From f975229aa44884a7dba218247a49d488f54226a0 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期一, 04 八月 2025 13:39:16 +0800
Subject: [PATCH] 测试4个基站测距
---
keil/uwb_tag_.c | 18 ++++++++++++------
1 files changed, 12 insertions(+), 6 deletions(-)
diff --git a/keil/uwb_tag_.c b/keil/uwb_tag_.c
index c667628..11640d9 100644
--- a/keil/uwb_tag_.c
+++ b/keil/uwb_tag_.c
@@ -29,7 +29,7 @@
#define POLL_DELAY 100U //yuan100U
/* Receive response timeout */
-#define RESP_RX_TIMEOUT_US_DEFAULT 600U //Yuan500 10mssuccess 300jixian
+#define RESP_RX_TIMEOUT_US_DEFAULT 700U //Yuan500 10mssuccess 300jixian
#define RESP_RX_TIMEOUT_US 2000000
/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -37,7 +37,8 @@
#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 500 //yuan1400
+//#define DELAY_BETWEEN_TWO_FRAME_UUS 500 //yuan1400
+#define DELAY_BETWEEN_TWO_FRAME_UUS 700 //yuan1400
#define HALF_SECOND_TIME 62400000
uint16_t CmpTagInList(uint16_t tagid);
@@ -51,15 +52,16 @@
};
uint32_t dev_id;
uint8_t group_id;
+
#ifdef DW1000
/* Default communication configuration. */
static struct mk_uwb_configure config = {//yuan
.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
- .phy_cfg.ch_num = 9, /* Channel number. */
+ .phy_cfg.ch_num = UWB_CH_NUM, /* 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.sync_sym = PREAM_LEN_64, /* 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 */
@@ -193,6 +195,7 @@
extern double distance;
extern uint8_t bat_percent;
uint32_t count1,count2;
+extern uint32_t reboot_num;
enum SIMPLE_FSM_T
{
SIMPLE_IDLE = 0,
@@ -212,6 +215,7 @@
{
tag_num_tosend = SEND_GROUP_MAX_NUM;
}
+ memcpy(&uwb_sendbuffer[7],&g_com_map[VERSION],2);
uwb_sendbuffer[GROUP_ID_IDX] = group_id;
memcpy(&uwb_sendbuffer[TAG_ID_IDX],&dev_id,2);
uwb_sendbuffer[BATTARY_IDX] = bat_percent;
@@ -220,7 +224,8 @@
memcpy(&uwb_sendbuffer[NEARBASEID_INDEX],&taglist_id[taglist_current_index],tag_num_tosend*2);//基站id
memcpy(&uwb_sendbuffer[NEARBASEID_INDEX+tag_num_tosend*2],&taglist_dist[taglist_current_index],tag_num_tosend*2);
uwb_sendbuffer[MESSAGE_TYPE_IDX] = MBX_POLL;
- memcpy(&uwb_sendbuffer[ANCHOR_ID_IDX],&mainbase_id,2);
+// memcpy(&uwb_sendbuffer[ANCHOR_ID_IDX],&mainbase_id,2);
+
}
static enum SIMPLE_FSM_T state = SIMPLE_IDLE;
@@ -651,6 +656,7 @@
sleep_timer_start(__MS_TO_32K_CNT(SLEEP_COUNT-rand_temp));//测试
}else 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
{
+ reboot_num=0;//清0复位监测数值
memcpy(&rec_nearbaseid,&rx_buf[ANCHOR_ID_IDX],2);
rec_tag_index = CmpTagInList(rec_nearbaseid);//当前新来的这包数据插入当前表中的位置索引
//rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
@@ -663,7 +669,7 @@
// nearbase_num++;
// nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
// }
-// exsistbase_list[rec_nearbasepos]=KEEP_TIMES;//更新存活时间
+ //exsistbase_list[rec_nearbasepos]=KEEP_TIMES;//更新存活时间
memset(rx_buf, 0, sizeof(rx_buf));//清空接收到的用完的数组
rx_length=0;//清0长度
--
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