| | |
|---|
| | | anchordata_bat[i] = battary; |
|---|
| | | tagofflinetime[i]=0;//不断更新当前TAG对应离线时间 |
|---|
| | | // if(dist>0) |
|---|
| | | if(distance!=0x1ffff&&distance!=0) |
|---|
| | | { |
|---|
| | | distance=dist*0.5+distance*0.5; |
|---|
| | | }else{ |
|---|
| | | distance=dist; |
|---|
| | | } |
|---|
| | | } |
|---|
| | | uint16_t CmpTagInList(uint16_t tagid) |
|---|
| | | { uint16_t i; |
|---|
| | |
|---|
| | | uint32_t range_timeout_us = 5000; |
|---|
| | | uint16_t uwb_searchcount; |
|---|
| | | uint8_t flag_recsuccess; |
|---|
| | | uint8_t flag_temp2; |
|---|
| | | extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag; |
|---|
| | | int UwbRange(void) |
|---|
| | | { |
|---|
| | |
|---|
| | | flag_recsuccess = 0; |
|---|
| | | temp_count3=phy_timer_count_get(); |
|---|
| | | gpio_pin_set(SCL_PIN); |
|---|
| | | uwb_rx(0, 0, range_timeout_us);//开启接收 |
|---|
| | | flag_temp2=uwb_rx(0, 0, range_timeout_us);//开启接收 |
|---|
| | | |
|---|
| | | // while(mac_is_busy()); |
|---|
| | | // temp_count2=phy_timer_count_get(); |
|---|
| | | start_receive_count=phy_timer_count_get(); |
|---|
| | |
|---|
| | | { |
|---|
| | | seize_anchor=1; //抢占anchor |
|---|
| | | Anchor_RecNearPoll(i); |
|---|
| | | |
|---|
| | | } |
|---|
| | | 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); |
|---|
| | | break; |
|---|
| | | } |
|---|
| | | } else { |
|---|
| | | uwb_rx(0, 0, range_timeout_us); |
|---|
| | | flag_temp2=uwb_rx(0, 0, range_timeout_us); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | delay_us(1); |
|---|
| | |
|---|
| | | receive_flag = 0; |
|---|
| | | temp_count3=phy_timer_count_get(); |
|---|
| | | gpio_pin_set(SCL_PIN); |
|---|
| | | uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收 |
|---|
| | | flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收 |
|---|
| | | start_receive_count=phy_timer_count_get(); |
|---|
| | | poll_timeout=US_TO_PHY_TIMER_COUNT(2000000);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss |
|---|
| | | end_receive_count=start_receive_count+poll_timeout; |
|---|
| | |
|---|
| | | { |
|---|
| | | 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-1));//测试 |
|---|
| | | sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-15));//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 |
|---|
| | | battary = rx_buf[BATTARY_IDX]; |
|---|
| | |
|---|
| | | |
|---|
| | | } |
|---|
| | | temp_count3=phy_timer_count_get(); |
|---|
| | | uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收 |
|---|
| | | flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收 |
|---|
| | | |
|---|
| | | } |
|---|
| | | delay_us(1); |
|---|
