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 | 36 ++++++++++++++++++++++++------------
1 files changed, 24 insertions(+), 12 deletions(-)
diff --git a/keil/uwb_tag_.c b/keil/uwb_tag_.c
index 5f3ecee..5dafa93 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 400
+#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
@@ -410,6 +412,8 @@
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;
@@ -418,11 +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
{
@@ -433,7 +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
{
@@ -455,10 +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
- #ifdef BOXING
- gpio_pin_clr(IO_PIN_5);//测试
- #endif
+
+// #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
@@ -466,12 +473,17 @@
// while(mac_is_busy());
temp_count1=phy_timer_count_get();
}
- #ifdef BOXING
+ #ifdef BOXING
gpio_pin_clr(IO_PIN_5);//测试
+ gpio_pin_set(IO_PIN_5);//测试
#endif
}
-// delay_us(1);
-// uwb_rx_force_off(1);
+// }
+ #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
--
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