V1.4

yincheng.zhong

2024-08-30 dd60d4eaeb6346b7089bbc9ee5d69813eafca3ec

 keil/uwb_app.c

@@ -254,6 +254,7 @@
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 +275,8 @@
    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=dist*0.5+distance*0.5;
}
uint16_t CmpTagInList(uint16_t tagid)
{   uint16_t i;
@@ -426,10 +427,12 @@
                Anchor_RecNearPoll(i);

            }
            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);
        }
    } else {
        LOG_INFO(TRACE_MODULE_APP,"测距失败\r\n");
        sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//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;
@@ -438,7 +441,7 @@
            search_open_flag = 1;
        }
    }
    sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
   
    gpio_pin_clr(SCL_PIN);
}

@@ -483,11 +486,12 @@
    {
        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)
            {
@@ -540,6 +544,7 @@
        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
}
@@ -548,7 +553,6 @@
#define SEARCH_TIMESTEMP 120
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 +575,8 @@
            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 +606,7 @@
        //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)