ChinaUWBProject.git

			@@ -102,7 +102,7 @@
			/* Default communication configuration. */
			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, /* TX preamble code. */
			.phy_cfg.mean_prf = MEAN_PRF_64M, /* Data rate 6.8M */
			.phy_cfg.data_bit_rate = DATA_BR_6M8, /* data rate 6.8M. */
			@@ -216,7 +216,7 @@
			poll_rx_num++;
			rssi = rx_report->rssi;
			receive_flag=1;
			recev_error_num=0;

			}
			else
			{
			@@ -226,6 +226,7 @@
			/* UWB_BD_ERR Preamble detection error */
			/* UWB_TO_ERR Receive timeout */
			/* UWB_STS_ERR STS error */
			temp_count= phy_timer_count_get();
			memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
			rx_length = 0;

			@@ -254,6 +255,7 @@
			static int32_t tagdist_list[TAG_NUM_IN_SYS];
			uint16_t random_time;
			//anchor
			int32_t hist_dist;
			void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary)
			{
			uint8_t i;
			@@ -274,8 +276,8 @@
			anchordata_dist[i] = dist;
			anchordata_bat[i] = battary;
			tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
			//if(dist>0)
			distance=dist;
			// if(dist>0)
			distance=dist0.5+distance0.5;
			}
			uint16_t CmpTagInList(uint16_t tagid)
			{ uint16_t i;
			@@ -345,7 +347,8 @@
			while(mac_is_busy());
			gpio_pin_clr(SCL_PIN);
			}
			uint16_t uwb_searchcount;
			uint16_t uwb_searchcount,range_timeout_us = 5000;
			uint8_t flag_recsuccess;
			extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
			int UwbRange(void)
			{
			@@ -376,24 +379,36 @@
			mac_register_process_handler(tx_int_callback, rx_int_callback);

			receive_flag = 0;
			flag_recsuccess = 0;
			temp_count3=phy_timer_count_get();
			gpio_pin_set(SCL_PIN);
			uwb_rx(0, 0, RX_SYNC_WIN_US);//开启接收
			while(mac_is_busy());
			temp_count2=phy_timer_count_get();
			// start_receive_count=phy_timer_count_get();
			// poll_timeout=rec_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
			// end_receive_count=start_receive_count+poll_timeout;
			// if(end_receive_count>=UINT32_MAX)
			// {end_receive_count-=UINT32_MAX;}
			// current_count=phy_timer_count_get();
			// while(current_count<end_receive_count\|\|current_count>end_receive_count+HALF_SECOND_TIME)//循环接受包体,若为124.8K则是+62400000
			// {
			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();
			poll_timeout=US_TO_PHY_TIMER_COUNT(range_timeout_us);//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;
			if(end_receive_count>=UINT32_MAX)
			{end_receive_count-=UINT32_MAX;}
			current_count=phy_timer_count_get();
			while(current_count<end_receive_count\|\|current_count>end_receive_count+HALF_SECOND_TIME)//循环接受包体,若为124.8K则是+62400000
			{
			current_count=phy_timer_count_get();
			while(mac_is_busy())
			{
			IdleTask();
			current_count=phy_timer_count_get();
			if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)
			{
			break;
			}
			}
			if(receive_flag==1)//成功接收
			{

			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
			{ temp_count2=phy_timer_count_get();
			{ flag_recsuccess = 1;
			temp_count2=phy_timer_count_get();
			frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
			battary = rx_buf[BATTARY_IDX];
			rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX]; //标签传过来的他与基站交互的基站id数目
			@@ -426,10 +441,19 @@
			Anchor_RecNearPoll(i);

			}
			recev_error_num=0;
			sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
			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 {
			LOG_INFO(TRACE_MODULE_APP,"测距失败\r\n");
			uwb_rx(0, 0, range_timeout_us);
			}
			}
			if(!flag_recsuccess)
			{
			sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-3));//测试
			LOG_INFO(TRACE_MODULE_APP,"测距失败，计数：%d\r\n",recev_error_num);
			if(recev_error_num++>5)
			{
			recev_error_num=0;
			@@ -437,8 +461,7 @@
			uwb_searchcount = 0;
			search_open_flag = 1;
			}
			}
			sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
			}
			gpio_pin_clr(SCL_PIN);
			}

			@@ -483,11 +506,12 @@
			{
			end_receive_count-=UINT32_MAX;
			}

			current_count=phy_timer_count_get();
			while(current_count<end_receive_count\|\|current_count>end_receive_count+HALF_SECOND_TIME)//循环接受包体,若为124.8K则是+62400000
			{
			while(mac_is_busy())
			{
			IdleTask();
			current_count=phy_timer_count_get();
			if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)
			{
			@@ -536,19 +560,19 @@
			}

			}

			temp_count3=phy_timer_count_get();
			uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收

			}
			// LOG_INFO(TRACE_MODULE_APP,"超时定时器：%x,%x,%x\r\n",start_receive_count,end_receive_count,current_count);
			gpio_pin_clr(SCL_PIN);//测试
			return 0;//返回绑定失败标志
			}
			//}

			#define SEARCH_TIMESTEMP 120
			#define SEARCH_TIMESTEMP 20
			void UWBPoll(void)
			{
			LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
			switch(UWB_work_state)
			{
			case LINK_SUCCESS:
			@@ -571,6 +595,8 @@
			uwb_led_off();
			if(link_success_flag)
			UWB_work_state=LINK_SUCCESS;
			}else{
			LOG_INFO(TRACE_MODULE_APP,"等待进入搜索模式：%d\r\n",SEARCH_TIMESTEMP-uwb_searchcount);
			}

			}
			@@ -600,6 +626,7 @@
			//link_error_count=0;
			update_led_power_state();//更新灯状态
			}
			LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
			}

			uint8_t GetUWBBindState(void)