ChinaUWBProject.git

			@@ -11,6 +11,7 @@
			#include "board.h"
			#include "lib_aoa.h"
			#include "WS2812.h"
			#include "PCA9555.h"
			extern int simple_main(void);
			extern int temp_main(void);
			void Calibration_Time(void);
			@@ -137,7 +138,7 @@
			#ifdef DW1000
			static struct mk_uwb_configure config = {
			.phy_work_mode = (uint8_t)(PHY_TX \| PHY_RX),
			.phy_cfg.ch_num = 9, /* Channel number. */
			.phy_cfg.ch_num = 5, /* Channel number. */
			.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 */
			@@ -343,7 +344,7 @@
			memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
			rx_length = 0;
			receive_error_flag=1;
			OpenUWB();//再次开启UWB接收
			OpenUWB();//再次开启UWB接收
			}
			// CloseUWB();
			// OpenUWB();//再次开启UWB接收
			@@ -479,6 +480,9 @@
			// }
			// anchordata_num=j;
			//}
			extern uint8_t in_the_room_flag;
			extern uint8_t lounei_flag;
			uint8_t ceju_onlinetime;
			void TagListUpdate(void)
			{
			uint16_t i,j=0,k=0;
			@@ -491,7 +495,15 @@
			anchordata_bat[j]=anchordata_bat[i];//电量随之更新
			anchor_rssi[j]=anchor_rssi[i];
			tagofflinetime[j++]=tagofflinetime[i];
			in_the_room_flag=0;
			ceju_onlinetime++;
			}

			}
			if(ceju_onlinetime>0\|\|taglist_num==0)
			{
			ceju_onlinetime=0;
			in_the_room_flag=1;
			}
			taglist_num=j;
			}
			@@ -704,10 +716,63 @@
			UWBSendUDPTask();
			}
			}
			//int uwb_app_poll(void)
			//{
			//
			// UWBIdleTask();
			//}
			//enumwltagstate wltag_state=RANGE;
			uint32_t wltag_statetimer,wltag_uwbtimer;
			int uwb_app_poll(void)
			{
			switch(wltag_state)
			{

			case RANGE:
			// time_flag=HIDO_TimerGetTick()-wltag_uwbtimer;
			if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
			{
			wltag_uwbtimer = HIDO_TimerGetTick();
			OpenUWB();

			}
			else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1)
			{
			// time_flag=HIDO_TimerGetTick()-wltag_uwbtimer;
			wltag_uwbtimer = HIDO_TimerGetTick();
			CloseUWB();
			}
			if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
			{
			wltag_statetimer = HIDO_TimerGetTick();
			if(uwb_rx_flag==0)//若要切换到搜索模式时没有开启则开启UWB
			{
			OpenUWB();
			}
			wltag_state = SEARCH;
			}
			break;
			case SEARCH:
			if(HIDO_TimerGetTick()-wltag_statetimer>1)
			{
			wltag_statetimer = HIDO_TimerGetTick();
			wltag_state = CLOSE;
			CloseUWB();

			}
			break;
			case CLOSE:
			if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
			{
			wltag_statetimer = HIDO_TimerGetTick();
			wltag_state = SEARCH;
			OpenUWB();
			}
			break;
			}
			UWBIdleTask();
			}
			uint8_t in_the_room_flag=0;
			int Anchor_App(void)
			{
			uint8_t i;
			@@ -761,12 +826,24 @@
			Anchor_RecNearPoll(i);
			tagdist_list[taglist_pos]=rec_ancdistlist[i];
			anchordata_bat[taglist_pos] = battary;//保存该基站电量
			anchor_rssi[taglist_pos]=rssi;
			anchor_rssi[taglist_pos]=rssi;
			// in_the_room_flag=1;
			// if(dev_id==g_com_map[DOOR_UWB_1])
			// {
			//
			// }
			// if(dev_id==g_com_map[DOOR_UWB_2])
			// {
			//
			// }
			// if(dev_id==g_com_map[DOOR_UWB_3])
			// {
			// IN_THE_ROOM_FLAG=1;
			// }
			if(taglist_pos==taglist_num)// taglist_pos==taglist_num 说明这个基站不在当前列表中
			{ //tempid==dev_id 说明基站下发测距报文有这个标签的信息
			taglist_num++; //满足上述两种情况才会添加基站ID进入列表中，否则会出现标签不在基站列表中，标签也不响应的情况
			tagid_list[taglist_pos] = tag_id_recv;

			tagid_list[taglist_pos] = tag_id_recv;
			}
			break;
			}