From 9b59e87d8280de129c18421b5d12cf96d0ea904e Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期二, 03 九月 2024 10:28:06 +0800
Subject: [PATCH] V1.6 给客户测试
---
keil/uwb_app.c | 125 ++++++++++++++++++++++++-----------------
1 files changed, 73 insertions(+), 52 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index def6e7f..5677682 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -91,7 +91,7 @@
/* Length of the common part of the message */
#define MSG_COMMON_LEN 10
-#define UWB_DELAY_TIME_US 496
+#define UWB_DELAY_TIME_US 495
static uint8_t receive_flag=0;
struct mk_uwb_configure
{
@@ -102,7 +102,7 @@
/* 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.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. */
@@ -346,7 +346,9 @@
while(mac_is_busy());
gpio_pin_clr(SCL_PIN);
}
-uint16_t uwb_searchcount;
+uint16_t uwb_searchcount,uwb_timer_reload_value = 496;
+uint8_t range_success;
+uint32_t delay_time;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
int UwbRange(void)
{
@@ -375,63 +377,83 @@
// Register rx interrupt callback function
mac_register_process_handler(tx_int_callback, rx_int_callback);
-
+ range_success = 0;
receive_flag = 0;
temp_count3=phy_timer_count_get();
gpio_pin_set(SCL_PIN);
uwb_rx(0, 0, RX_SYNC_WIN_US);//开启接收
- while(mac_is_busy());
temp_count2=phy_timer_count_get();
-// start_receive_count=phy_timer_count_get();
-// poll_timeout=rec_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
-// 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
-// {
- if(receive_flag==1)//成功接收
+ start_receive_count=phy_timer_count_get();
+ poll_timeout=US_TO_PHY_TIMER_COUNT(5000);//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)
{
-
- 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++)
+ 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
+ {
+ current_count=phy_timer_count_get();
+ while(mac_is_busy())
+ {
+ current_count=phy_timer_count_get();
+ if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
{
- if(rec_ancidlist[i] == dev_id)
- {
- rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
- 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
- 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);
}
- } else {
- sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
+ 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)
+ {
+ rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
+ 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);
+
+ }
+ range_success = 1;
+ sleep_timer_start(__MS_TO_32K_CNT(uwb_timer_reload_value));//测试
+
+ gpio_pin_clr(SCL_PIN);
+ delay_time = (current_count-start_receive_count)>>7;
+
+ LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度：%d. 等待时间%d\r\n",g_com_map[BIND_DEV_ID],distance,rssi,delay_time);
+ break;
+ }
+ } else {
+ uwb_rx(0, 0, RX_SYNC_WIN_US);//再次开启接收
+ }
+ }
+ if(!range_success)
+ {
+ sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-4));//测试
LOG_INFO(TRACE_MODULE_APP,"测距失败，计数：%d\r\n",recev_error_num);
if(recev_error_num++>5)
{
@@ -440,9 +462,8 @@
uwb_searchcount = 0;
search_open_flag = 1;
}
- }
+ }
- gpio_pin_clr(SCL_PIN);
}
--
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