From f317cd42f19ea851e851600216750ababf89d6c0 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期四, 13 三月 2025 18:00:20 +0800
Subject: [PATCH] 初步调号极限稳定测距rx间隔
---
keil/uwb_tag_.c | 113 ++++++++++++++++++++++++++++++++++----------------------
1 files changed, 68 insertions(+), 45 deletions(-)
diff --git a/keil/uwb_tag_.c b/keil/uwb_tag_.c
index 29c268a..aae755d 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 6000U //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);
@@ -47,38 +47,38 @@
};
uint32_t dev_id;
uint8_t group_id;
-/* Default communication configuration. */
-static struct mk_uwb_configure config = {//yuan
- .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 = 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 */
-};
///* Default communication configuration. */
-//static struct mk_uwb_configure config = {
+//static struct mk_uwb_configure config = {//yuan
// .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
// .phy_cfg.ch_num = 5, /* Channel number. */
-// .phy_cfg.code_index = 3, /* TX preamble code. */
-// .phy_cfg.mean_prf = MEAN_PRF_16M, /* Data rate 6.8M */
-// .phy_cfg.data_bit_rate = DATA_BR_110K, /* data rate 6.8M. */
-// .phy_cfg.sync_sym = PREAM_LEN_1024, /* Preamble duration, length of preamble 128 */
-// .phy_cfg.sfd_sym = NSFD_64, /* Identifier for SFD sequence */
-// .phy_cfg.ranging_bit = 1, /* ranging bit set. */
+// .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 = 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 */
//};
+/* Default communication configuration. */
+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 = 3, /* TX preamble code. */
+ .phy_cfg.mean_prf = MEAN_PRF_16M, /* Data rate 6.8M */
+ .phy_cfg.data_bit_rate = DATA_BR_110K, /* data rate 6.8M. */
+ .phy_cfg.sync_sym = PREAM_LEN_1024, /* Preamble duration, length of preamble 128 */
+ .phy_cfg.sfd_sym = NSFD_64, /* Identifier for SFD sequence */
+ .phy_cfg.ranging_bit = 1, /* ranging bit set. */
+ .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 */
static uint8_t rx_buf[150];
static uint8_t uwb_sendbuffer[150];
@@ -220,9 +220,10 @@
//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
+
+ // 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
//LOG_INFO(TRACE_MODULE_APP, "poll_tx_num is %d,resp_rx_num is %d,distance is %lf\r\n",poll_tx_num,resp_rx_num,distance);
receive_flag=1;
@@ -366,10 +367,11 @@
temp = AddNewTagIntoList(tagid);
return temp;
}
-
-int TagRange(void)
+uint32_t count_index;
+int tt=1;
+void uwb_tag_init(void)
{
- // The following peripherals will be initialized in the uwb_open function
+// The following peripherals will be initialized in the uwb_open function
// phy/mac/aes/lsp/phy timers initialized
uwb_open();
@@ -390,25 +392,34 @@
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);
-
+
+}
+int TagRange(void)
+{
+
+ phy_timer_open(1, IRQ_PRIORITY_HIGH);
//#if LOW_POWER_EN
// // Initialize low power mode
// power_init();
// // Enable sleep timer
// sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, NULL);
//#endif
+ // Register rx interrupt callback function
+
+ mac_register_process_handler(tx_int_callback, rx_int_callback);
uwb_poll_buffer_construct();
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;
@@ -417,14 +428,16 @@
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
{
-
current_count=phy_timer_count_get();//不断刷新当前计数器值
temp_count2=phy_timer_count_get();
while(mac_is_busy());//等待接收完成
@@ -432,7 +445,7 @@
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 +467,10 @@
//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 +478,20 @@
// 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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