ChinaUWBProject.git

			@@ -372,6 +372,7 @@
			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)
			{
			@@ -405,7 +406,8 @@
			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();
			@@ -464,15 +466,14 @@
			{
			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);
			@@ -528,7 +529,7 @@
			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0.1254100000,默认开启1mss
			end_receive_count=start_receive_count+poll_timeout;
			@@ -554,7 +555,8 @@
			{
			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];
			@@ -593,7 +595,7 @@

			}
			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);