From a530ab24b02bce971aed98c9bcc1e05c0ccf7899 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期四, 14 十一月 2024 18:24:36 +0800
Subject: [PATCH] 更改UWB基站配置
---
keil/uwb_app.c | 55 ++++++++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 50 insertions(+), 5 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 968c6d6..2be8e51 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -5,6 +5,7 @@
#include "mk_power.h"
#include "mk_sleep_timer.h"
#include "lib_ranging.h"
+#include "lib_aoa.h"
#include "dw_app_anchor.h"
#include "global_param.h"
#include "board.h"
@@ -98,7 +99,17 @@
uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
struct UWB_CONFIG_T phy_cfg;
};
-
+/* 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,
+};
///* Default communication configuration. */
//static struct mk_uwb_configure config = {//原来的基站非110k代码
// .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
@@ -115,6 +126,7 @@
// .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 */
//};
+#ifndef STS_MODE
static struct mk_uwb_configure config = {
.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
.phy_cfg.ch_num = 5, /* Channel number. */
@@ -130,6 +142,23 @@
.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 */
+};
+#endif
/* Buffer to store received frame */
/* Frames used in the ranging process
@@ -376,6 +405,10 @@
uint16_t uwb_searchcount;
uint8_t flag_recsuccess;
uint8_t flag_temp2,flag_temp1;
+ uint8_t valid_sts = 0;
+int16_t elevation = 0;
+int16_t azimuth = 0;
+uint8_t fom = 0;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag,flag_secondtask;
int UwbRange(void)
{
@@ -504,32 +537,44 @@
//主函数绑定接受逻辑
int UwbSearch(void)
{
-
uint8_t i;
uint16_t tempid;
// The following peripherals will be initialized in the uwb_open function
// phy/mac/aes/lsp/phy timers initialized
uwb_open();
+ // 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);
// Set calibration parameters
uwb_calibration_params_set(config.phy_cfg.ch_num);
- // set advanced parameters
+ // set advanced parameters
struct PHY_ADV_CONFIG_T adv_config = {
.thres_fap_detect = 40,
.nth_scale_factor = 4,
- .ranging_performance_mode = 0,
+ .ranging_performance_mode = 3,
.skip_weakest_port_en = 0,
};
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);
-
+
+ ranging_lib_init();
ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
+
+ 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);
// Register rx interrupt callback function
mac_register_process_handler(tx_int_callback, rx_int_callback);
+
receive_flag = 0;
temp_count3=phy_timer_count_get();
gpio_pin_set(SCL_PIN);
--
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