列表中，标签也不响应的情况
- tagid_list[taglist_pos] = tag_id_recv;
- }
- break;
- }
- }
-
- if(i==rec_nearbase_num)
- {
-
- seize_anchor=1; //抢占anchor
- Anchor_RecNearPoll(i);
- UWB_qiangzhanfachu_count++;
-
- }
- 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);
-
- }
- // uwb_rxflag=uwb_rx(0, 0, range_timeout_us);
- }
- #ifdef DEBUG_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);
-// gpio_pin_clr(IO_PIN_5);
-// #ifdef DEBUG_BOXING
-// gpio_pin_clr(IO_PIN_5);//测试.
-// #endif
-// 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)
-// {
-// recev_error_num=0;
-// UWB_work_state=SEARCH_DEV;
-// uwb_searchcount = 0;
-// search_open_flag = 1;
-// }
-// }
-// #ifdef DEBUG_BOXING
-// gpio_pin_clr(IO_PIN_5);//测试
//// gpio_pin_set(IO_PIN_5);//测试
-// #endif
-}
+// #endif
+//
+// delay_us(1);
+// uwb_rx_force_off(1);
+//// gpio_pin_clr(IO_PIN_5);
+//// #ifdef DEBUG_BOXING
+//// gpio_pin_clr(IO_PIN_5);//测试.
+//// #endif
+//// 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)
+//// {
+//// recev_error_num=0;
+//// UWB_work_state=SEARCH_DEV;
+//// uwb_searchcount = 0;
+//// search_open_flag = 1;
+//// }
+//// }
+//// #ifdef DEBUG_BOXING
+//// gpio_pin_clr(IO_PIN_5);//测试
+////// gpio_pin_set(IO_PIN_5);//测试
+//// #endif
+//}
int Uwbinit(void)
{
uwb_open();
@@ -669,6 +747,53 @@
// Register rx interrupt callback function
mac_register_process_handler(tx_int_callback, rx_int_callback);
}
+//void Uwbinit(void)
+//{
+// uwb_open();
+// #ifdef STS_MODE
+// // Set STS key and IV
+// phy_sts_key_configure(&sts_iv_key);
+//
+// // which RX ports will be used for AoA/PDoA
+// phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
+// #endif
+// // Set calibration parameters
+// uwb_calibration_params_set(config.phy_cfg.ch_num);
+// #ifndef STS_MODE
+// // set advanced parameters
+// struct PHY_ADV_CONFIG_T adv_config = {
+// .thres_fap_detect = 40,
+// .nth_scale_factor = 4,
+// .ranging_performance_mode = 0,
+// .skip_weakest_port_en = 0,
+// };
+// #else
+// // 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,
+// };
+// #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);
+// #if (defined STS_MODE) || (defined MK_MODE)
+// ranging_lib_init();
+// #endif
+// ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
+// #ifdef STS_MODE
+// aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM);
+// aoa_steering_vector_set((const float *)((uint32_t)((config.phy_cfg.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) | SRAM_BASE));
+
+// aoa_param_config();
+//
+// phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
+// #endif
+// mac_register_process_handler(tx_int_callback, rx_int_callback);//初始化回调
+//}
uint16_t g_com_receive_id;
void CloseUWB(void)
{
@@ -702,23 +827,24 @@
{ uint16_t i;
for(i=0; i<taglist_num; i++)
{
- if(memcmp(&tagid,&tagid_list[i],2)==0)
+ if(memcmp(&tagid,&tagid_list[i],2)==0)
return 1;
}
return 0;
}
-enumwltagstate wltag_state=RANGE;
-uint32_t wltag_statetimer,wltag_uwbtimer;
+
+//enumwltagstate wltag_state=RANGE;
+//uint32_t wltag_statetimer,wltag_uwbtimer;
int uwb_app_poll(void)
{
+
+
// switch(wltag_state)
// {
-//
// case RANGE:
-//// time_flag=HIDO_TimerGetTick()-wltag_uwbtimer;
// if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
// {
-// UWB_LED_ON;
+//
// wltag_uwbtimer = HIDO_TimerGetTick();
// if(UWB_STATE==UWB_STATE_IDLE)
// {
@@ -770,9 +896,10 @@
// }
// break;
// }
+
UWBIdleTask();
}
-//uint16_t REV_RX_NUM;
+
//uint16_t REV_POLL_NUM;
//uint16_t REPLY_POLL_NUM;
int Anchor_App(void)
@@ -781,7 +908,7 @@
uint16_t tempid;
if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//判断是否是和自己是同一组通讯的且为poll包
{ flag_recsuccess = 1;
- wltag_state=RANGE;//成功后从search切换为range
+// wltag_state=RANGE;//成功后从search切换为range
REV_POLL_NUM++;
memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
//temp_count2=phy_timer_count_get();
@@ -801,12 +928,12 @@
memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
if(tempid==dev_id)
{
+
Anchor_RecNearPoll(i);
tagdist_list[taglist_pos]=rec_ancdistlist[i];
if(taglist_pos==taglist_num)// taglist_pos==taglist_num 说明这个基站不在当前列表中
{ //tempid==dev_id 说明基站下发测距报文有这个标签的信息
taglist_num++; //满足上述两种情况才会添加基站ID进入列表中，否则会出现标签不在基站列表中，标签也不响应的情况
- REPLY_POLL_NUM++;
tagid_list[taglist_pos] = tag_id_recv;
}
break;
@@ -815,14 +942,15 @@
if((i==rec_nearbase_num&&taglist_pos==taglist_num)||(rec_nearbase_num==0&&!ExistInTagList(tag_id_recv)))//当基站不在标签列表中，标签也不在基站列表中时，随机找个时间片回复基站。
{
Anchor_RecNearPoll(rec_nearbase_num);
+// REPLY_POLL_NUM++;
+// send_qiangzhan_NUM=1;
}
}
else{
- if(UWB_STATE==UWB_STATE_IDLE)
- {
- UWB_STATE=UWB_RX_STATE_BUSY;
- OpenUWB();
- }
+#ifdef USE_TX_UWBON
+ UWB_STATE=UWB_RX_STATE_BUSY;
+ OpenUWB();//再次开启UWB接收
+#endif
}
@@ -915,7 +1043,7 @@
// 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
if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//判断是否是和自己是同一组通讯的且为poll包
{
- sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-13));//测试
+// 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
--
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