From a26d219bb88fda55d96cf1a9351a1a7af0435a87 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期五, 15 十一月 2024 16:27:44 +0800
Subject: [PATCH] 修改部分STS逻辑
---
keil/uwb_tag_.c | 60 +++++++++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 49 insertions(+), 11 deletions(-)
diff --git a/keil/uwb_tag_.c b/keil/uwb_tag_.c
index afa4e20..8cb31a8 100644
--- a/keil/uwb_tag_.c
+++ b/keil/uwb_tag_.c
@@ -25,7 +25,7 @@
#define POLL_DELAY 100U //yuan100U
/* Receive response timeout */
-#define RESP_RX_TIMEOUT_US 5000U //Yuan500 10mssuccess 300jixian
+#define RESP_RX_TIMEOUT_US 2500U //Yuan500 10mssuccess 300jixian
/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -33,7 +33,7 @@
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define DELAY_DEFAULT 50000
-#define DELAY_BETWEEN_TWO_FRAME_UUS 1400
+#define DELAY_BETWEEN_TWO_FRAME_UUS 600 //yuan1400
#define HALF_SECOND_TIME 62400000
uint16_t CmpTagInList(uint16_t tagid);
@@ -47,6 +47,7 @@
};
uint32_t dev_id;
uint8_t group_id;
+#ifndef STS_MODE
/* Default communication configuration. */
static struct mk_uwb_configure config = {//yuan
.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
@@ -63,6 +64,34 @@
.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 */
};
+#else
+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,
+};
+#endif
///* Default communication configuration. */
//static struct mk_uwb_configure config = {
// .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
@@ -374,10 +403,21 @@
// The following peripherals will be initialized in the uwb_open function
// phy/mac/aes/lsp/phy timers initialized
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,
@@ -385,22 +425,20 @@
.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);
-
+#ifdef STS_MODE
+ ranging_lib_init();
+#endif
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);
-//#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
--
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