加入标签电量的存储逻辑，和更新的逻辑，精简了代码函数封装

chen

2025-01-17 c653225a505eb47752ac707dc47f1b15385c81d8

 keil/uwb_app.c

@@ -469,6 +469,7 @@
        {
            tagid_list[j]=tagid_list[i];
            tagdist_list[j] = tagdist_list[i];
                  anchordata_bat[j]=anchordata_bat[i];//电量随之更新
            tagofflinetime[j++]=tagofflinetime[i];
        }
      }
@@ -547,7 +548,7 @@
      &&!((end_receive_count-current_count_calibration<=MS_TO_PHY_TIMER_COUNT(200))||(end_receive_count+(UINT32_MAX-current_count_calibration)<=MS_TO_PHY_TIMER_COUNT(200))))
   {
      start_receive_count_calibration=current_count_calibration;//更新开始时间
//      MotorPoll();

      
      if(secondtask_search_count++%2==0)
    {
@@ -600,46 +601,46 @@
}
int uwb_app_poll(void)
{
   switch(wltag_state)
   {
   case RANGE:
   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)
      {
            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;
   }
//   switch(wltag_state)
//   {
//   case RANGE:
//   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)
//      {
//            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();
}
int Anchor_App(void)
@@ -693,10 +694,12 @@
                              {
                                    Anchor_RecNearPoll(i);
                                    tagdist_list[taglist_pos]=rec_ancdistlist[i];
                                    anchordata_bat[taglist_pos] = battary;//保存该基站电量
                                    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;
														
                                    }
                                    break;
                              }