成功加入一对一配对逻辑

chen

2025-07-16 4f6558e8b65cefd5f58a21a9426d4754395de885

 keil/uwb_app.c

@@ -32,7 +32,7 @@
static uint8_t frame_seq_nb2,battary,button,rec_nearbase_num,ancidlist_num;
static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS];
static int16_t rec_ancdistlist[TAG_NUM_IN_SYS];
extern uint8_t group_id;
extern uint16_t group_id;
static uint16_t anc_id_recv,tag_id_recv;
static int16_t rec_antdelay;
extern uint32_t dev_id;
@@ -503,7 +503,7 @@
{
    temp_count2=poll_rx_en_start_u32;

    memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//组id
    memcpy(&send_buffer[GROUP_ID_IDX],&group_id,2);//组id变为2字节
    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;
@@ -848,6 +848,7 @@
    // LOG_INFO(TRACE_MODULE_APP, "Peer %X, $%d %d;\r\n", READ_SHORT(mac_addr), (int16_t)angle_meas,(int16_t)post_angle);
#endif
}
uint16_t temp_group_id;
int UwbRange(void)
{
    uint8_t i;
@@ -906,8 +907,9 @@
    {
      gpio_pin_clr(SCL_PIN);
        //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
         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
         if(memcmp(&group_id,&rx_buf[GROUP_ID_IDX],2)==0&&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;

               memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
//                sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
                 temp_count2=phy_timer_count_get();
@@ -926,6 +928,14 @@
                    PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
                }
            }
                                 if(g_com_map[BIND_START_INDEX])//如果开启配对
                                 {
                                    if(distance<=200)//小于200m的才可配对
                                    {
                                       memcpy(&temp_group_id,&rx_buf[BIND_GROUP],2);

                                    }
                                 }
            for(i=0; i<rec_nearbase_num; i++)
            {
                memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);