ChinaUWBProject.git

			@@ -116,7 +116,7 @@
			uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX\|PHY_RX */
			struct UWB_CONFIG_T phy_cfg;
			};

			extern uint8_t uwb_ch;
			static struct mk_uwb_configure config = {
			.phy_work_mode = (uint8_t)(PHY_TX \| PHY_RX),
			.phy_cfg.ch_num = 5, /* Channel number. */
			@@ -230,6 +230,8 @@
			extern uint16_t mubiao_anchor_ID;
			uint8_t Lora_qingqiu_flag;
			extern uint16_t Lora_qingqiu_bao;
			uint8_t shengji_flag;
			extern uint8_t Dtu_shengji_jindu[20];
			static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
			{ uint8_t valid_sts=0;
			uint16_t checksum1 = 0,dest_id;
			@@ -251,7 +253,8 @@
			rssi = rx_report->rssi;
			receive_flag=1;
			// uart_send(UART_ID0, rx_buf,rx_length, NULL);
			if(rx_buf[MESSAGE_TYPE_IDX]==MBX_POLL)
			gpio_pin_toggle(IO_PIN_4);
			if((rx_buf[MESSAGE_TYPE_IDX]==MBX_POLL\|\|rx_buf[MESSAGE_TYPE_IDX]==DISCOVERPOLL2)&&!shengji_flag)
			{
			Anchor_App();
			}
			@@ -264,6 +267,7 @@
			{
			if(!memcmp(&dev_id,&dest_id,2)/\|\|dest_id==0xffff\|\|(dest_id==0xfffe&&get_channel==5)/)
			{
			shengji_flag=1;
			switch(rx_buf[MSG_TYPE_IDX])
			{
			case LORA_MSGTYPE_UPDATE_CONFIRM:
			@@ -285,8 +289,13 @@
			break;

			case 0x99:
			LOG_INFO(TRACE_MODULE_APP, "收到结束升级请求\r\n",Lora_qingqiu_bao);
			delay_ms(500);
			// LOG_INFO(TRACE_MODULE_APP, "收到结束升级请求\r\n",Lora_qingqiu_bao);
			delay_ms(200);
			Dtu_shengji_jindu[4]=100;
			memcpy(&Dtu_shengji_jindu[5],&mubiao_anchor_ID,2);
			uart_send(UART_ID0, Dtu_shengji_jindu,9, NULL);

			delay_ms(1000);
			// Lora_upanc_flag=0;
			Lora_qingqiu_flag=0;
			NVIC_SystemReset();
			@@ -317,7 +326,7 @@
			// }
			}
			}


			#ifdef STS_MODE
			valid_sts= sts_valid_check();
			if (valid_sts)
			@@ -473,6 +482,7 @@
			// }
			// anchordata_num=j;
			//}
			int8_t test22,test33;
			void TagListUpdate(void)
			{
			uint16_t i,j=0,k=0;
			@@ -530,11 +540,11 @@
			if(cmd_flag==0)
			{
			temp_count2=poll_rx_en_start_u32;

			group_id=0xff;
			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
			send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
			send_buffer[MESSAGE_TYPE_IDX]=POS_RESPONSE;

			// if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式自己为新基站
			// {
			@@ -559,6 +569,7 @@
			temp_count3= phy_timer_count_get();
			flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
			tagofflinetime[taglist_pos] = 0;//更新标签通信
			test33++;
			// temp_count1=phy_timer_count_get();
			//while(mac_is_busy());
			//gpio_pin_clr(SCL_PIN);
			@@ -649,6 +660,33 @@

			if(HIDO_TimerGetTick()-uwbtasktimer >=1)
			{

			for(uint16_t i=0;i<taglist_num-1;i++)
			{
			for(uint16_t j=0;j<taglist_num-1-i;j++)
			{
			if(tagdist_list[j]>tagdist_list[j+1])
			{
			uint16_t id,dist,version;
			uint8_t bat;
			id = tagid_list[j];
			dist = tagdist_list[j];
			version = anchordata_version[j];
			tagid_list[j] = tagid_list[j+1];
			tagdist_list[j] = tagdist_list[j+1];
			anchordata_version[j] = anchordata_version[j+1];
			tagid_list[j+1] = id;
			tagdist_list[j+1] = dist;
			anchordata_version[j+1] = version;
			}
			}

			}

			if(taglist_num>6)
			{
			taglist_num=6;
			}
			uwbtasktimer = HIDO_TimerGetTick();
			UWBOneSecondTask();
			uwbsend[0]=0x55;
			@@ -670,11 +708,11 @@
			{
			UWBIdleTask();
			}
			int32_t u32_rec_ancdistlist[TAG_NUM_IN_SYS];
			int Anchor_App(void)
			{
			uint8_t i;
			uint16_t tempid;
			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
			memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
			@@ -682,41 +720,25 @@
			uwb_losttimer=0;//成功测距清0 lost时间
			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
			rec_nearbase_num=rx_buf[18]; //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+2rec_nearbase_num],2rec_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;
			// }
			// }
			memcpy(rec_ancidlist,&rx_buf[19+2],2*rec_nearbase_num);

			// if(i==rec_nearbase_num)
			// {
			// seize_anchor=1; //抢占anchor
			// Anchor_RecNearPoll(i);
			// }
			memcpy(u32_rec_ancdistlist,&rx_buf[19+4+2rec_nearbase_num],4rec_nearbase_num);
			for (int i = 0; i < rec_nearbase_num+1; i++)
			{
			rec_ancdistlist[i] = (int16_t)(u32_rec_ancdistlist[i] & 0xFFFF);
			}
			test22++;
			// memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2rec_nearbase_num],2rec_nearbase_num);
			// memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);

			taglist_pos=CmpTagInList(tag_id_recv);
			if(taglist_num>=ANC_MAX_NUM)
			return 0;
			for(i=0; i<rec_nearbase_num; i++)
			{
			memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
			memcpy(&tempid,&rx_buf[19+2+i*2],2);
			if(tempid==dev_id)
			{
			Anchor_RecNearPoll(i);
			@@ -885,6 +907,7 @@
			phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
			#endif
			// Set calibration parameters
			// config.phy_cfg.ch_num=g_com_map[NEARBASE_ID1];
			uwb_calibration_params_set(config.phy_cfg.ch_num);
			#ifndef STS_MODE
			// set advanced parameters