蓝牙转发添加进去，测试正常，现在的逻辑是3s唤醒一次测距

zhangbo

2025-03-11 08f19873a4a31b79da6f5438a936568b0c6c5b48

 keil/uwb_app.c

@@ -9,6 +9,7 @@
#include "global_param.h"
#include "board.h"
#include "lora_1268.h"
#include "PCA9555.h"

#define TAG_KEEPTIMES           30
#define REPORT_TAG_KEEPTIMES     1
@@ -396,6 +397,8 @@
    //tagofflinetime[i] = 0;
    return i;
}


static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts)
{
    int i,ts2;
@@ -760,46 +763,65 @@
uint32_t wltag_statetimer,wltag_uwbtimer;
int uwb_app_poll(void)
{
//   switch(wltag_state)
//   {
//   case RANGE:
//   if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
//      {
//            wltag_uwbtimer = HIDO_TimerGetTick();
//            OpenUWB();
//      }
//   else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1)
//      {
//            wltag_uwbtimer = HIDO_TimerGetTick();
//            CloseUWB();
//      }
//      if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
//      { 
//       wltag_statetimer = HIDO_TimerGetTick();
//         if(uwb_rx_flag==0)//若要切换到搜索模式时没有开启则开启UWB
//         {
//            OpenUWB();
//         }
//     wltag_state = SEARCH;
//      }
//      break;
//   case SEARCH:
//      if(HIDO_TimerGetTick()-wltag_statetimer>1)
//      {
//      wltag_statetimer = HIDO_TimerGetTick();
//    wltag_state = CLOSE;
//    CloseUWB();
//      }
//      break;
//   case CLOSE:
//      if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
//      {
//      wltag_statetimer = HIDO_TimerGetTick();
//    wltag_state = SEARCH;
//    OpenUWB();
//      }
//      break;
//   }
   switch(wltag_state)
   {
		
   case RANGE:
//   time_flag=HIDO_TimerGetTick()-wltag_uwbtimer;
   if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
      { 
            UWB_LED_ON;
            wltag_uwbtimer = HIDO_TimerGetTick();
            if(UWB_STATE==UWB_STATE_IDLE)
            {
               UWB_STATE=UWB_RX_STATE_BUSY;
               OpenUWB();
            }
      }
   else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1)
      {
//         time_flag=HIDO_TimerGetTick()-wltag_uwbtimer;
           UWB_LED_OFF;
            wltag_uwbtimer = HIDO_TimerGetTick();
            CloseUWB();
           UWB_STATE=UWB_STATE_IDLE;
      }
      if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
      { 
       wltag_statetimer = HIDO_TimerGetTick();
         if(uwb_rx_flag==0)//若要切换到搜索模式时没有开启则开启UWB
         {
            if(UWB_STATE==UWB_STATE_IDLE)
            {
               UWB_STATE=UWB_RX_STATE_BUSY;
               OpenUWB();
            }
         }
     wltag_state = SEARCH;
      }
      break;
   case SEARCH:
      if(HIDO_TimerGetTick()-wltag_statetimer>1)
      {
         wltag_statetimer = HIDO_TimerGetTick();
         wltag_state = CLOSE;
         CloseUWB();
         UWB_STATE=UWB_STATE_IDLE;
      }
      break;
   case CLOSE:
      if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
      {
         wltag_statetimer = HIDO_TimerGetTick();
         wltag_state = SEARCH;
         if(UWB_STATE==UWB_STATE_IDLE)
         {
            UWB_STATE=UWB_RX_STATE_BUSY;
            OpenUWB();
         }
      }
      break;
   }
    UWBIdleTask();
}
int Anchor_App(void)
@@ -819,31 +841,7 @@
            memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
            memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
            memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
//            for(i=0; i<rec_nearbase_num; i++)
//            {
//                if(rec_ancidlist[i] == dev_id)
//                {      temp_recdist_before_offset=rec_ancdistlist[i];
//                    rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
//                    PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
//                }
//            }
//            for(i=0; i<rec_nearbase_num; i++)
//            {
//                memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
//                if(tempid==dev_id)//也是比id如果有就更新没有就抢占
//                {
//                    seize_anchor=0;  //非抢占。已存在列表中
//                    Anchor_RecNearPoll(i);
//                    break;
//                }
//            }

//            if(i==rec_nearbase_num)
//            {
//                seize_anchor=1;   //抢占anchor
//                Anchor_RecNearPoll(i);
//            }
                        taglist_pos=CmpTagInList(tag_id_recv);
                  taglist_pos=CmpTagInList(tag_id_recv);
                if(taglist_num>=ANC_MAX_NUM)
                              return 0;
                         for(i=0; i<rec_nearbase_num; i++)