From 91c225bf44680a93147c33715bf16eb5adfb0818 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期三, 25 十二月 2024 18:20:04 +0800
Subject: [PATCH] 目前成功的是基站端原代码rx写法帧间隔500，延时550，标签那边帧间隔500 基站default为600，成功一对多低功耗测试版本
---
keil/uwb_tag_.c | 184 ++++++++++++++++++++++++++++++++++++----------
1 files changed, 144 insertions(+), 40 deletions(-)
diff --git a/keil/uwb_tag_.c b/keil/uwb_tag_.c
index 29c268a..7a0a6ff 100644
--- a/keil/uwb_tag_.c
+++ b/keil/uwb_tag_.c
@@ -12,12 +12,12 @@
#if defined(MK_SS_TWR_DW_INIT)
extern int TagRange(void);
-
+void Tag_uwb_init(void);
/* Ranging period: 1s */
-#define RANGING_PERIOD_MS (1000)
+#define RANGING_PERIOD_MS (10000)
/* This is the delay from the end of the poll frame transmission to the enable of the receiver */
-#define POLL_TX_TO_RESP_RX_DLY_US 750U //yuan700
+#define POLL_TX_TO_RESP_RX_DLY_US 550U //yuan700
#define RESP_RX_TO_FINAL_TX_DLY_US 550U
@@ -25,15 +25,15 @@
#define POLL_DELAY 100U //yuan100U
/* Receive response timeout */
-#define RESP_RX_TIMEOUT_US 2000U //Yuan500 10mssuccess 300jixian
-
+#define RESP_RX_TIMEOUT_US_DEFAULT 600U //Yuan500 10mssuccess 300jixian
+#define RESP_RX_TIMEOUT_US 2000000
/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
#define FINAL_MSG_POLL_TX_TS_IDX 10
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
-#define DELAY_DEFAULT 5000
-#define DELAY_BETWEEN_TWO_FRAME_UUS 400
+#define DELAY_DEFAULT 50000
+#define DELAY_BETWEEN_TWO_FRAME_UUS 450 //yuan1400
#define HALF_SECOND_TIME 62400000
uint16_t CmpTagInList(uint16_t tagid);
@@ -47,6 +47,7 @@
};
uint32_t dev_id;
uint8_t group_id;
+#ifdef DW1000
/* Default communication configuration. */
static struct mk_uwb_configure config = {//yuan
.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
@@ -63,6 +64,51 @@
.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,
+};
+#else //MKmode
+/* Default communication configuration. */
+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
///* Default communication configuration. */
//static struct mk_uwb_configure config = {
// .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
@@ -199,13 +245,14 @@
return rx_timestamp;
}
-
+uint32_t temp_rx_first_stamp,temp_rx_second_stamp;
+uint16_t temp_rx_first_id,temp_rx_second_id;
/* RX done process handler. */
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{
// Power off radio
power_off_radio();
-
+ //tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);
rx_state = rx_report->err_code;
/** UWB RX success */
@@ -216,13 +263,22 @@
memcpy(rx_buf, rx_report->pkt_data, rx_length);
/* Calculate rx timestamp */
resp_rx_ts_i64 = ranging_rx_time_correct(rx_report);
+ if(temp_rx_first_stamp==0)
+ {
+ temp_rx_first_stamp=(uint32_t)resp_rx_ts_i64;
+ memcpy(&temp_rx_first_id,&rx_buf[1],2);
+ }else{
+ memcpy(&temp_rx_second_id,&rx_buf[1],2);
+ temp_rx_second_stamp=(uint32_t)resp_rx_ts_i64;
+ }
temp_count1=phy_timer_count_get();
//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
+
+ // 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
//LOG_INFO(TRACE_MODULE_APP, "poll_tx_num is %d,resp_rx_num is %d,distance is %lf\r\n",poll_tx_num,resp_rx_num,distance);
receive_flag=1;
@@ -241,7 +297,7 @@
temp_count2=phy_timer_count_get();
}
-
+ //tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
}
/* TX done process handler. */
@@ -333,7 +389,7 @@
uint32_t temp_dist,temp_id,temp_exsis;
temp_dist=true_nearbase_distlist[j];
temp_id = true_nearbase_idlist[j];
- temp_exsis=true_exsistbase_list[j];
+ temp_exsis=true_exsistbase_list[i];
true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
true_exsistbase_list[j]=true_exsistbase_list[j+1];
@@ -366,16 +422,30 @@
temp = AddNewTagIntoList(tagid);
return temp;
}
-
-int TagRange(void)
+uint32_t count_index;
+int tt=1;
+float freqlost_count;
+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,
@@ -383,61 +453,83 @@
.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);
-
+#if (defined STS_MODE) || (defined MK_MODE)
+ ranging_lib_init();
+#endif
ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
+}
+int sleep_time_step=SLEEP_COUNT;
+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
tempflag=uwb_tx(uwb_sendbuffer,13+4*nearbase_num,1,poll_tx_en_start_u32);//立即发送
-
- //gpio_pin_set(IO_PIN_5);//测试
+ #ifdef BOXING
+ gpio_pin_set(IO_PIN_5);//测试
+ #endif
//LOG_INFO(TRACE_MODULE_APP, "进入测距",poll_tx_num,resp_rx_num,distance);
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
- temp_count2=phy_timer_count_get();
+ #ifdef BOXING
+ gpio_pin_clr(IO_PIN_5);//测试
+ gpio_pin_set(IO_PIN_5);//测试
+ #endif
+ 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;
//tempflag=uwb_rx(1, resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);//开启接受并设置接收超时
- tempflag=uwb_rx(0,0, RESP_RX_TIMEOUT_US);
+ tempflag=uwb_rx(1,resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);
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_DEFAULT)+nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);
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
{
memcpy(&rec_nearbaseid,&rx_buf[ANCHOR_ID_IDX],2);
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
+ freqlost_count = 0;
SetANCTimestap(rec_nearbasepos,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2,(uint32_t)poll_tx_ts_i64);
if(rec_nearbasepos>=nearbase_num) //发现新的基站
{
@@ -449,23 +541,35 @@
memset(rx_buf, 0, sizeof(rx_buf));//清空接收到的用完的数组
rx_length=0;//清0长度
-// uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
+ 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
- //gpio_pin_clr(IO_PIN_5);//测试
-
+
+// #ifdef BOXING
+// gpio_pin_clr(IO_PIN_5);//测试
+// #endif
}else if(receive_flag==2){//接收出错
receive_flag=0;
tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
+// sleep_timer_start(__MS_TO_32K_CNT(SLEEP_COUNT-phy_timer_count_get()%30));//测试
+// sleep_time_step=SLEEP_COUNT-phy_timer_count_get()%10;
+ //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();
}
- //gpio_pin_clr(IO_PIN_5);//测试
+ #ifdef BOXING
+ gpio_pin_clr(IO_PIN_5);//测试
+ gpio_pin_set(IO_PIN_5);//测试
+ #endif
}
+// }
+ #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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