增加STS_MODE宏定义切换

chen

2024-11-29 1ad0399f0cdc7959b8259c6b159980d3702d3794

 keil/simple_ss_twr_dw_resp.c

@@ -219,7 +219,7 @@
        poll_rx_num++;
        receive_flag=1;
        recev_error_num=0;
         sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
        sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
    }
    else
    {
@@ -282,8 +282,8 @@
    anchordata_id[i] = ancid;//与之通信的标签id存入当前表中
    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;
    tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
    distance=dist;
}
uint16_t CmpTagInList(uint16_t tagid)
{   uint16_t i;
@@ -310,16 +310,16 @@

void TagListUpdate(void)
{
   uint8_t i,j=0;
   for(i=0;i<anchordata_num;i++)
   {
      if(tagofflinetime[i]++<QUIT_SLOT_TIME)
      {
         anchordata_id[j]=anchordata_id[i];
         tagofflinetime[j++]=tagofflinetime[i];
      }
   }
   anchordata_num=j;
    uint8_t i,j=0;
    for(i=0; i<anchordata_num; i++)
    {
        if(tagofflinetime[i]++<QUIT_SLOT_TIME)
        {
            anchordata_id[j]=anchordata_id[i];
            tagofflinetime[j++]=tagofflinetime[i];
        }
    }
    anchordata_num=j;
}
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos)//根据自己是否为新基站定制消息去发送，根据是否抢占判断
{
@@ -351,7 +351,7 @@
    temp_flag=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);
    gpio_pin_clr(SCL_PIN);
}
int simple_main(void)
{
@@ -373,7 +373,7 @@

    // uwb configure
    uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);
		

    ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);

    // Register rx interrupt callback function
@@ -387,9 +387,9 @@
    uint8_t i;
    uint16_t tempid;
    temp_count3=phy_timer_count_get();
         gpio_pin_set(SCL_PIN);
    gpio_pin_set(SCL_PIN);
    uwb_rx(0, 0, RX_SYNC_WIN_US);//开启接收
      while(mac_is_busy());
    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
@@ -401,7 +401,7 @@
//      {
    if(receive_flag==1)//成功接收
    {
			   

        if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//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();
            frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
@@ -443,7 +443,7 @@
//      while(mac_is_busy());
    }
    //receive_flag=0;
         gpio_pin_clr(SCL_PIN);
    gpio_pin_clr(SCL_PIN);
}


@@ -482,65 +482,67 @@
    uint8_t i;
    uint16_t tempid;
    temp_count3=phy_timer_count_get();
      gpio_pin_set(SCL_PIN);
    gpio_pin_set(SCL_PIN);
    uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收
   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
      {
    while(mac_is_busy());

    temp_count2=phy_timer_count_get();
    if(receive_flag==1)//成功接收
    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)
    {
        if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//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();
            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
            memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
            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)
                {
                    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);
            }

        }
            gpio_pin_clr(SCL_PIN);//测试
        return 1;//返回发送成功标志
    } else if (receive_flag==2)//接受失败
    {
     uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
        end_receive_count-=UINT32_MAX;
    }
    //receive_flag=0;
   }
      gpio_pin_clr(SCL_PIN);//测试
       return 0;//返回绑定失败标志
    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());

        temp_count2=phy_timer_count_get();
        if(receive_flag==1)//成功接收
        {
            if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//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();
                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
                memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
                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)
                    {
                        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);
                }

            }
            gpio_pin_clr(SCL_PIN);//测试
            return 1;//返回发送成功标志
        } else if (receive_flag==2)//接受失败
        {
            uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
        }
        //receive_flag=0;
    }
    gpio_pin_clr(SCL_PIN);//测试
    return 0;//返回绑定失败标志
}
//}
#endif