From c653225a505eb47752ac707dc47f1b15385c81d8 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期五, 17 一月 2025 18:05:14 +0800
Subject: [PATCH] 加入标签电量的存储逻辑，和更新的逻辑，精简了代码函数封装
---
keil/uwb_app.c | 462 +++++++++++++++++++++++++++++++++------------------------
1 files changed, 264 insertions(+), 198 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 1e5b622..9ee2b38 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -17,6 +17,9 @@
void TagListUpdate(void);
void TagListUpdate_person_num(void);
void Uwb_init(void);
+void OpenUWB(void);
+void CloseUWB(void);
+int Anchor_App(void);
extern void IO_LED_control_change(uint8_t data);
extern void IO_control_init(void);
@@ -62,14 +65,20 @@
uint8_t taglist_num;
float *sts_rssi=NULL;
extern uint8_t recev_error_num;
-
+uint8_t uwb_rx_flag;
extern Operation_step UWB_work_state;
extern int16_t first_search_flag;
+typedef enum
+{
+ SEARCH,
+ CLOSE,
+ RANGE,
+}enumwltagstate;
/* Ranging period */
#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 2000U //yuan670 with urt 3000success
+#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan550极限
#define RESP_TX_TO_FINAL_RX_DLY_US 500U
@@ -88,7 +97,7 @@
/* RX window open in advance */
#define RX_WIN_IN_ADVANCE_US (150)
-#define DELAY_BETWEEN_TWO_FRAME_UUS 300 //yuan1400
+#define DELAY_BETWEEN_TWO_FRAME_UUS 500 //yuan1400
/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -124,7 +133,7 @@
// .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
+#ifdef DW1000
static struct mk_uwb_configure config = {
.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
.phy_cfg.ch_num = 5, /* Channel number. */
@@ -140,7 +149,7 @@
.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 */
};
-#else
+#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. */
@@ -156,7 +165,6 @@
.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
/* 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,
@@ -168,6 +176,24 @@
.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
+
static struct anchor_id_car{
uint16_t anchor_new_id;
uint16_t change_num;
@@ -253,6 +279,9 @@
/* RX done process handler. */
int8_t rssi;
+uint32_t range_timeout_us = 2000000;//yuan5000
+uint8_t flag_temp2,flag_temp1;
+uint16_t uwb_losttimer;
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{ uint8_t valid_sts=0;
// Power off radio
@@ -272,6 +301,8 @@
poll_rx_num++;
rssi = rx_report->rssi;
receive_flag=1;
+ Anchor_App();
+ #ifdef STS_MODE
valid_sts= sts_valid_check();
if (valid_sts)
{
@@ -285,6 +316,7 @@
sts_rssi = sts_rssi_output_get();
}
+ #endif
}
else
{
@@ -297,8 +329,9 @@
temp_count= phy_timer_count_get();
memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
rx_length = 0;
-
+ // OpenUWB();//再次开启UWB接收
}
+ OpenUWB();//再次开启UWB接收
}
/* TX done process handler. */
@@ -313,6 +346,7 @@
temp_count= phy_timer_count_get();
temp_internal=temp_count;
resp_tx_num++;
+ // OpenUWB();//再次开启UWB接收
//LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
}
}
@@ -358,17 +392,35 @@
// }
}
+//uint16_t CmpTagInList(uint16_t tagid)
+//{ uint16_t i;
+// for(i=0; i<taglist_num; i++)
+// {
+// if(memcmp(&tagid,&anchordata_id[i],2)==0)
+// break;
+// }
+// if(i==taglist_num)
+// return taglist_num;
+// //tagofflinetime[i] = 0;
+// return i;
+//}yuan
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;
+}
+uint16_t ExistInTagList(uint16_t tagid)
+{ uint16_t i;
+ for(i=0; i<taglist_num; i++)
+ {
+ if(memcmp(&tagid,&tagid_list[i],2)==0)
+ return 1;
+ }
+ return 0;
}
uint16_t CmpCarInExistList(uint16_t tagid)
@@ -395,22 +447,36 @@
}
}
+//void TagListUpdate(void)
+//{
+// uint8_t i,j=0;
+// for(i=0; i<anchordata_num; i++)
+// {
+// if(tagofflinetime[i]++<QUIT_SLOT_TIME)
+// {
+// anchordata_id[j]=anchordata_id[i];
+// tagofflinetime[j++]=tagofflinetime[i];
+// }
+// }
+// anchordata_num=j;
+//}
void TagListUpdate(void)
{
- uint8_t i,j=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];
+ anchordata_bat[j]=anchordata_bat[i];//电量随之更新
tagofflinetime[j++]=tagofflinetime[i];
}
- }
- anchordata_num=j;
+ }
+ taglist_num=j;
}
-
-uint8_t flag_temp2,flag_temp1;
+uint8_t position;
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;
@@ -432,7 +498,8 @@
// 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()
- resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US);
+ position=ancrec_nearbasepos;
+ 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_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);
@@ -441,11 +508,12 @@
temp_resp_i64=resp_tx_ts_i64;
temp_count3= phy_timer_count_get();
flag_temp2=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());
- gpio_pin_clr(SCL_PIN);
+ tagofflinetime[taglist_pos] = 0;//更新标签通信
+// temp_count1=phy_timer_count_get();
+ //while(mac_is_busy());
+ //gpio_pin_clr(SCL_PIN);
}
-uint32_t range_timeout_us = 5000;//yuan5000
+
uint16_t uwb_searchcount;
uint8_t flag_recsuccess;
@@ -457,6 +525,10 @@
uint16_t anchor_id_in[TAG_NUM_IN_SYS],anchor_id_out[TAG_NUM_IN_SYS];
uint8_t secondtask_search_count,secondtask_search_flag;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag,flag_secondtask;
+enumwltagstate wltag_state=RANGE;
+uint32_t wltag_statetimer,wltag_uwbtimer;
+uint32_t uwbtasktimer=0,uwbtagsendtimer=0;
+
uint16_t CmpCarInTable(uint16_t tagid)
{ uint16_t i;
for(i=0; i<get_in_num; i++)
@@ -469,71 +541,6 @@
//tagofflinetime[i] = 0;
return i;
}
-void TagListUpdate_person_num(void)
-{
- uint8_t i,j=0;
- for(i=0; i<anchordata_num; i++)
- {
- if(tagofflinetime[i]++<QUIT_SLOT_TIME)
- {
- anchordata_id[j]=anchordata_id[i];
- tagofflinetime[j++]=tagofflinetime[i];
- }else{
-// for(int h=0;h<get_in_num;h++)//消除车内离线id
-// {
-// if(anchordata_id[i]==anchor_id_in[h])
-// {
-// for(int k=h+1;k<get_in_num;k++)
-// {
-// anchor_id_in[k-1]=anchor_id_in[k];//缺个数量--
-// }
-// get_in_num--;//车内不删除
-// }
-// }
- for(int h=0;h<get_out_num;h++)//消除车外离线id
- {
- if(anchordata_id[i]==anchor_id_out[h])
- {
- for(int k1=h+1;k1<get_out_num;k1++)
- {
- anchor_id_out[k1-1]=anchor_id_out[k1];//缺个数量--
- }
- get_out_num--;
- }
- }
- }
- }
- anchordata_num=j;
-
-}
-void in_table_log(void)
-{
- uint32_t u32LogLen,datalenth;
- char acReadponse[200];
- u32LogLen = snprintf(acReadponse, sizeof(acReadponse), "车内：%d 人 ID:",get_in_num,get_out_num);
- for(uint16_t i=0;i<get_in_num;i++)
- {
- datalenth = sprintf((char*)&acReadponse[u32LogLen],",%04X",anchor_id_in[i]);
- u32LogLen += datalenth;
- }
- LOG_INFO(TRACE_MODULE_APP,"%s\r\n",acReadponse);
-}
-void TagListUpdate_person_num_car(void)
-{
-uint8_t i,j=0;
- for(i=0; i<anchordata_num; i++)
- {
- if(tagofflinetime[i]++<QUIT_SLOT_TIME)
- {
- anchordata_id[j]=anchordata_id[i];
- tagofflinetime[j++]=tagofflinetime[i];
- }else{
- change_count[j]=0;
- }
- }
- anchordata_num=j;
-
-}
void Calibration_Time(void)
{
current_count_calibration=phy_timer_count_get();
@@ -541,7 +548,7 @@
&&!((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)
{
@@ -564,115 +571,146 @@
}
}
uint16_t g_com_receive_id;
-int add_in_car_table(uint16_t position_anchor_in_table,uint16_t receive_success_id)
+void CloseUWB(void)
{
- if(position_anchor_in_table==get_in_num)//新增
- {
- if(get_in_num<TAG_NUM_IN_SYS-1)
- get_in_num++;
- }
- anchor_id_in[position_anchor_in_table]=receive_success_id;
+ uwb_rx_force_off(1);
+ uwb_rx_flag=0;
+ //LOG_INFO(TRACE_MODULE_APP,"关闭uwb_rx\r\n");
}
-int delete_in_car_table(uint16_t position_anchor_in_table)
+void OpenUWB(void)
{
- if(position_anchor_in_table<get_in_num)//若在列表里
- {
- for(int i=position_anchor_in_table+1;i<get_in_num;i++)
- {
- anchor_id_in[i-1]=anchor_id_in[i];//缺个数量--
- }
- get_in_num--;//更新列表现存数
- }
+ 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");
+}
+void UWBOneSecondTask(void)
+{
+ TagListUpdate();//更新标签数
+ uwb_losttimer++;
+ if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
+ uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//防止溢出
}
-void check_if_in_or_out(uint16_t receive_success_id,int32_t distance_from_tag,float rssi_ant0,float rssi_ant2)
+void UWBIdleTask(void)
{
- uint8_t i;
- if(rssi_ant0>rssi_ant2&&distance_from_tag<200)
- {
- for(i=0; i<get_in_num; i++)
- {
- if(anchor_id_in[i] == receive_success_id)//查询标签是否在自己已通讯列表中
- {
- break;
- }
- }
- if(i==get_in_num)
- {
- if(get_in_num<TAG_NUM_IN_SYS-1)
- get_in_num++;
- for(i=0;i<get_out_num;i++)//消除车外id
- {
- if(receive_success_id==anchor_id_out[i])
- {
- for(i=i+1;i<get_out_num;i++)
- {
- anchor_id_out[i-1]=anchor_id_out[i];//缺个数量--
- }
- get_out_num--;
- }
- }
- anchor_id_in[get_in_num-1]=receive_success_id;
- }
- }else if(rssi_ant0<rssi_ant2&&distance_from_tag<200)
+ if(HIDO_TimerGetTick()-uwbtasktimer >=1)
{
- for(i=0; i<get_out_num; i++)
- {
- if(anchor_id_out[i] == receive_success_id)//查询标签是否在自己已通讯列表中
- {
-
- break;
- }
- }
- if(i==get_out_num)
- {
- if(get_out_num<TAG_NUM_IN_SYS-1)
- get_out_num++;
- for(i=0;i<get_in_num;i++)//消除车内id
- {
- if(receive_success_id==anchor_id_in[i])
- {
- for(i=i+1;i<get_in_num;i++)
- {
- anchor_id_in[i-1]=anchor_id_in[i];//缺个数量--
- }
- get_in_num--;
- }
- }
- anchor_id_out[get_out_num-1]=receive_success_id;
- }
+ uwbtasktimer = HIDO_TimerGetTick();
+ UWBOneSecondTask();
}
}
-
-void check_if_in_or_out_car(uint16_t receive_success_id,int32_t distance_from_tag,float rssi_ant0,float rssi_ant2)
+int uwb_app_poll(void)
{
- uint8_t i;
- uint16_t position_anchor_exist,position_anchor_in_table;
- position_anchor_exist=CmpCarInExistList(receive_success_id);
- if(rssi_ant0>rssi_ant2&&distance_from_tag<200)
- {
- change_count[position_anchor_exist]++;
- if(change_count[position_anchor_exist]>0)
- {
- position_anchor_in_table=CmpCarInTable(receive_success_id);
- add_in_car_table(position_anchor_in_table,receive_success_id);
- }
- if(change_count[position_anchor_exist]>=3)
- { change_count[position_anchor_exist]=3;
-
- }
- }else if(rssi_ant0<rssi_ant2&&distance_from_tag<200)
- {
- change_count[position_anchor_exist]--;
- if(change_count[position_anchor_exist]<0)
- {
- position_anchor_in_table=CmpCarInTable(receive_success_id);
- delete_in_car_table(position_anchor_in_table);
- }
- if(change_count[position_anchor_exist]<=-3)
- {change_count[position_anchor_exist]=-3;
- }
- }
+// 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();
+}
+int Anchor_App(void)
+{
+ uint8_t i;
+ uint16_t tempid;
+ 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
+ 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
+ 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)
+// { 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);
+ if(taglist_num>=ANC_MAX_NUM)
+ return 0;
+ 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];
+ 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;
+ }
+ }
+ 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);
+ }
+ }
+
+
}
int UwbRange(void)
{
@@ -680,7 +718,7 @@
uint16_t tempid;
// The following peripherals will be initialized in the uwb_open function
// phy/mac/aes/lsp/phy timers initialized
- uwb_open();
+ //uwb_open();
// // Set calibration parameters
// uwb_calibration_params_set(config.phy_cfg.ch_num);
@@ -700,7 +738,7 @@
// 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);
+ //mac_register_process_handler(tx_int_callback, rx_int_callback);
receive_flag = 0;
flag_recsuccess = 0;
@@ -775,8 +813,7 @@
}
recev_error_num=0;
//range_timeout_us=5000;//恢复为5000进入range后
- LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 包序%d\r\n",g_com_receive_id,distance,frame_seq_nb2);
- check_if_in_or_out_car(g_com_receive_id,distance,sts_rssi[0],sts_rssi[2]);
+ //LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 包序%d\r\n",g_com_receive_id,distance,frame_seq_nb2);
gpio_pin_clr(SCL_PIN);
@@ -812,36 +849,50 @@
}
void Uwb_init(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
}
//主函数绑定接受逻辑
int UwbSearch(void)
@@ -851,36 +902,51 @@
// 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);
// 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);
+ #ifdef STS_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
// Register rx interrupt callback function
mac_register_process_handler(tx_int_callback, rx_int_callback);
--
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