协议未更改版本，测距550us 和帧间隔500us

zhangbo

2025-03-13 367aa5722f83a17dcfe586726af74fef72db0081

协议未更改版本，测距550us 和帧间隔500us

 keil/JLinkLog.txt

ÎļþÌ«´ó

 keil/Listings/uwb_simple_example.map

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 keil/Objects/uwb_simple_example.hex

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 keil/Objects/uwb_simple_example.htm

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 keil/Objects/uwb_simple_example_MK8000 Release.dep

@@ -529,7 +529,7 @@
I (include\drivers\mk_dma.h)(0x67C6A898)

I (D:\keil\ARM\ARMCLANG\include\stdarg.h)(0x5DDFFD72)

F (.\include\drivers\mk_timer.h)(0x67C6A898)()

F (.\include\drivers\PCA9555.c)(0x67CFD7DA)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -w -I ./include/drivers -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include -I ./include/src/Radio -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-ID:/keil/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/pca9555.o -MD)

F (.\include\drivers\PCA9555.c)(0x67D12C9D)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -w -I ./include/drivers -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include -I ./include/src/Radio -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-ID:/keil/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/pca9555.o -MD)

I (include\drivers\PCA9555.h)(0x67C6A898)

I (include\board\board.h)(0x67C6A898)

I (include\drivers\mk_common.h)(0x67C6A898)

@@ -748,7 +748,7 @@
I (include\drivers\mk_gpio.h)(0x67C6A898)

I (include\drivers\Usart.h)(0x67C6A898)

I (..\keil\lora_3029.h)(0x67C6A898)

F (.\include\main\main.c)(0x67CFD6EF)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include -I ./include/src/Radio -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-ID:/keil/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/main.o -MD)

F (.\include\main\main.c)(0x67D1578A)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include -I ./include/src/Radio -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-ID:/keil/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/main.o -MD)

I (include\drivers\mk_trace.h)(0x67C6A898)

I (include\drivers\mk_common.h)(0x67C6A898)

I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72)

@@ -865,7 +865,7 @@
I (D:\keil\ARM\ARMCLANG\include\stdarg.h)(0x5DDFFD72)

I (include\drivers\mk_gpio.h)(0x67C6A898)

I (include\drivers\mk_io.h)(0x67C6A898)

F (.\uwb_app.c)(0x67D00201)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include -I ./include/src/Radio -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-ID:/keil/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/uwb_app.o -MD)

F (.\uwb_app.c)(0x67D23D68)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include -I ./include/src/Radio -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-ID:/keil/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/uwb_app.o -MD)

I (include\drivers\mk_trace.h)(0x67C6A898)

I (include\drivers\mk_common.h)(0x67C6A898)

I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72)

@@ -1430,7 +1430,7 @@
I (include\devices\MK800X\Include\system_MK800X.h)(0x67C6A898)

I (..\user_config.h)(0x67C6A898)

I (include\drivers\mk_dma.h)(0x67C6A898)

F (.\include\src\Radio\lora_1268.c)(0x67CFABFE)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -w -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include -I ./include/src/Radio -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-ID:/keil/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/lora_1268.o -MD)

F (.\include\src\Radio\lora_1268.c)(0x67D154FD)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -w -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include -I ./include/src/Radio -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-ID:/keil/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/lora_1268.o -MD)

I (D:\keil\ARM\ARMCLANG\include\math.h)(0x5DDFFD6C)

I (D:\keil\ARM\ARMCLANG\include\string.h)(0x5DDFFD6C)

I (include\src\Radio\sx126x.h)(0x67C6A898)

@@ -1467,6 +1467,8 @@
I (include\drivers\mk_uart.h)(0x67C6A898)

I (D:\keil\ARM\ARMCLANG\include\stdarg.h)(0x5DDFFD72)

I (include\drivers\mk_gpio.h)(0x67C6A898)

I (include\drivers\mk_misc.h)(0x67C6A898)

I (include\drivers\mk_clock.h)(0x67C6A898)

F (.\include\src\Radio\radio.c)(0x67C6A898)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -w -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include -I ./include/src/Radio -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-ID:/keil/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/radio.o -MD)

I (D:\keil\ARM\ARMCLANG\include\math.h)(0x5DDFFD6C)

I (D:\keil\ARM\ARMCLANG\include\string.h)(0x5DDFFD6C)


 keil/include/drivers/PCA9555.c

@@ -625,7 +625,7 @@
    }
    else
    {
        GREEN_LED_OFF;
    GREEN_LED_OFF;
    }
      
}
@@ -633,15 +633,6 @@
{
        uint16_t gpio_state;
        gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];
//        if(LORA_IRQ_POSITION&gpio_state)
//        {

//                //Lora_irq_callback();
//        }
//                else
//                {
//				
//                }
                if(BT_IRQ_POSITION&gpio_state)
                {

@@ -667,8 +658,7 @@


void pca_input_detection_init(GPIO_IRQ_HANDLER_T irq_handler)
{
        
{   
        gpio_pin_set_dir(PCA_INPUT_DETECT , GPIO_DIR_IN, 0);
        io_pull_set(PCA_INPUT_DETECT, IO_PULL_UP, IO_PULL_UP_LEVEL2);
        gpio_enable_irq(PCA_INPUT_DETECT, GPIO_IRQ_TYPE_FALLING_EDGE, irq_handler);

 keil/include/main/main.c

@@ -275,7 +275,7 @@
        MinuteTask();
    }
    //UWB更新列表
    TagListUpdate();
//    TagListUpdate();
    //GPS_Poll();
        gps_power_state=1;//测试gps长开
    //UWB状态检测

 keil/include/src/Radio/lora_1268.c

@@ -14,6 +14,7 @@
#include "dw_app_anchor.h"
#include "HIDO_TypeDef.h"
#include "PCA9555.h"
#include "mk_misc.h"
/********************************************结构体**************************************************************/
typedef enum
{
@@ -175,6 +176,10 @@
uint8_t BT_NUM=0;
extern uint16_t report_ancdist[ANC_MAX_NUM],report_ancid[ANC_MAX_NUM];
extern uint8_t bat_percent;
extern uint16_t REV_RX_NUM;
extern uint16_t REV_POLL_NUM;
extern uint16_t REPLY_POLL_NUM;
uint16_t num[3]={0,0,0};
void LoraReportPoll(void)
{
    // delay_ms(100);
@@ -187,7 +192,7 @@
    printf("气压值：%d",intheight);
#endif

    TagListUpdate();
//    TagListUpdate();

    LoraReportFreqPoll();
    flag_getwgresp = 0;
@@ -265,11 +270,18 @@
    memcpy(&lora_sendbuffer[ANCID_IDX+report_ancnum*2],report_ancdist,report_ancnum*2);
        uint8_t LORA_RETRANSNUSSION_BT=0;
        BT_NUM=DMA_RXBuf_BT[0];
        num[0]=REV_RX_NUM;
        num[1]=REV_POLL_NUM;
        num[2]=REPLY_POLL_NUM;
//        REV_RX_NUM=0;
//        REV_POLL_NUM=0;
//        REPLY_POLL_NUM=0;
        if(0<BT_NUM&&BT_NUM<11)
        {
      lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGMSGTOWG_BT;
    LORA_RETRANSNUSSION_BT=ANCID_IDX+report_ancnum*4;
        //LORA_RETRANSNUSSION_BT   report_ancnum_bt
		
        lora_sendbuffer[LORA_RETRANSNUSSION_BT] = 0x2D;         //蓝牙上传标识符
    memcpy(&lora_sendbuffer[LORA_RETRANSNUSSION_BT+1],&DMA_RXBuf_BT[0],BT_NUM*2+1);                                     //基站ID
    memcpy(&lora_sendbuffer[LORA_RETRANSNUSSION_BT+BT_NUM*2+2],&DMA_RXBuf_BT[1+BT_NUM*2],BT_NUM*2);//基站距离        
@@ -523,9 +535,7 @@

void OnRxDone( uint8_t *payload, uint16_t size, int16_t rssi, int8_t snr )
{  
	

    uint16_t checksum1;
                uint16_t checksum1;
        BufferSize = size;
        memcpy( RX_Buffer, payload, BufferSize );
        RssiValue = rssi;
@@ -554,24 +564,25 @@
                                        switch(RX_Buffer[PWTAG_RW_FLAG_IDX])
                                        {
                                                case WGRSP_RWTAG_NONE:
//                        wg_report_freq = RX_Buffer[POLL_FREQ_IDX]+400;
//                        memcpy(&rec_delaytime,&RX_Buffer[NEXTPOLL_TIME_IDX],2);
//                        if(report_ancnum<2)
//                        {
//                            datalen_offset = report_ancnum*85;
//                        }else{
//                            datalen_offset = (report_ancnum-1)*46+85;
//                        }
//                        rec_secdelay = RX_Buffer[PWTAG_SECDELAY_IDX];
//                        if(BufferSize!=13||rec_secdelay>20)
//                        {
//                         rec_secdelay = 0;
//                        }
//                        sleep_time_count = rec_delaytime - delaytime-datalen_offset;
//                        while(sleep_time_count>=1000)
//                            sleep_time_count-=1000;
                        wg_report_freq = RX_Buffer[POLL_FREQ_IDX]+400;
                        memcpy(&rec_delaytime,&RX_Buffer[NEXTPOLL_TIME_IDX],2);
                        if(report_ancnum<2)
                        {
                            datalen_offset = report_ancnum*85;
                        }else{
                            datalen_offset = (report_ancnum-1)*46+85;
                        }
                        rec_secdelay = RX_Buffer[PWTAG_SECDELAY_IDX];
                        if(BufferSize!=13||rec_secdelay>20)
                        {
                         rec_secdelay = 0;
                        }
                        sleep_time_count =(__MS_TO_32K_CNT(rec_delaytime)/10)- delaytime-datalen_offset;
                        while(sleep_time_count>=32768)
                                                {
                         sleep_time_count-=32768;											
                                                }
//                                                sleep_timer_start(sleep_time_count);

                        break;
                                                case WGRSP_RWTAG_READ:
                                                            no_rx_flag = 1;

 keil/uwb_app.c

@@ -98,7 +98,7 @@
#define RANGING_PERIOD_MS (1000)

/* This is the delay from Frame RX POLL frame to send RESP Frame */
#define POLL_RX_TO_RESP_TX_DLY_US 900U //yuan750 7500Haoyong
#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan750 7500Haoyong

#define RESP_TX_TO_FINAL_RX_DLY_US 500U

@@ -117,7 +117,7 @@
/* RX window open in advance */
#define RX_WIN_IN_ADVANCE_US (150)

#define DELAY_BETWEEN_TWO_FRAME_UUS 600
#define DELAY_BETWEEN_TWO_FRAME_UUS 500

/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -275,6 +275,10 @@
uint32_t range_timeout_us = 2000000;//yuan5000
uint8_t flag_temp2,flag_temp1;
uint16_t uwb_losttimer;
uint16_t REV_RX_NUM;
uint16_t REV_POLL_NUM;
uint16_t REPLY_POLL_NUM;
uint16_t ERR_RX_NUM;
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{        uint8_t valid_sts=0;
    // Power off radio
@@ -293,6 +297,7 @@
        poll_rx_en_start_u32 = rx_rpt.timestamp - phy_shr_duration();
        poll_rx_ts_i64 = ranging_rx_time_correct(&rx_rpt);
        poll_rx_num++;
                REV_RX_NUM++;
        rssi = rx_report->rssi;
        receive_flag=1;
                Anchor_App();
@@ -324,6 +329,7 @@
                    temp_count= phy_timer_count_get();
        memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
        rx_length = 0;
              ERR_RX_NUM++;
              UWB_STATE=UWB_STATE_IDLE;
                if(UWB_STATE==UWB_STATE_IDLE)
                {
@@ -334,6 +340,7 @@
    }
//    OpenUWB();//再次开启UWB接收
}
uint16_t TX_CALL_POLL_NUM;
/* TX done process handler. */
static void tx_int_callback(struct MAC_HW_REPORT_T *tx_report)
{
@@ -347,7 +354,7 @@
        temp_count= phy_timer_count_get();
        temp_internal=temp_count;
        resp_tx_num++;
			
              TX_CALL_POLL_NUM++;
                UWB_STATE=UWB_RX_STATE_BUSY;
              OpenUWB();//再次开启UWB接收
              //gpio_pin_clr(IO_PIN_5);
@@ -389,7 +396,7 @@
{   uint16_t i;
    for(i=0; i<taglist_num; i++)
    {
        if(memcmp(&tagid,&anchordata_id[i],2)==0)
        if(memcmp(&tagid,&tagid_list[i],2)==0)
            break;
    }
    if(i==taglist_num)
@@ -432,72 +439,13 @@
    taglist_num=j;
}

//void TagListUpdate(void)
//{
//    uint8_t i,j=0,k=0;
//    for(i=0; i<anchordata_num; i++)
//    {
//        if(tagofflinetime[i]++<QUIT_SLOT_TIME)
//        {
//            anchordata_id[j]=anchordata_id[i];
//            tagofflinetime[j++]=tagofflinetime[i];
//        }
//                //标签存活时间
//                if(tagofflinetime[i]++<TAG_KEEPTIMES)
//        {
//            tagid_list[k]=tagid_list[i];
//            tagdist_list[k] = tagdist_list[i];
//            tagofflinetime[k++]=tagofflinetime[i];
//        }
//    }
//    anchordata_num=j;
//        taglist_num=k;
//}

//static uint8_t tagofflinetime[ANC_MAX_NUM];
int flag1=0;
uint32_t temp_count7;
uint32_t timeceshi1;
uint32_t timeceshi2;
//uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos)//根据自己是否为新基站定制消息去发送，根据是否抢占判断
//{
//    temp_count2=poll_rx_en_start_u32;
//int flag1=0;
//uint32_t temp_count7;
//uint32_t timeceshi1;
//uint32_t timeceshi2;

//    memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//组id
//    memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);//自身id
//    memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);//接受者id
//    send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;

// if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式自己为新基站
//    {
//        random_time = (phy_timer_count_get()%100);//多基站抢占一个位置时避免一个也收不到的情况就每一个随机错开几十uS
//        //resp_tx_time = (poll_rx_ts+((random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
//        // (resp_tx_en_start_u32) is the moment when TX enable
//        resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_num*DELAY_BETWEEN_TWO_FRAME_UUS);//后面的需要根据已有基站数量进行更改，如果是抢占自己最后一个回复，要有底数
//                                
//                } else {
//        //resp_tx_time = (poll_rx_ts + ((rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
//       resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_num*DELAY_BETWEEN_TWO_FRAME_UUS);//后面的需要根据已有基站数量进行更改，如果是抢占自己最后一个回复，要有底数
//                                //这里应该有问题问一下钟工
//                }//此处设置绝对时间将poll u32改为phy_timer_count_get()
//    temp_count7=resp_tx_en_start_u32;
//    resp_tx_ts_i64 = ranging_tx_time_correct(resp_tx_en_start_u32 + phy_shr_duration());//修正时间戳
//    /* Write all timestamps in the final message. See NOTE 8 below. */
//    resp_msg_set_ts(&send_buffer[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts_i64);
//    resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts_i64);//此处时间戳int64直接转换为uint64不知道会不会有错误
//    memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&disoffset,2);//差个修正offset,修正有符号但是这个com表为无符号的,传过去直接赋给Int16_t相当于还原了
//    temp_resp_i64=resp_tx_ts_i64;
////    temp_count3= phy_timer_count_get();
////                timeceshi2=phy_timer_count_get();
//        //uint32_t time_add=1000;
//        //resp_tx_en_start_u32=resp_tx_en_start_u32+time_add;	
//        temp_count3= phy_timer_count_get();								
//    flag1=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
////    temp_count1=phy_timer_count_get();
//                
//    while(mac_is_busy());
//        tagofflinetime[taglist_pos] = 0;
//    gpio_pin_clr(SCL_PIN);
//}
uint8_t position;
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos)//根据自己是否为新基站定制消息去发送，根据是否抢占判断
{
@@ -763,67 +711,70 @@
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)
        { 
                UWB_LED_ON;
                wltag_uwbtimer = HIDO_TimerGetTick();
                if(UWB_STATE==UWB_STATE_IDLE)
                {
                    UWB_STATE=UWB_RX_STATE_BUSY;
                    OpenUWB();
                }
        }
    else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1)
        {
//            time_flag=HIDO_TimerGetTick()-wltag_uwbtimer;
              UWB_LED_OFF;
                wltag_uwbtimer = HIDO_TimerGetTick();
                CloseUWB();
              UWB_STATE=UWB_STATE_IDLE;
        }
        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
            {
                if(UWB_STATE==UWB_STATE_IDLE)
                {
                    UWB_STATE=UWB_RX_STATE_BUSY;
                    OpenUWB();
                }
            }
     wltag_state = SEARCH;
        }
        break;
    case SEARCH:
        if(HIDO_TimerGetTick()-wltag_statetimer>1)
        {
            wltag_statetimer = HIDO_TimerGetTick();
            wltag_state = CLOSE;
            CloseUWB();
            UWB_STATE=UWB_STATE_IDLE;
        }
        break;
    case CLOSE:
        if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
        {
            wltag_statetimer = HIDO_TimerGetTick();
            wltag_state = SEARCH;
            if(UWB_STATE==UWB_STATE_IDLE)
            {
                UWB_STATE=UWB_RX_STATE_BUSY;
                OpenUWB();
            }
        }
        break;
    }
//    switch(wltag_state)
//    {
//		
//    case RANGE:
////    time_flag=HIDO_TimerGetTick()-wltag_uwbtimer;
//    if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
//        { 
//                UWB_LED_ON;
//                wltag_uwbtimer = HIDO_TimerGetTick();
//                if(UWB_STATE==UWB_STATE_IDLE)
//                {
//                    UWB_STATE=UWB_RX_STATE_BUSY;
//                    OpenUWB();
//                }
//        }
//        else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1)
//        {
////            time_flag=HIDO_TimerGetTick()-wltag_uwbtimer;
//              UWB_LED_OFF;
//                wltag_uwbtimer = HIDO_TimerGetTick();
//                CloseUWB();
//              UWB_STATE=UWB_STATE_IDLE;
//        }
//        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
//            {
//                if(UWB_STATE==UWB_STATE_IDLE)
//                {
//                    UWB_STATE=UWB_RX_STATE_BUSY;
//                    OpenUWB();
//                }
//            }
//     wltag_state = SEARCH;
//        }
//        break;
//    case SEARCH:
//        if(HIDO_TimerGetTick()-wltag_statetimer>1)
//        {
//            wltag_statetimer = HIDO_TimerGetTick();
//            wltag_state = CLOSE;
//            CloseUWB();
//            UWB_STATE=UWB_STATE_IDLE;
//        }
//        break;
//    case CLOSE:
//        if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
//        {
//            wltag_statetimer = HIDO_TimerGetTick();
//            wltag_state = SEARCH;
//            if(UWB_STATE==UWB_STATE_IDLE)
//            {
//                UWB_STATE=UWB_RX_STATE_BUSY;
//                OpenUWB();
//            }
//        }
//        break;
//    }
     UWBIdleTask();
}
//uint16_t REV_RX_NUM;
//uint16_t REV_POLL_NUM;
//uint16_t REPLY_POLL_NUM;
int Anchor_App(void)
{
                uint8_t i;
@@ -831,6 +782,7 @@
            if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//判断是否是和自己是同一组通讯的且为poll包
        {    flag_recsuccess = 1;
                        wltag_state=RANGE;//成功后从search切换为range
                      REV_POLL_NUM++;
                        memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
                      //temp_count2=phy_timer_count_get();
                        uwb_losttimer=0;//成功测距清0 lost时间
@@ -854,6 +806,7 @@
                                                if(taglist_pos==taglist_num)// taglist_pos==taglist_num è¯´æ˜Žè¿™ä¸ªåŸºç«™ä¸åœ¨å½“前列表中
                                                {   //tempid==dev_id è¯´æ˜ŽåŸºç«™ä¸‹å‘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
                                                      REPLY_POLL_NUM++;
                                                        tagid_list[taglist_pos] = tag_id_recv;
                                                }
                                                break;

 keil/uwb_simple_example.uvoptx

@@ -355,72 +355,72 @@
          <WinNumber>1</WinNumber>
          <ItemText>rec_nearbase_num</ItemText>
        </Ww>
        <Ww>
          <count>41</count>
          <WinNumber>1</WinNumber>
          <ItemText>delaytime</ItemText>
        </Ww>
        <Ww>
          <count>42</count>
          <WinNumber>1</WinNumber>
          <ItemText>REV_RX_NUM</ItemText>
        </Ww>
      </WatchWindow1>
      <WatchWindow2>
        <Ww>
          <count>0</count>
          <WinNumber>2</WinNumber>
          <ItemText>poll_rx_en_start_u32,0x0A</ItemText>
          <ItemText>REV_RX_NUM</ItemText>
        </Ww>
        <Ww>
          <count>1</count>
          <WinNumber>2</WinNumber>
          <ItemText>temp_count,0x0A</ItemText>
          <ItemText>REV_POLL_NUM</ItemText>
        </Ww>
        <Ww>
          <count>2</count>
          <WinNumber>2</WinNumber>
          <ItemText>group_id</ItemText>
          <ItemText>REPLY_POLL_NUM</ItemText>
        </Ww>
        <Ww>
          <count>3</count>
          <WinNumber>2</WinNumber>
          <ItemText>tag_id_recv</ItemText>
          <ItemText>num</ItemText>
        </Ww>
        <Ww>
          <count>4</count>
          <WinNumber>2</WinNumber>
          <ItemText>temp_count3,0x0A</ItemText>
          <ItemText>tagid_list</ItemText>
        </Ww>
        <Ww>
          <count>5</count>
          <WinNumber>2</WinNumber>
          <ItemText>resp_tx_en_start_u32,0x0A</ItemText>
          <ItemText>tag_id_recv</ItemText>
        </Ww>
        <Ww>
          <count>6</count>
          <WinNumber>2</WinNumber>
          <ItemText>rx_buf</ItemText>
          <ItemText>tagid_list</ItemText>
        </Ww>
        <Ww>
          <count>7</count>
          <WinNumber>2</WinNumber>
          <ItemText>tagdist_list</ItemText>
          <ItemText>taglist_num</ItemText>
        </Ww>
        <Ww>
          <count>8</count>
          <WinNumber>2</WinNumber>
          <ItemText>tagid_list</ItemText>
          <ItemText>rx_report</ItemText>
        </Ww>
        <Ww>
          <count>9</count>
          <WinNumber>2</WinNumber>
          <ItemText>wltag_state</ItemText>
          <ItemText>TX_CALL_POLL_NUM</ItemText>
        </Ww>
        <Ww>
          <count>10</count>
          <WinNumber>2</WinNumber>
          <ItemText>report_ancid</ItemText>
        </Ww>
        <Ww>
          <count>11</count>
          <WinNumber>2</WinNumber>
          <ItemText>tagid_list</ItemText>
        </Ww>
        <Ww>
          <count>12</count>
          <WinNumber>2</WinNumber>
          <ItemText>report_ancdist</ItemText>
          <ItemText>tagdist_list</ItemText>
        </Ww>
      </WatchWindow2>
      <MemoryWindow1>
@@ -562,7 +562,7 @@

  <Group>
    <GroupName>Driver</GroupName>
    <tvExp>1</tvExp>
    <tvExp>0</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
@@ -906,7 +906,7 @@

  <Group>
    <GroupName>Main</GroupName>
    <tvExp>1</tvExp>
    <tvExp>0</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>