From 2043cda8d7d195b06378e3de781078525eb4d3c5 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期五, 14 三月 2025 18:11:02 +0800
Subject: [PATCH] 初步可以稳定测距，基站那边还需减少接收时间精调
---
keil/uwb_app.c | 31 +++++++++++++++++++++++++------
1 files changed, 25 insertions(+), 6 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 5aa320d..3f752d9 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -78,7 +78,7 @@
#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 550U //yuan550极限
+#define POLL_RX_TO_RESP_TX_DLY_US 3500U //yuan550极限
#define RESP_TX_TO_FINAL_RX_DLY_US 500U
@@ -191,6 +191,22 @@
.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 BIT_110K_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 = 3, /* TRX preamble code */
+ .phy_cfg.mean_prf = MEAN_PRF_16M, /* Mean prf 64/128/256M */
+ .phy_cfg.data_bit_rate = DATA_BR_110K, /* Data rate 6.8M */
+ .phy_cfg.sync_sym = PREAM_LEN_1024, /* Preamble duration, length of preamble 128 */
+ .phy_cfg.sfd_sym = NSFD_64, /* Identifier for SFD sequence */
+ .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 */
};
#endif
@@ -469,6 +485,7 @@
{
tagid_list[j]=tagid_list[i];
tagdist_list[j] = tagdist_list[i];
+ anchordata_bat[j]=anchordata_bat[i];//电量随之更新
tagofflinetime[j++]=tagofflinetime[i];
}
}
@@ -547,7 +564,7 @@
&&!((end_receive_count-current_count_calibration<=MS_TO_PHY_TIMER_COUNT(200))||(end_receive_count+(UINT32_MAX-current_count_calibration)<=MS_TO_PHY_TIMER_COUNT(200))))
{
start_receive_count_calibration=current_count_calibration;//更新开始时间
-// MotorPoll();
+
if(secondtask_search_count++%2==0)
{
@@ -574,13 +591,13 @@
{
uwb_rx_force_off(1);
uwb_rx_flag=0;
- LOG_INFO(TRACE_MODULE_APP,"关闭uwb_rx\r\n");
+ //LOG_INFO(TRACE_MODULE_APP,"关闭uwb_rx\r\n");
}
void OpenUWB(void)
{
flag_temp1=uwb_rx(0, 0,range_timeout_us);//提交接收请求
uwb_rx_flag=1;
- LOG_INFO(TRACE_MODULE_APP,"打开uwb_rx\r\n");
+ //LOG_INFO(TRACE_MODULE_APP,"打开uwb_rx\r\n");
}
void UWBOneSecondTask(void)
{
@@ -603,12 +620,12 @@
// switch(wltag_state)
// {
// case RANGE:
-// if(HIDO_TimerGetTick()-wltag_uwbtimer>0&&uwb_rx_flag==0)
+// if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
// {
// wltag_uwbtimer = HIDO_TimerGetTick();
// OpenUWB();
// }
-// else if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==1)
+// else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1)
// {
// wltag_uwbtimer = HIDO_TimerGetTick();
// CloseUWB();
@@ -693,10 +710,12 @@
{
Anchor_RecNearPoll(i);
tagdist_list[taglist_pos]=rec_ancdistlist[i];
+ anchordata_bat[taglist_pos] = battary;//保存该基站电量
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;
}
--
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