From ec80c91b764bc42e747b1d31f2df48d34a3cf647 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期六, 14 九月 2024 15:04:08 +0800
Subject: [PATCH] 初版可以和MK以及BQDW1000同时测距成功并有串口打印
---
keil/uwb_app.c | 206 +++++++++++++++++++++++++++++++++------------------
1 files changed, 132 insertions(+), 74 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 7bdaa49..e3e072d 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -31,7 +31,7 @@
static uint16_t anc_id_recv,tag_id_recv;
static int16_t rec_antdelay;
extern uint32_t dev_id;
-static uint16_t taglist_num=0,taglist_pos,tmp_time;
+static uint16_t taglist_pos,tmp_time;
extern uint16_t tag_frequency;
extern uint16_t disoffset;
static uint8_t frame_len,recpoll_len,current_syncid,new_tagid,seize_anchor,result,g_start_sync_flag;
@@ -50,7 +50,8 @@
uint32_t temp_count2=0;
uint32_t temp_count3=0;
uint32_t temp_internal=0;
-int temp_flag,distance;
+int32_t distance;
+uint8_t taglist_num;
extern uint8_t recev_error_num;
extern Operation_step UWB_work_state;
@@ -86,7 +87,7 @@
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define DELAY_DEFAULT 1000
-#define HALF_SECOND_TIME 62400000
+#define HALF_SECOND_TIME 624000000
/* Length of the common part of the message */
#define MSG_COMMON_LEN 10
@@ -98,23 +99,37 @@
struct UWB_CONFIG_T phy_cfg;
};
-/* Default communication configuration. */
+///* 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),
+// .phy_cfg.ch_num = 5, /* 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 */
+//};
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.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. */
- .phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF, /* IEEE802.15.4z - BPRF mode */
+ .phy_cfg.sfd_sym = NON_STD_NSFD5_8, /* Identifier for SFD sequence */
+ .phy_cfg.ranging_bit = 1, /* ranging bit set 1 */
+ .phy_cfg.trx_mode = TRX_MODE_15_4A, /* 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 */
};
-
/* Buffer to store received frame */
/* Frames used in the ranging process
@@ -142,9 +157,9 @@
static uint32_t resp_tx_timeout;
int64_t temp_resp_i64;
/* 41 bits timestamps of frames transmission/reception. */
- int64_t poll_rx_ts_i64;
- int64_t resp_tx_ts_i64;
- int64_t final_rx_ts_i64;
+int64_t poll_rx_ts_i64;
+int64_t resp_tx_ts_i64;
+int64_t final_rx_ts_i64;
/* Frame sequence number, incremented after each transmission. */
static uint8_t frame_seq_nb = 0;
@@ -195,6 +210,7 @@
}
/* RX done process handler. */
+int8_t rssi;
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{
// Power off radio
@@ -212,8 +228,9 @@
poll_rx_en_start_u32 = rx_rpt.timestamp - phy_shr_duration();
poll_rx_ts_i64 = ranging_rx_time_correct(&rx_rpt);
poll_rx_num++;
+ rssi = rx_report->rssi;
receive_flag=1;
- recev_error_num=0;
+
}
else
{
@@ -223,9 +240,10 @@
/* UWB_BD_ERR Preamble detection error */
/* UWB_TO_ERR Receive timeout */
/* UWB_STS_ERR STS error */
+ temp_count= phy_timer_count_get();
memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
rx_length = 0;
-
+
}
}
@@ -251,6 +269,7 @@
static int32_t tagdist_list[TAG_NUM_IN_SYS];
uint16_t random_time;
//anchor
+int32_t hist_dist;
void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary)
{
uint8_t i;
@@ -271,7 +290,8 @@
anchordata_dist[i] = dist;
anchordata_bat[i] = battary;
tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
- distance=dist;
+// if(dist>0)
+ distance=dist*0.5+distance*0.5;
}
uint16_t CmpTagInList(uint16_t tagid)
{ uint16_t i;
@@ -285,6 +305,7 @@
//tagofflinetime[i] = 0;
return i;
}
+
static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts)
{
int i,ts2;
@@ -336,11 +357,14 @@
memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&disoffset,2);//差个修正offset,修正有符号但是这个com表为无符号的,传过去直接赋给Int16_t相当于还原了
temp_resp_i64=resp_tx_ts_i64;
temp_count3= phy_timer_count_get();
- temp_flag=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
+ 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);
}
+uint16_t uwb_searchcount,range_timeout_us = 5000;
+uint8_t flag_recsuccess;
+extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
int UwbRange(void)
{
uint8_t i;
@@ -370,24 +394,36 @@
mac_register_process_handler(tx_int_callback, rx_int_callback);
receive_flag = 0;
+ flag_recsuccess = 0;
temp_count3=phy_timer_count_get();
gpio_pin_set(SCL_PIN);
- uwb_rx(0, 0, RX_SYNC_WIN_US);//开启接收
- while(mac_is_busy());
- temp_count2=phy_timer_count_get();
-// start_receive_count=phy_timer_count_get();
-// poll_timeout=rec_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
-// 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();
-// 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
-// {
+ uwb_rx(0, 0, range_timeout_us);//开启接收
+ // while(mac_is_busy());
+ // temp_count2=phy_timer_count_get();
+ start_receive_count=phy_timer_count_get();
+ poll_timeout=US_TO_PHY_TIMER_COUNT(range_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();
+ 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
+ {
+ current_count=phy_timer_count_get();
+ while(mac_is_busy())
+ {
+ IdleTask();
+ current_count=phy_timer_count_get();
+ if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
+ {
+ break;
+ }
+ }
if(receive_flag==1)//成功接收
{
if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL&&!memcmp(&rx_buf[TAG_ID_IDX],&g_com_map[BIND_DEV_ID],2))//判断是否是和自己是同一组通讯的且为poll包
- { temp_count2=phy_timer_count_get();
+ { flag_recsuccess = 1;
+ temp_count2=phy_timer_count_get();
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
@@ -399,6 +435,7 @@
{
if(rec_ancidlist[i] == dev_id)
{
+ rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
}
}
@@ -417,19 +454,29 @@
{
seize_anchor=1; //抢占anchor
Anchor_RecNearPoll(i);
-
- }
- }
- }else{
-
- if(recev_error_num++>20)
- {
- recev_error_num=0;
- UWB_work_state=SEARCH_DEV;
}
- }
- sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
+ recev_error_num=0;
+ sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
+ LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度：%d.\r\n",g_com_map[BIND_DEV_ID],distance,rssi);
+ break;
+ }
+ } else {
+ uwb_rx(0, 0, range_timeout_us);
+ }
+ }
+ if(!flag_recsuccess)
+ {
+ sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-3));//测试
+ LOG_INFO(TRACE_MODULE_APP,"测距失败，计数：%d\r\n",recev_error_num);
+ if(recev_error_num++>5)
+ {
+ recev_error_num=0;
+ UWB_work_state=SEARCH_DEV;
+ uwb_searchcount = 0;
+ search_open_flag = 1;
+ }
+ }
gpio_pin_clr(SCL_PIN);
}
@@ -437,7 +484,7 @@
//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
@@ -474,18 +521,19 @@
{
end_receive_count-=UINT32_MAX;
}
-
+ current_count=phy_timer_count_get();
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
{
while(mac_is_busy())
- {
+ {
+ IdleTask();
current_count=phy_timer_count_get();
if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
{
-
+ break;
}
}
-
+
temp_count2=phy_timer_count_get();
if(receive_flag==1)//成功接收
{
@@ -522,46 +570,48 @@
Anchor_RecNearPoll(i);
}
sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
- gpio_pin_clr(SCL_PIN);//测试
- return 1;//返回发送成功标志
+ gpio_pin_clr(SCL_PIN);//测试
+ return 1;//返回发送成功标志
}
-
+
}
-
- uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
+ temp_count3=phy_timer_count_get();
+ uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
}
+ // LOG_INFO(TRACE_MODULE_APP,"超时定时器：%x,%x,%x\r\n",start_receive_count,end_receive_count,current_count);
gpio_pin_clr(SCL_PIN);//测试
return 0;//返回绑定失败标志
}
//}
-#define SEARCH_TIMESTEMP 120
-uint16_t uwb_searchcount;
-extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
+#define SEARCH_TIMESTEMP 20
void UWBPoll(void)
{
- switch(UWB_work_state)
- {
+ switch(UWB_work_state)
+ {
case LINK_SUCCESS:
{ //连接成功进行轮询测距
-
- uwb_led_on();
- UwbRange();
- uwb_led_off();
-
+
+ uwb_led_on();
+ UwbRange();
+ uwb_led_off();
+
}
break;
case SEARCH_DEV:
{ //接包不成功或者通讯失败进入搜索模式
- if(search_open_flag)
- {
- first_search_flag=0;
+ if(search_open_flag)
+ {
+ LOG_INFO(TRACE_MODULE_APP,"开启搜索\r\n");
+ search_open_flag=0;
uwb_led_on();
link_success_flag=UwbSearch();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
uwb_led_off();
if(link_success_flag)
UWB_work_state=LINK_SUCCESS;
+ }else{
+ LOG_INFO(TRACE_MODULE_APP,"等待进入搜索模式：%d\r\n",SEARCH_TIMESTEMP-uwb_searchcount);
}
}
@@ -573,25 +623,33 @@
break;
}
if(UWB_work_state==LINK_SUCCESS)
- { //成功时清0错误计数
- uwb_searchcount=0;
+ { //成功时清0错误计数
+ uwb_searchcount=0;
}
if(UWB_work_state==SEARCH_DEV)
- {
+ {
if(!search_open_flag)
- {
+ {
if(uwb_searchcount++>SEARCH_TIMESTEMP)
- {
- uwb_searchcount=0;
- search_open_flag=1;
- }
+ {
+ uwb_searchcount=0;
+ search_open_flag=1;
+ }
}
//link_error_count+=g_com_map[COM_INTERVAL];
//if(link_error_count>=g_com_map[4G_INTERNAL])
//link_error_count=0;
update_led_power_state();//更新灯状态
}
+ LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
}
-
+uint8_t GetUWBBindState(void)
+{
+ if(UWB_work_state == UN_BIND)
+ {
+ return 0;
+ }
+ return 1;
+}
--
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