ChinaUWBProject.git

			@@ -79,7 +79,7 @@
			/* RX window open in advance */
			#define RX_WIN_IN_ADVANCE_US (150)

			#define DELAY_BETWEEN_TWO_FRAME_UUS 1400
			#define DELAY_BETWEEN_TWO_FRAME_UUS 600 //yuan1400

			/* Field index in frame */
			#define MSG_SEQ_NUM_IDX 2
			@@ -270,6 +270,8 @@
			uint16_t random_time;
			//anchor
			int32_t hist_dist;
			int16_t temp_recdist_before_offset;
			int16_t dist_temp;
			void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary)
			{
			uint8_t i;
			@@ -290,8 +292,9 @@
			anchordata_dist[i] = dist;
			anchordata_bat[i] = battary;
			tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
			dist_temp=dist;
			// if(dist>0)
			if(distance!=0x1ffff&&distance!=0)
			if(temp_recdist_before_offset!=0&&distance!=0x1ffff)
			{
			distance=dist0.5+distance0.5;
			}else{
			@@ -372,7 +375,7 @@
			uint32_t range_timeout_us = 5000;
			uint16_t uwb_searchcount;
			uint8_t flag_recsuccess;
			uint8_t flag_temp2;
			uint8_t flag_temp2,flag_temp1;
			extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
			int UwbRange(void)
			{
			@@ -406,7 +409,7 @@
			flag_recsuccess = 0;
			temp_count3=phy_timer_count_get();
			gpio_pin_set(SCL_PIN);
			flag_temp2=uwb_rx(0, 0, range_timeout_us);//开启接收
			flag_temp1=uwb_rx(0, 0, range_timeout_us);//开启接收

			// while(mac_is_busy());
			// temp_count2=phy_timer_count_get();
			@@ -433,7 +436,7 @@
			{

			if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL&&!memcmp(&rx_buf[TAG_ID_IDX],&g_com_map[BIND_DEV_ID],2))//判断是否是和自己是同一组通讯的且为poll包
			{ flag_recsuccess = 1;
			{ flag_recsuccess = 1;
			sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
			temp_count2=phy_timer_count_get();
			frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
			@@ -446,7 +449,7 @@
			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);
			}
			@@ -470,11 +473,12 @@
			recev_error_num=0;
			range_timeout_us=5000;//恢复为5000进入range后
			LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度：%d.\r\n",g_com_map[BIND_DEV_ID],distance,rssi);
			gpio_pin_clr(SCL_PIN);
			break;
			}
			} else {
			flag_temp2=uwb_rx(0, 0, range_timeout_us);
			}
			}
			//失败或者接受被高发射机打断都会再次开启接收
			flag_temp1=uwb_rx(0, 0, range_timeout_us);
			}
			delay_us(1);
			uwb_rx_force_off(1);
			@@ -491,7 +495,7 @@
			}
			}

			gpio_pin_clr(SCL_PIN);


			return 0;
			}
			@@ -555,7 +559,7 @@
			{
			if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL&&!memcmp(&rx_buf[TAG_ID_IDX],&g_com_map[BIND_DEV_ID],2))//判断是否是和自己是同一组通讯的且为poll包
			{
			sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-15));//测试
			sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-13));//测试
			range_timeout_us=20000;//将下次range开启后超时时间设为20ms之后再range里恢复
			temp_count2=phy_timer_count_get();
			frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
			@@ -569,6 +573,8 @@
			{
			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);
			}
			}
			@@ -590,15 +596,15 @@
			}

			gpio_pin_clr(SCL_PIN);//测试
			LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度：%d.\r\n",g_com_map[BIND_DEV_ID],distance,rssi);
			return 1;//返回发送成功标志
			}

			}
			temp_count3=phy_timer_count_get();
			flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收

			}
			delay_us(1);
			delay_us(2);
			uwb_rx_force_off(1);
			// LOG_INFO(TRACE_MODULE_APP,"超时定时器：%x,%x,%x\r\n",start_receive_count,end_receive_count,current_count);
			gpio_pin_clr(SCL_PIN);//测试
			@@ -660,7 +666,7 @@
			//link_error_count+=g_com_map[COM_INTERVAL];
			//if(link_error_count>=g_com_map[4G_INTERNAL])
			//link_error_count=0;
			update_led_power_state();//更新灯状态
			// update_led_power_state();//更新灯状态
			}
			LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
			}