From 8942cbba84d86e04ff69f9e9fa7cb3e7f5c494b4 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 09 十月 2024 14:11:44 +0800
Subject: [PATCH] 免布线方案一对一纯uwb调通，现在带个lora唤醒
---
keil/uwb_app.c | 393 +++++++++++++++++++++++++++++++------------------------
1 files changed, 219 insertions(+), 174 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 16e516b..c0ba9b6 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 //yuan750 7500Haoyong
#define RESP_TX_TO_FINAL_RX_DLY_US 500U
@@ -315,6 +315,10 @@
}
anchordata_num=j;
}
+int flag1=0;
+uint32_t temp_count7;
+uint32_t timeceshi1;
+uint32_t timeceshi2;
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;
@@ -324,39 +328,46 @@
memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);//接受者id
send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
- if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式自己为新基站
+ 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 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_num*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+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_num*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
+ //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()
+ temp_count7=resp_tx_en_start_u32;
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. */
resp_msg_set_ts(&send_buffer[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts_i64);
resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts_i64);//此处时间戳int64直接转换为uint64不知道会不会有错误
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();
- uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
- temp_count1=phy_timer_count_get();
+// temp_count3= phy_timer_count_get();
+// timeceshi2=phy_timer_count_get();
+ flag1=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
+// temp_count1=phy_timer_count_get();
+ temp_count3= phy_timer_count_get();
while(mac_is_busy());
gpio_pin_clr(SCL_PIN);
}
uint16_t uwb_searchcount,range_timeout_us = 5000;
uint8_t flag_recsuccess;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
+uint16_t uwb_rxflag;
+uint16_t uwb_rxflag_num;
+uint16_t uwb_rxflag_num1;
int UwbRange(void)
{
uint8_t i;
uint16_t tempid;
// The following peripherals will be initialized in the uwb_open function
// phy/mac/aes/lsp/phy timers initialized
- uwb_open();
+// uwb_open();
// // Set calibration parameters
// uwb_calibration_params_set(config.phy_cfg.ch_num);
@@ -376,13 +387,14 @@
// ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
// Register rx interrupt callback function
- mac_register_process_handler(tx_int_callback, rx_int_callback);
+// mac_register_process_handler(tx_int_callback, rx_int_callback);
receive_flag = 0;
flag_recsuccess = 0;
- temp_count3=phy_timer_count_get();
+// temp_count3=phy_timer_count_get();
gpio_pin_set(SCL_PIN);
- 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();
@@ -396,7 +408,7 @@
current_count=phy_timer_count_get();
while(mac_is_busy())
{
- IdleTask();
+// IdleTask();
current_count=phy_timer_count_get();
if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
{
@@ -406,9 +418,12 @@
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
+// 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
{ flag_recsuccess = 1;
- temp_count2=phy_timer_count_get();
+// 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
@@ -416,6 +431,8 @@
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;
for(i=0; i<rec_nearbase_num; i++)
{
if(rec_ancidlist[i] == dev_id)
@@ -442,45 +459,43 @@
}
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;
+// 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 {
- uwb_rx(0, 0, range_timeout_us);
+ uwb_rxflag=uwb_rx(0, 0, range_timeout_us);
+ }
+ else {
+ delay_us(1);
+ uwb_rx_force_off(1);
+ uwb_rxflag=uwb_rx(0, 0, range_timeout_us);
+ uwb_rxflag_num++;
}
}
- 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;
- }
- }
+ 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)
+// {
+// recev_error_num=0;
+// UWB_work_state=SEARCH_DEV;
+// uwb_searchcount = 0;
+// search_open_flag = 1;
+// }
+// }
gpio_pin_clr(SCL_PIN);
}
-
-
-//主函数绑定接受逻辑
-int UwbSearch(void)
+int Uwbinit(void)
{
-
- uint8_t i;
- uint16_t tempid;
- // The following peripherals will be initialized in the uwb_open function
- // phy/mac/aes/lsp/phy timers initialized
uwb_open();
-
- // Set calibration parameters
+ // Set calibration parameters
uwb_calibration_params_set(config.phy_cfg.ch_num);
// set advanced parameters
- struct PHY_ADV_CONFIG_T adv_config = {
+ struct PHY_ADV_CONFIG_T adv_config = {
.thres_fap_detect = 40,
.nth_scale_factor = 4,
.ranging_performance_mode = 0,
@@ -495,139 +510,169 @@
// Register rx interrupt callback function
mac_register_process_handler(tx_int_callback, rx_int_callback);
- receive_flag = 0;
- temp_count3=phy_timer_count_get();
- gpio_pin_set(SCL_PIN);
- uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收
- start_receive_count=phy_timer_count_get();
- poll_timeout=US_TO_PHY_TIMER_COUNT(2000000);//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
- {
- 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;
- }
- }
-
- temp_count2=phy_timer_count_get();
- 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();
- 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
- 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);
- for(i=0; i<rec_nearbase_num; i++)
- {
- if(rec_ancidlist[i] == dev_id)
- {
- PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
- }
- }
- for(i=0; i<rec_nearbase_num; i++)
- {
- memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
- if(tempid==dev_id)//也是比id如果有就更新没有就抢占
- {
- seize_anchor=0; //非抢占。已存在列表中
- Anchor_RecNearPoll(i);
- break;
- }
- }
-
- if(i==rec_nearbase_num)
- {
- seize_anchor=1; //抢占anchor
- Anchor_RecNearPoll(i);
- }
- sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
- gpio_pin_clr(SCL_PIN);//测试
- return 1;//返回发送成功标志
- }
-
- }
- temp_count3=phy_timer_count_get();
- uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
-
- }
- // 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
}
+//主函数绑定接受逻辑
+//int UwbSearch(void)
+//{
+
+// uint8_t i;
+// uint16_t tempid;
+// // The following peripherals will be initialized in the uwb_open function
+// // phy/mac/aes/lsp/phy timers initialized
+// uwb_open();
+
+// // Set calibration parameters
+// uwb_calibration_params_set(config.phy_cfg.ch_num);
+
+// // 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,
+// };
+// 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);
+
+// ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
+
+// // Register rx interrupt callback function
+// mac_register_process_handler(tx_int_callback, rx_int_callback);
+// receive_flag = 0;
+// temp_count3=phy_timer_count_get();
+// gpio_pin_set(SCL_PIN);
+// uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收
+// start_receive_count=phy_timer_count_get();
+// poll_timeout=US_TO_PHY_TIMER_COUNT(2000000);//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
+// {
+// 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;
+// }
+// }
+
+// temp_count2=phy_timer_count_get();
+// 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();
+// 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
+// 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);
+// for(i=0; i<rec_nearbase_num; i++)
+// {
+// if(rec_ancidlist[i] == dev_id)
+// {
+// PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
+// }
+// }
+// for(i=0; i<rec_nearbase_num; i++)
+// {
+// memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
+// if(tempid==dev_id)//也是比id如果有就更新没有就抢占
+// {
+// seize_anchor=0; //非抢占。已存在列表中
+// Anchor_RecNearPoll(i);
+// break;
+// }
+// }
+
+// if(i==rec_nearbase_num)
+// {
+// seize_anchor=1; //抢占anchor
+// Anchor_RecNearPoll(i);
+// }
+// sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
+// gpio_pin_clr(SCL_PIN);//测试
+// return 1;//返回发送成功标志
+// }
+
+// }
+// temp_count3=phy_timer_count_get();
+// uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
+
+// }
+// // 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 20
-void UWBPoll(void)
-{
- switch(UWB_work_state)
- {
- case LINK_SUCCESS:
- { //连接成功进行轮询测距
+//#define SEARCH_TIMESTEMP 20
+//void UWBPoll(void)
+//{
+// switch(UWB_work_state)
+// {
+// case LINK_SUCCESS:
+// { //连接成功进行轮询测距
- uwb_led_on();
- UwbRange();
- uwb_led_off();
+// uwb_led_on();
+// UwbRange();
+// uwb_led_off();
- }
- break;
- case SEARCH_DEV:
- { //接包不成功或者通讯失败进入搜索模式
- if(search_open_flag)
- {
- LOG_INFO(TRACE_MODULE_APP,"开启搜索\r\n");
- search_open_flag=0;
- uwb_led_on();
- link_success_flag=UwbSearch();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
- uwb_led_off();
- if(link_success_flag)
- UWB_work_state=LINK_SUCCESS;
- }else{
- LOG_INFO(TRACE_MODULE_APP,"等待进入搜索模式：%d\r\n",SEARCH_TIMESTEMP-uwb_searchcount);
- }
+// }
+// break;
+// case SEARCH_DEV:
+// { //接包不成功或者通讯失败进入搜索模式
+// if(search_open_flag)
+// {
+// LOG_INFO(TRACE_MODULE_APP,"开启搜索\r\n");
+// search_open_flag=0;
+// uwb_led_on();
+// link_success_flag=UwbSearch();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
+// uwb_led_off();
+// if(link_success_flag)
+// UWB_work_state=LINK_SUCCESS;
+// }else{
+// LOG_INFO(TRACE_MODULE_APP,"等待进入搜索模式：%d\r\n",SEARCH_TIMESTEMP-uwb_searchcount);
+// }
- }
- break;
- case UN_BIND:
- {
- uwb_led_off();//关闭uwb指示灯
- }
- break;
- }
- if(UWB_work_state==LINK_SUCCESS)
- { //成功时清0错误计数
- uwb_searchcount=0;
- }
- if(UWB_work_state==SEARCH_DEV)
- {
- if(!search_open_flag)
- {
- if(uwb_searchcount++>SEARCH_TIMESTEMP)
- {
- uwb_searchcount=0;
- search_open_flag=1;
- }
- }
- //link_error_count+=g_com_map[COM_INTERVAL];
- //if(link_error_count>=g_com_map[4G_INTERNAL])
- //link_error_count=0;
- update_led_power_state();//更新灯状态
- }
- LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
-}
+// }
+// break;
+// case UN_BIND:
+// {
+// uwb_led_off();//关闭uwb指示灯
+// }
+// break;
+// }
+// if(UWB_work_state==LINK_SUCCESS)
+// { //成功时清0错误计数
+// uwb_searchcount=0;
+// }
+// if(UWB_work_state==SEARCH_DEV)
+// {
+// if(!search_open_flag)
+// {
+// if(uwb_searchcount++>SEARCH_TIMESTEMP)
+// {
+// uwb_searchcount=0;
+// search_open_flag=1;
+// }
+// }
+// //link_error_count+=g_com_map[COM_INTERVAL];
+// //if(link_error_count>=g_com_map[4G_INTERNAL])
+// //link_error_count=0;
+// update_led_power_state();//更新灯状态
+// }
+// LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
+//}
uint8_t GetUWBBindState(void)
{
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