From ae0b42614c7f3de6f13c2ebacd3c1b46662ed9e9 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期一, 23 六月 2025 17:26:33 +0800
Subject: [PATCH] 现场试用版
---
keil/uwb_app.c | 529 ++++++++++++++++++++++------------------------------------
1 files changed, 203 insertions(+), 326 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 3bb551b..0296dce 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -9,9 +9,10 @@
#include "global_param.h"
#include "board.h"
#include "lora_1268.h"
+#include "PCA9555.h"
-#define TAG_KEEPTIMES 30
-#define REPORT_TAG_KEEPTIMES 1
+#define TAG_KEEPTIMES 20
+#define REPORT_TAG_KEEPTIMES 20
#define GROUP_NUM 3
uint16_t group_min_dist[GROUP_NUM+1];
@@ -97,7 +98,8 @@
#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 900U //yuan750 7500Haoyong
+//#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan750 7500Haoyong
+#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan750 7500Haoyong
#define RESP_TX_TO_FINAL_RX_DLY_US 500U
@@ -116,7 +118,7 @@
/* RX window open in advance */
#define RX_WIN_IN_ADVANCE_US (150)
-#define DELAY_BETWEEN_TWO_FRAME_UUS 600
+#define DELAY_BETWEEN_TWO_FRAME_UUS 500
/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -136,22 +138,66 @@
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 */
@@ -274,27 +320,41 @@
uint32_t range_timeout_us = 2000000;//yuan5000
uint8_t flag_temp2,flag_temp1;
uint16_t uwb_losttimer;
+uint16_t REV_RX_NUM;
+uint16_t REV_POLL_NUM;
+uint16_t REPLY_POLL_NUM;
+uint16_t ERR_RX_NUM;
+uint8_t send_qiangzhan_NUM;
+uint8_t resp_tx_flag;
+uint32_t temp_c[10];
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;
+
+ resp_tx_flag=0;
/* Received data does not contain FCS */
rx_length = rx_report->pkt_len;
memcpy(rx_buf, rx_report->pkt_data, rx_length);
memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
/* Calculate rx timestamp */
- temp_count= phy_timer_count_get();
+
poll_rx_en_start_u32 = rx_rpt.timestamp - phy_shr_duration();
poll_rx_ts_i64 = ranging_rx_time_correct(&rx_rpt);
poll_rx_num++;
+ REV_RX_NUM++;
rssi = rx_report->rssi;
receive_flag=1;
+ temp_count= phy_timer_count_get();
Anchor_App();
+ if(resp_tx_flag==0)
+ {
+ OpenUWB();
+ }
#ifdef STS_MODE
valid_sts= sts_valid_check();
if (valid_sts)
@@ -320,35 +380,50 @@
/* 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;
- UWB_STATE=UWB_STATE_IDLE;
+ ERR_RX_NUM++;
+ 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. */
static void tx_int_callback(struct MAC_HW_REPORT_T *tx_report)
{
// 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++;
-
- UWB_STATE=UWB_RX_STATE_BUSY;
- OpenUWB();//再次开启UWB接收
+ OpenUWB();
+ TX_CALL_POLL_NUM++;
+// 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);
}
@@ -384,18 +459,28 @@
// 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++)
{
- if(memcmp(&tagid,&anchordata_id[i],2)==0)
+ 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)
{
int i,ts2;
@@ -428,96 +513,39 @@
report_ancnum = k;
taglist_num=j;
}
-
//void TagListUpdate(void)
//{
-// uint8_t i,j=0,k=0;
-// for(i=0; i<anchordata_num; i++)
+//uint16_t i,j=0,k=0;
+// for(i=0; i<taglist_num; i++)
// {
-// if(tagofflinetime[i]++<QUIT_SLOT_TIME)
+// if(tagofflinetime[i]++<TAG_KEEPTIMES)
// {
-// anchordata_id[j]=anchordata_id[i];
+// tagid_list[j]=tagid_list[i];
+// tagdist_list[j] = tagdist_list[i];
// tagofflinetime[j++]=tagofflinetime[i];
// }
-// //标签存活时间
-// if(tagofflinetime[i]++<TAG_KEEPTIMES)
-// {
-// tagid_list[k]=tagid_list[i];
-// tagdist_list[k] = tagdist_list[i];
-// tagofflinetime[k++]=tagofflinetime[i];
-// }
-// }
-// anchordata_num=j;
-// taglist_num=k;
+// }
+// taglist_num=j;
//}
+
//static uint8_t tagofflinetime[ANC_MAX_NUM];
-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;
+//int flag1=0;
+//uint32_t temp_count7;
+//uint32_t timeceshi1;
+//uint32_t timeceshi2;
-// memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//组id
-// memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);//自身id
-// 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
-// {
-// 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 = 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 = 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();
-//// timeceshi2=phy_timer_count_get();
-// //uint32_t time_add=1000;
-// //resp_tx_en_start_u32=resp_tx_en_start_u32+time_add;
-// temp_count3= 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();
-//
-// while(mac_is_busy());
-// tagofflinetime[taglist_pos] = 0;
-// gpio_pin_clr(SCL_PIN);
-//}
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;
+// temp_count2=phy_timer_count_get();
memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//组id
memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);//自身id
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
-// {
-// 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 = phy_timer_count_get()+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(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+ancrec_nearbasepos*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()
position=ancrec_nearbasepos;
- temp_count1=phy_timer_count_get();
+
resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+ancrec_nearbasepos*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//加入帧间隔
// resp_tx_en_start_u32 = temp_count1+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+ancrec_nearbasepos*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//加入帧间隔
resp_tx_ts_i64 = ranging_tx_time_correct(resp_tx_en_start_u32 + phy_shr_duration());//修正时间戳
@@ -526,21 +554,11 @@
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();
-// 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
+ resp_tx_flag=1;
tagofflinetime[taglist_pos] = 0;//更新标签通信
- temp_count1=phy_timer_count_get();
-// temp_tx_flag=1;
-// Delay_Ms(2);
-
-// while(mac_is_busy());
-// gpio_pin_clr(SCL_PIN);
}
uint16_t uwb_searchcount= 2000000;
uint8_t flag_recsuccess;
@@ -555,146 +573,7 @@
uint32_t UWB_fachu_count=0;
uint32_t UWB_qiangzhanfachu_count=0;
uint32_t UWB_1003_count,UWB_6666_count=0;
-int UwbRange(void)
-{
- uint8_t i;
- uint16_t tempid;
-
- 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_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
-
- 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();
@@ -718,6 +597,53 @@
// 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)
{
@@ -751,64 +677,32 @@
{ 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:
-// if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
-// {
-// wltag_uwbtimer = HIDO_TimerGetTick();
-// OpenUWB();
-// }
-// else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1)
-// {
-// wltag_uwbtimer = HIDO_TimerGetTick();
-// CloseUWB();
-// }
-// if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
-// {
-// wltag_statetimer = HIDO_TimerGetTick();
-// if(uwb_rx_flag==0)//若要切换到搜索模式时没有开启则开启UWB
-// {
-// OpenUWB();
-// }
-// wltag_state = SEARCH;
-// }
-// break;
-// case SEARCH:
-// if(HIDO_TimerGetTick()-wltag_statetimer>1)
-// {
-// wltag_statetimer = HIDO_TimerGetTick();
-// wltag_state = CLOSE;
-// CloseUWB();
-// }
-// break;
-// case CLOSE:
-// if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
-// {
-// wltag_statetimer = HIDO_TimerGetTick();
-// wltag_state = SEARCH;
-// OpenUWB();
-// }
-// break;
-// }
UWBIdleTask();
}
+
+//uint16_t REV_POLL_NUM;
+//uint16_t REPLY_POLL_NUM;
+extern uint8_t uwbled,gpsled,loraled,powerled;
int Anchor_App(void)
{
uint8_t i;
uint16_t tempid;
+ temp_count1=phy_timer_count_get();
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();
uwb_losttimer=0;//成功测距清0 lost时间
@@ -816,34 +710,14 @@
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);
+ temp_count2=phy_timer_count_get();
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)
-// { temp_recdist_before_offset=rec_ancdistlist[i];
-// 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);
-// }
- taglist_pos=CmpTagInList(tag_id_recv);
+ taglist_pos=CmpTagInList(tag_id_recv);
+ // UWB_LED_ON;
+ uwbled=1;
+ temp_count3=phy_timer_count_get();
if(taglist_num>=ANC_MAX_NUM)
return 0;
for(i=0; i<rec_nearbase_num; i++)
@@ -851,6 +725,7 @@
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
@@ -861,17 +736,19 @@
break;
}
}
+
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
}
@@ -964,7 +841,7 @@
// 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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