ChinaUWBProject.git

			@@ -78,7 +78,7 @@
			#define RANGING_PERIOD_MS (1000)

			/* This is the delay from Frame RX POLL frame to send RESP Frame */
			#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan600 success 并且不卡busy
			#define POLL_RX_TO_RESP_TX_DLY_US 1100U //yuan600 success 并且不卡busy

			#define RESP_TX_TO_FINAL_RX_DLY_US 500U

			@@ -123,7 +123,7 @@
			.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 */
			@@ -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;
			@@ -252,7 +254,7 @@
			receive_flag=1;
			// uart_send(UART_ID0, rx_buf,rx_length, NULL);
			gpio_pin_toggle(IO_PIN_4);
			if(rx_buf[MESSAGE_TYPE_IDX]==MBX_POLL)
			if(rx_buf[MESSAGE_TYPE_IDX]==MBX_POLL&&!shengji_flag)
			{
			Anchor_App();
			}
			@@ -265,6 +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:
			@@ -286,8 +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();
			@@ -650,6 +658,33 @@

			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;
			@@ -886,7 +921,7 @@
			phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
			#endif
			// Set calibration parameters
			config.phy_cfg.ch_num=g_com_map[NEARBASE_ID1];
			// 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