led去掉时间正常

zhangbo

2025-05-15 1bbe2af28715f5543352965a6ba810804486af52

 keil/uwb_app.c

@@ -326,6 +326,7 @@
uint16_t ERR_RX_NUM;
uint8_t send_qiangzhan_NUM;
uint8_t resp_tx_flag;
uint32_t temp_c[10];
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{      uint8_t valid_sts=0;
    // Power off radio
@@ -341,18 +342,19 @@
        memcpy(rx_buf, rx_report->pkt_data, rx_length);
        memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
        /* Calculate rx timestamp */
        temp_count= phy_timer_count_get();
        
        poll_rx_en_start_u32 = rx_rpt.timestamp - phy_shr_duration();
        poll_rx_ts_i64 = ranging_rx_time_correct(&rx_rpt);
        poll_rx_num++;
            REV_RX_NUM++;
        rssi = rx_report->rssi;
        receive_flag=1;
            temp_count= phy_timer_count_get();
            Anchor_App();
        if(resp_tx_flag==0)
        {
            OpenUWB();
        }			
          if(resp_tx_flag==0)
         {
           OpenUWB();
         }
         #ifdef STS_MODE
            valid_sts= sts_valid_check();
      if (valid_sts)
@@ -386,8 +388,14 @@

            OpenUWB();//再次开启UWB接收
    }
//     OpenUWB();//再次开启UWB接收

//   OpenUWB();//再次开启UWB接收
#ifdef USE_TX_UWBON			
            if(UWB_STATE==UWB_STATE_IDLE)
            {
               UWB_STATE=UWB_RX_STATE_BUSY;
               OpenUWB();//再次开启UWB接收
            }
#endif
}
uint16_t TX_CALL_POLL_NUM;
/* TX done process handler. */
@@ -395,6 +403,11 @@
{
    // Power off radio
    power_off_radio();
#ifdef USE_TX_UWBON
        UWB_STATE=UWB_STATE_IDLE;			
            UWB_STATE=UWB_RX_STATE_BUSY;
           OpenUWB();//再次开启UWB接收	
#endif
    /** UWB TX success */
    if (tx_report->err_code == UWB_TX_OK)
    {
@@ -402,10 +415,8 @@
         
        temp_count= phy_timer_count_get();
        temp_internal=temp_count;
        
        OpenUWB();
           TX_CALL_POLL_NUM++;
			
           OpenUWB();
//           if(send_qiangzhan_NUM)
//            {
//            send_qiangzhan_NUM=0;
@@ -527,7 +538,7 @@
uint16_t response_num;
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
{
    temp_count2=poll_rx_en_start_u32;
//    temp_count2=phy_timer_count_get();
    memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//组id
    memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);//自身id
    memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);//接受者id
@@ -546,7 +557,7 @@
//            //这里应该有问题问一下钟工
//      }//此处设置绝对时间将poll u32改为phy_timer_count_get()
      position=ancrec_nearbasepos;
     temp_count1=phy_timer_count_get();
	 
      resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+ancrec_nearbasepos*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//加入帧间隔
//    resp_tx_en_start_u32 = temp_count1+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+ancrec_nearbasepos*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//加入帧间隔
    resp_tx_ts_i64 = ranging_tx_time_correct(resp_tx_en_start_u32 + phy_shr_duration());//修正时间戳
@@ -555,7 +566,7 @@
    resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts_i64);//此处时间戳int64直接转换为uint64不知道会不会有错误
    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();
    
    UWB_STATE==UWB_TX_STATE_BUSY;
      flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
    resp_tx_flag=1;
@@ -704,6 +715,7 @@
{
            uint8_t i;
            uint16_t tempid;
   temp_count1=phy_timer_count_get();
         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
        {    flag_recsuccess = 1;
//                  wltag_state=RANGE;//成功后从search切换为range
@@ -716,11 +728,13 @@
            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);
               temp_count2=phy_timer_count_get();
            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);
                  taglist_pos=CmpTagInList(tag_id_recv);
                  UWB_LED_ON;
               //   UWB_LED_ON;
                temp_count3=phy_timer_count_get();
                if(taglist_num>=ANC_MAX_NUM)
                              return 0;
                         for(i=0; i<rec_nearbase_num; i++)
@@ -739,6 +753,7 @@
                                    break;
                              }
                        }
								 
                         if((i==rec_nearbase_num&&taglist_pos==taglist_num)||(rec_nearbase_num==0&&!ExistInTagList(tag_id_recv)))//当基站不在标签列表中，标签也不在基站列表中时，随机找个时间片回复基站。
                {
                       Anchor_RecNearPoll(rec_nearbase_num);