ChinaUWBProject.git

			@@ -33,7 +33,7 @@
			#define FINAL_MSG_RESP_RX_TS_IDX 14
			#define FINAL_MSG_FINAL_TX_TS_IDX 18
			#define DELAY_DEFAULT 1000
			#define DELAY_BETWEEN_TWO_FRAME_UUS 400
			#define DELAY_BETWEEN_TWO_FRAME_UUS 1400
			#define HALF_SECOND_TIME 62400000

			static uint16_t CmpTagInList(uint16_t tagid);
			@@ -222,8 +222,8 @@
			resp_rx_num++;
			freq_offset=phy_freq_offset_get();
			freq_offset_filter=average_filter(freq_offset);//获取频偏
			int32_t ppm = freq_offset_filter / (int32_t)(ch_center_freq_map[UWB_CH_NUM] * 1e-6);
			calib_xtal38m4_load_cap_auto_tune(ppm);//利用电容调整晶振适配频偏应在完整的一包之后调整，需要关闭XTAL_AUTO_TUNE_EN 宏定义避免收包中途校准导致测距错误
			// int32_t ppm = freq_offset_filter / (int32_t)(ch_center_freq_map[UWB_CH_NUM] * 1e-6);
			// calib_xtal38m4_load_cap_auto_tune(ppm);//利用电容调整晶振适配频偏应在完整的一包之后调整，需要关闭XTAL_AUTO_TUNE_EN 宏定义避免收包中途校准导致测距错误
			//LOG_INFO(TRACE_MODULE_APP, "poll_tx_num is %d,resp_rx_num is %d,distance is %lf\r\n",poll_tx_num,resp_rx_num,distance);
			receive_flag=1;

			@@ -416,9 +416,9 @@
			//tempflag=uwb_rx(1, resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);//开启接受并设置接收超时
			tempflag=uwb_rx(0,0, RESP_RX_TIMEOUT_US);


			receive_flag =0;
			start_receive_count=phy_timer_count_get();
			poll_timeout=nearbase_numUS_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(DELAY_DEFAULT);//多一个多0.4ms默认0.4ms计算为0.1254*100000,默认开启1mss
			poll_timeout=nearbase_numUS_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(RESP_RX_TIMEOUT_US);//多一个多0.4ms默认0.4ms计算为0.1254*100000,默认开启1mss
			end_receive_count=start_receive_count+poll_timeout;
			if(end_receive_count>=UINT32_MAX)
			{end_receive_count-=UINT32_MAX;}
			@@ -437,14 +437,14 @@
			//接收成功则判断是否为同一组
			if (rx_buf[MESSAGE_TYPE_IDX] == MBX_RESPONSE&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2)&&rx_buf[GROUP_ID_IDX]==group_id) //判断接收到的数据是否是response数据
			{
			memcpy(&rec_nearbaseid,&rx_buf[ANCHOR_ID_IDX],2);
			if(last_nearbase_num==0)
			{
			nearbaseid_list[0]=rec_nearbaseid;
			nearbase_num=1;
			exsistbase_list[0]=KEEP_TIMES;
			SetANCTimestap(0,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2,(uint32_t)poll_tx_ts_i64);//这个是改过的参数
			}
			memcpy(&rec_nearbaseid,&rx_buf[ANCHOR_ID_IDX],2);
			if(last_nearbase_num==0)
			{
			nearbaseid_list[0]=rec_nearbaseid;
			nearbase_num=1;
			exsistbase_list[0]=KEEP_TIMES;
			SetANCTimestap(0,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2,(uint32_t)poll_tx_ts_i64);//这个是改过的参数
			}
			// if(rec_nearbaseid==nearbaseid_list[0])
			// {
			// exsistbase_list[0]=KEEP_TIMES;
			@@ -480,11 +480,12 @@
			}
			//gpio_pin_clr(IO_PIN_5);//测试
			}
			//dwt_forecetrxoff();
			delay_us(1);
			uwb_rx_force_off(1);
			CalculateDists(poll_tx_ts_i64); //计算距离并更新距离表
			AnchorListUpdate();//更新存活基站列表
			Rank_ANchor_list_by_dis();//冒泡排序重新按距离重新排列基站列表最小距离存货基站放到最前面
			LOG_INFO(TRACE_MODULE_APP,"基站ID：%X,距离: %lf\r\n",rec_nearbaseid,distance_tag);
			LOG_INFO(TRACE_MODULE_APP,"基站ID：%X,距离: %d\r\n",rec_nearbaseid,nearbase_distlist[0]);
			}