From d875292ca0e18a027067f5c1c6bec205b3cfba31 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期五, 18 十月 2024 18:24:19 +0800
Subject: [PATCH] 低功耗优化代码控制在500UA左右，缩小每次接收超时时间为2500和帧间隔缩为600，URT端也相应改为400帧间隔，目前实现较稳定测距
---
keil/uwb_tag_.c | 44 +++++++++++++++++++++++++++++++-------------
1 files changed, 31 insertions(+), 13 deletions(-)
diff --git a/keil/uwb_tag_.c b/keil/uwb_tag_.c
index f181d78..5dafa93 100644
--- a/keil/uwb_tag_.c
+++ b/keil/uwb_tag_.c
@@ -25,15 +25,15 @@
#define POLL_DELAY 100U //yuan100U
/* Receive response timeout */
-#define RESP_RX_TIMEOUT_US 2000U //Yuan500 10mssuccess 300jixian
+#define RESP_RX_TIMEOUT_US 2500U //Yuan500 10mssuccess 300jixian
/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
#define FINAL_MSG_POLL_TX_TS_IDX 10
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
-#define DELAY_DEFAULT 5000
-#define DELAY_BETWEEN_TWO_FRAME_UUS 400
+#define DELAY_DEFAULT 50000
+#define DELAY_BETWEEN_TWO_FRAME_UUS 600 //yuan1400
#define HALF_SECOND_TIME 62400000
uint16_t CmpTagInList(uint16_t tagid);
@@ -220,6 +220,7 @@
//获取发射端时钟偏差
resp_rx_num++;
freq_offset=phy_freq_offset_get();
+
// freq_offset_filter=average_filter(freq_offset);//获取频偏
//int32_t ppm = freq_offset_filter / (int32_t)(ch_center_freq_map[UWB_CH_NUM] * 1e-6);
//calib_xtal38m4_load_cap_auto_tune(ppm);//利用电容调整晶振适配频偏应在完整的一包之后调整，需要关闭XTAL_AUTO_TUNE_EN 宏定义避免收包中途校准导致测距错误
@@ -366,7 +367,8 @@
temp = AddNewTagIntoList(tagid);
return temp;
}
-
+uint32_t count_index;
+int tt=1;
int TagRange(void)
{
// The following peripherals will be initialized in the uwb_open function
@@ -403,12 +405,15 @@
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
tempflag=uwb_tx(uwb_sendbuffer,13+4*nearbase_num,1,poll_tx_en_start_u32);//立即发送
-
- //gpio_pin_set(IO_PIN_5);//测试
+ #ifdef BOXING
+ gpio_pin_set(IO_PIN_5);//测试
+ #endif
//LOG_INFO(TRACE_MODULE_APP, "进入测距",poll_tx_num,resp_rx_num,distance);
poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//修正时间戳
temp_count1=phy_timer_count_get();
while(mac_is_busy());//等待发送完成
+ gpio_pin_clr(IO_PIN_5);//测试
+ gpio_pin_set(IO_PIN_5);//测试
temp_count2=phy_timer_count_get();
resp_rx_en_start_u32 = poll_tx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);//设置发送多少s后接收按target独立时间起点算+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US为发送后要多久开启接收时间
temp_resp=resp_rx_en_start_u32;
@@ -417,11 +422,14 @@
start_receive_count=phy_timer_count_get();
- poll_timeout=nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(DELAY_DEFAULT);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
+ poll_timeout=nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(RESP_RX_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();
+ count_index=end_receive_count+HALF_SECOND_TIME;
+// if(tt){
while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//循环接受包体,若为124.8K则是+62400000
{
@@ -432,7 +440,7 @@
if(receive_flag==1)//成功接收数据
{
receive_flag=0;
-
+ tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
//接收成功则判断是否为同一组
if (rx_buf[MESSAGE_TYPE_IDX] == MBX_RESPONSE&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2)&&rx_buf[GROUP_ID_IDX]==group_id) //判断接收到的数据是否是response数据
{
@@ -454,9 +462,10 @@
//break;//成功接收就退出
}
- tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
- //gpio_pin_clr(IO_PIN_5);//测试
-
+
+// #ifdef BOXING
+// gpio_pin_clr(IO_PIN_5);//测试
+// #endif
}else if(receive_flag==2){//接收出错
receive_flag=0;
tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
@@ -464,11 +473,20 @@
// while(mac_is_busy());
temp_count1=phy_timer_count_get();
}
- //gpio_pin_clr(IO_PIN_5);//测试
+ #ifdef BOXING
+ gpio_pin_clr(IO_PIN_5);//测试
+ gpio_pin_set(IO_PIN_5);//测试
+ #endif
}
+// }
+ #ifdef BOXING
+ gpio_pin_clr(IO_PIN_5);//测试
+ #endif
+ delay_us(1);
+ uwb_rx_force_off(1);
//dwt_forecetrxoff();
CalculateDists(poll_tx_ts_i64); //计算距离并更新距离表
AnchorListUpdate();//更新存活基站列表
- Rank_ANchor_list_by_dis();//冒泡排序重新按距离重新排列基站列表最小距离存货基站放到最前面
+ // Rank_ANchor_list_by_dis();//冒泡排序重新按距离重新排列基站列表最小距离存货基站放到最前面
}
#endif
\ No newline at end of file
--
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