ChinaUWBProject.git

			@@ -10,15 +10,25 @@
			#include "global_param.h"
			#include "board.h"
			#include "lib_aoa.h"

			#include "lib_kf.h"
			#include "MK8000_kf_top.h"
			#if PDOA_3D_EN
			#include "lib_pdoa_3d.h"
			#endif
			extern int simple_main(void);
			extern int temp_main(void);
			void Calibration_Time(void);
			void TagListUpdate(void);
			void TagListUpdate_person_num(void);
			void buffer_message_send(void);
			void buffer_485_send(uint8_t* show_buffer);
			void Uwb_init(void);
			void OpenUWB(void);
			void CloseUWB(void);
			int Anchor_App(void);
			extern void IO_LED_control_change(uint8_t data);
			extern void IO_control_init(void);
			extern uint8_t loc_kf_filter(float data_meas, enum KF_DATA_TYPE_T data_type, uint8_t mac_addr, float data_post);

			extern void updata_led_power_state(void);
			/receive buffer/
			@@ -30,12 +40,16 @@
			//resp变量
			static uint8_t frame_seq_nb2,battary,button,rec_nearbase_num,ancidlist_num;
			static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS];
			uint8_t show_location[TAG_NUM_IN_SYS];
			void buffer_485_construct(uint8_t* show_buffer);
			static int16_t rec_ancdistlist[TAG_NUM_IN_SYS];
			void update_show_buffer(void);
			extern uint8_t group_id;
			static uint16_t anc_id_recv,tag_id_recv;
			static uint16_t anc_id_recv;
			static uint16_t tag_id_recv;
			static int16_t rec_antdelay;
			extern uint32_t dev_id;
			static uint16_t taglist_pos,tmp_time;
			static uint32_t taglist_pos,tmp_time;
			extern uint16_t tag_frequency;
			extern uint16_t disoffset;
			static uint8_t frame_len,recpoll_len,current_syncid,new_tagid,seize_anchor,result,g_start_sync_flag;
			@@ -45,6 +59,11 @@
			void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary);//找到自己的id信息对应位置更新自己的交互信息
			static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts);//用来对应位置放入时间戳
			static uint16_t tagid_list[TAG_NUM_IN_SYS];
			uint8_t tag_seq[TAG_NUM_IN_SYS];
			uint16_t angle_azimuth[TAG_NUM_IN_SYS];
			uint16_t angle_elevation[TAG_NUM_IN_SYS];
			uint16_t angle_num;
			uint32_t fliter_tagid_list[TAG_NUM_IN_SYS];
			uint16_t CmpTagInList(uint16_t tagid);
			uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos);
			static uint8_t send_buffer[100];
			@@ -62,14 +81,21 @@
			uint8_t taglist_num;
			float *sts_rssi=NULL;
			extern uint8_t recev_error_num;

			uint8_t uwb_rx_flag;
			extern Operation_step UWB_work_state;
			void find_in_tag_id_authorization_list(uint32_t authorization_list_num);
			extern int16_t first_search_flag;
			typedef enum
			{
			SEARCH,
			CLOSE,
			RANGE,
			}enumwltagstate;
			/* Ranging period */
			#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 2000U //yuan670 with urt 3000success
			#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan550极限

			#define RESP_TX_TO_FINAL_RX_DLY_US 500U

			@@ -88,7 +114,7 @@
			/* RX window open in advance */
			#define RX_WIN_IN_ADVANCE_US (150)

			#define DELAY_BETWEEN_TWO_FRAME_UUS 300 //yuan1400
			#define DELAY_BETWEEN_TWO_FRAME_UUS 500 //yuan1400

			/* Field index in frame */
			#define MSG_SEQ_NUM_IDX 2
			@@ -124,7 +150,7 @@
			// .phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
			// .phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
			//};
			#ifndef STS_MODE
			#ifdef DW1000
			static struct mk_uwb_configure config = {
			.phy_work_mode = (uint8_t)(PHY_TX \| PHY_RX),
			.phy_cfg.ch_num = 5, /* Channel number. */
			@@ -138,9 +164,11 @@
			.phy_cfg.sts_pkt_cfg = STS_PKT_CFG_0, /* SP0 Frame */
			.phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1, /* Number of STS segments in the frame */
			.phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
			.phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
			.phy_cfg.rx_main_ant = UWB_RX_ANT_3, /* UWB RX main antenna port */
			.phy_cfg.rx_ant_mode = RX_ANT_PORTS_COMBINATION, /* UWB RX antenna mode */
			.phy_cfg.pulse_shape = 0x2, /* 0x0: CCC pulse, 0x2: FiRa pulse */
			};
			#else
			#elif defined STS_MODE
			static struct mk_uwb_configure config = {
			.phy_work_mode = (uint8_t)(PHY_TX \| PHY_RX),
			.phy_cfg.ch_num = 5, /* Channel number. */
			@@ -154,9 +182,10 @@
			.phy_cfg.sts_pkt_cfg = STS_PKT_CFG_1, /* SP1 Frame */
			.phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1, /* Number of STS segments in the frame */
			.phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
			.phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
			.phy_cfg.rx_main_ant = UWB_RX_ANT_3, /* UWB RX main antenna port */
			.phy_cfg.rx_ant_mode = RX_ANT_PORTS_COMBINATION, /* UWB RX antenna mode */
			.phy_cfg.pulse_shape = 0x2, /* 0x0: CCC pulse, 0x2: FiRa pulse */
			};
			#endif
			/* Use the default key and IV specified in the IEEE 802.15.4z attachment */
			static struct UWB_STS_KEY_CONFIG_T sts_iv_key = {
			.sts_vcounter = 0x1F9A3DE4,
			@@ -168,6 +197,54 @@
			.sts_key2 = 0xD1D336AA,
			.sts_key3 = 0x14148674,
			};
			#elif defined MK_MODE
			static struct mk_uwb_configure config = {
			.phy_work_mode = (uint8_t)(PHY_TX \| PHY_RX),
			.phy_cfg.ch_num = 9, /* 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. */
			.phy_cfg.sync_sym = PREAM_LEN_128, /* Preamble duration, length of preamble 128 */
			.phy_cfg.sfd_sym = BPRF_NSFD2_8, /* Identifier for SFD sequence */
			.phy_cfg.ranging_bit = 1, /* ranging bit set. */
			.phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF, /* IEEE802.15.4z - BPRF mode */
			.phy_cfg.sts_pkt_cfg = STS_PKT_CFG_0, /* SP0 Frame */
			.phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1, /* Number of STS segments in the frame */
			.phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
			.phy_cfg.rx_main_ant = UWB_RX_ANT_3, /* UWB RX main antenna port */
			.phy_cfg.rx_ant_mode = RX_ANT_PORTS_COMBINATION, /* UWB RX antenna mode */
			.phy_cfg.pulse_shape = 0x2, /* 0x0: CCC pulse, 0x2: FiRa pulse */
			};
			#elif defined STS_MODE_SQUARE
			static struct mk_uwb_configure config = {
			.phy_work_mode = (uint8_t)(PHY_TX \| PHY_RX),
			.phy_cfg.ch_num = 5, /* Channel number. */
			.phy_cfg.code_index = 9, /* TRX preamble code */
			.phy_cfg.mean_prf = MEAN_PRF_64M, /* Mean prf 64/128/256M */
			.phy_cfg.data_bit_rate = DATA_BR_6M8, /* Data rate 6.8M */
			.phy_cfg.sync_sym = PREAM_LEN_128, /* Preamble duration, length of preamble 128 */
			.phy_cfg.sfd_sym = BPRF_NSFD2_8, /* Identifier for SFD sequence */
			.phy_cfg.ranging_bit = 1, /* ranging bit set 1 */
			.phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF, /* IEEE802.15.4z - BPRF mode */
			.phy_cfg.sts_pkt_cfg = STS_PKT_CFG_1, /* SP1 Frame */
			.phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1, /* Number of STS segments in the frame */
			.phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
			.phy_cfg.rx_main_ant = UWB_RX_ANT_3, /* UWB RX main antenna port */
			.phy_cfg.rx_ant_mode = RX_ANT_PORTS_COMBINATION, /* UWB RX antenna mode */
			.phy_cfg.pulse_shape = 0x2, /* 0x0: CCC pulse, 0x2: FiRa pulse */
			};
			/* Use the default key and IV specified in the IEEE 802.15.4z attachment */
			static struct UWB_STS_KEY_CONFIG_T sts_iv_key = {
			.sts_vcounter = 0x1F9A3DE4,
			.sts_vupper0 = 0xD37EC3CA,
			.sts_vupper1 = 0xC44FA8FB,
			.sts_vupper2 = 0x362EEB34,
			.sts_key0 = 0x14EB220F,
			.sts_key1 = 0xF86050A8,
			.sts_key2 = 0xD1D336AA,
			.sts_key3 = 0x14148674,
			};
			#endif
			static struct anchor_id_car{
			uint16_t anchor_new_id;
			uint16_t change_num;
			@@ -230,7 +307,7 @@
			int64_t tx_timestamp = ranging_tx_time(timestamp);

			// correct antenna delay (TX using the same antenna as RX)
			tx_timestamp += ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;
			tx_timestamp += ranging_ant_delays_get(config.phy_cfg.rx_main_ant) / 2;

			return tx_timestamp;
			}
			@@ -246,21 +323,69 @@
			int64_t rx_timestamp = ranging_rx_time(ind);

			// correct antenna delay
			rx_timestamp -= ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;
			rx_timestamp -= ranging_ant_delays_get(config.phy_cfg.rx_main_ant) / 2;

			return rx_timestamp;
			}

			/* RX done process handler. */
			int8_t rssi;
			uint32_t range_timeout_us = 2000000;//yuan5000
			uint8_t flag_temp2,flag_temp1;
			uint16_t uwb_losttimer;
			uint8_t mac_error;
			uint8_t allow_flag;
			uint8_t resp_tx_flag,poll_rx_error_num;
			uint8_t tag_rssi[TAG_NUM_IN_SYS];
			uint8_t tag_show_location[TAG_NUM_IN_SYS];
			void construct_show_buffer(uint8_t*tag_show_location,uint32_t tag_pos)
			{
			//if(angle_azimuth[tag_pos])
			//{
			//
			//}elseif(angle_azimuth[tag_pos])
			//{

			//}elseif(angle_azimuth[tag_pos])
			//{

			//}elseif(angle_azimuth[tag_pos])
			//{

			//}
			}
			float temp1,temp2;
			static void angle_result_filter(uint8_t mac_addr, int16_t angle, uint8_t type)
			{
			if (angle == NULL)
			{
			return;
			}

			float post_angle;
			float angle_meas = mk_q7_to_f32(*angle);
			temp1=angle_meas;

			// call filter
			loc_kf_filter(angle_meas, (enum KF_DATA_TYPE_T)type, mac_addr, &post_angle);
			temp2=post_angle;
			// update angle
			*angle = mk_f32_to_q7(post_angle);
			temp1=*angle;
			// LOG_INFO(TRACE_MODULE_APP, "Peer %X, $%d %d;\r\n", READ_SHORT(mac_addr), (int16_t)angle_meas,(int16_t)post_angle);
			}
			static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
			{ uint8_t valid_sts=0;
			// Power off radio
			power_off_radio();

			sts_lsp_store_stop();
			/** UWB RX success */
			if (rx_report->err_code == UWB_RX_OK)
			{
			// /* Received data does not contain FCS */
			// rx_length = rx_report->pkt_len;
			// memcpy(rx_buf, rx_report->pkt_data, rx_length);

			/* Received data does not contain FCS */
			rx_length = rx_report->pkt_len;
			memcpy(rx_buf, rx_report->pkt_data, rx_length);
			@@ -271,20 +396,54 @@
			poll_rx_ts_i64 = ranging_rx_time_correct(&rx_rpt);
			poll_rx_num++;
			rssi = rx_report->rssi;
			receive_flag=1;
			valid_sts= sts_valid_check();
			if (valid_sts)
			{
			aoa_calculate(&elevation, &azimuth);
			aoa_fom_get(NULL, &fom);
			// float pdoa[3];
			// pdoa[0] = pdoa_select_get(0, 3);
			// pdoa[1] = pdoa_select_get(1, 3);
			// pdoa[2] = pdoa_select_get(2, 3);
			// LOG_INFO(TRACE_MODULE_APP, "PDOA: %f %f %f\r\n", pdoa[0], pdoa[1], pdoa[2]);

			sts_rssi = sts_rssi_output_get();
			//receive_flag=1;
			Anchor_App();
			// // PDoA caculation
			if (sts_valid_check())//为了避免影响时序放到了回包后进行操作
			{
			pdoa_3d_calculate(0, &elevation, &azimuth);
			pdoa_fom_get(NULL, &fom);
			if(allow_flag)
			{
			tag_rssi[taglist_pos]=rssi;
			uint8_t mac_addr=0;
			angle_result_filter(&mac_addr,&azimuth, KF_DATA_TYPE_AZIMUTH);
			angle_result_filter(&mac_addr,&elevation, KF_DATA_TYPE_ELEVATION);
			angle_azimuth[taglist_pos]=(uint16_t)mk_q7_to_s16(azimuth);
			angle_elevation[taglist_pos]=(uint16_t)mk_q7_to_s16(elevation);
			//buffer_message_send();
			//int16_t azimth=mk_q7_to_s16(azimuth),elevate=mk_q7_to_s16(elevation);

			// // filter process

			LOG_INFO(TRACE_MODULE_APP, "PDoA 0x%04x Azimuth %d Elevation %d FoM %u\r\n",tag_id_recv, mk_q7_to_s16(azimuth),
			mk_q7_to_s16(elevation), fom);
			allow_flag=0;
			}
			}
			if(resp_tx_flag==0)
			{
			OpenUWB();
			}
			// }else{
			// poll_rx_error_num++;
			// rx_report->err_code \|= UWB_STS_ERR;
			// }
			// #ifdef STS_MODE
			// valid_sts= sts_valid_check();
			// if (valid_sts)
			// {
			// aoa_calculate(&elevation, &azimuth);
			// aoa_fom_get(NULL, &fom);
			//// float pdoa[3];
			//// pdoa[0] = pdoa_select_get(0, 3);
			//// pdoa[1] = pdoa_select_get(1, 3);
			//// pdoa[2] = pdoa_select_get(2, 3);
			//// LOG_INFO(TRACE_MODULE_APP, "PDOA: %f %f %f\r\n", pdoa[0], pdoa[1], pdoa[2]);

			// sts_rssi = sts_rssi_output_get();
			// }
			// #endif
			}
			else
			{
			@@ -297,8 +456,9 @@
			temp_count= phy_timer_count_get();
			memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
			rx_length = 0;

			OpenUWB();//再次开启UWB接收
			}
			//OpenUWB();//再次开启UWB接收
			}

			/* TX done process handler. */
			@@ -313,14 +473,22 @@
			temp_count= phy_timer_count_get();
			temp_internal=temp_count;
			resp_tx_num++;
			resp_tx_flag=0;
			OpenUWB();//再次开启UWB接收
			//LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
			}
			}else{
			mac_error=1;
			}
			}
			uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
			uint16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
			extern uint32_t tag_id_authorization_list[1024];
			static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
			uint8_t anchordata_num = 0;
			static int32_t tagdist_list[TAG_NUM_IN_SYS];
			uint8_t rssi_quality[TAG_NUM_IN_SYS];
			uint16_t state_button[TAG_NUM_IN_SYS];
			uint16_t pressure[TAG_NUM_IN_SYS];
			uint16_t random_time;
			//anchor
			int32_t hist_dist;
			@@ -358,17 +526,35 @@
			// }

			}
			//uint16_t CmpTagInList(uint16_t tagid)
			//{ uint16_t i;
			// for(i=0; i<taglist_num; i++)
			// {
			// if(memcmp(&tagid,&anchordata_id[i],2)==0)
			// break;
			// }
			// if(i==taglist_num)
			// return taglist_num;
			// //tagofflinetime[i] = 0;
			// return i;
			//}yuan
			uint16_t CmpTagInList(uint16_t tagid)
			{ 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)
			return taglist_num;
			//tagofflinetime[i] = 0;
			return i;
			}
			uint16_t ExistInTagList(uint16_t tagid)
			{ uint16_t i;
			for(i=0; i<taglist_num; i++)
			{
			if(memcmp(&tagid,&tagid_list[i],2)==0)
			return 1;
			}
			return 0;
			}

			uint16_t CmpCarInExistList(uint16_t tagid)
			@@ -394,30 +580,106 @@
			ts2 >>= 8;
			}
			}

			void TagListUpdate(void)
			uint8_t tt5=0;
			//void TagListUpdate(void)
			//{
			// uint8_t i,j=0;
			// for(i=0; i<anchordata_num; i++)
			// {
			// if(tagofflinetime[i]++<QUIT_SLOT_TIME)
			// {
			// anchordata_id[j]=anchordata_id[i];
			// tagofflinetime[j++]=tagofflinetime[i];
			// }
			// }
			// anchordata_num=j;
			//}
			uint8_t find_flag;
			uint16_t bind_distance,button_determinate_distance,change_by_frequency_distance;
			uint8_t tag_near_frequency;
			uint8_t tag_authorized_List[TAG_NUM_IN_SYS];
			extern uint32_t tag_id_authorization_list_num;
			void sort_tag_lists(void)
			{
			uint8_t i,j=0;
			for(i=0; i<anchordata_num; i++)
			{
			if(tagofflinetime[i]++<QUIT_SLOT_TIME)
			{
			anchordata_id[j]=anchordata_id[i];
			tagofflinetime[j++]=tagofflinetime[i];
			if (taglist_num <= 1) {
			return; // 无需排序
			}
			// 使用冒泡排序（稳定排序，实现简单）
			for (size_t i = 0; i < taglist_num - 1; i++) {
			for (size_t j = 0; j < taglist_num - i - 1; j++) {
			if (tagdist_list[j] > tagdist_list[j + 1]) {
			// 交换距离值
			uint16_t temp_dist = tagdist_list[j];
			tagdist_list[j] = tagdist_list[j + 1];
			tagdist_list[j + 1] = temp_dist;

			// 同步交换标签ID
			uint32_t temp_id = tagid_list[j];
			tagid_list[j] = tagid_list[j + 1];
			tagid_list[j + 1] = temp_id;

			//同步交换电量是否授权表和在线时间
			uint32_t temp_bat = anchordata_bat[j];
			anchordata_bat[j]=anchordata_bat[j+1];//电量随之更新
			anchordata_bat[j+1]=temp_bat;

			//同步交换在线时间
			uint32_t temp_tag_offlinetime = tagofflinetime[j];
			tagofflinetime[j]=tagofflinetime[j+1];//电量随之更新
			tagofflinetime[j+1]=temp_tag_offlinetime;

			// //同步交换授权表
			// uint8_t temp_tag_authorized = tag_authorized_List[j];
			// tag_authorized_List[j]=tag_authorized_List[j+1];//电量随之更新
			// tag_authorized_List[j+1]=temp_tag_authorized;
			}
			}
			}
			anchordata_num=j;
			}

			void change_button_state(void)
			{
			if(tag_authorized_List[0]==1&&taglist_num>=1)//只有在有效判定范围内有授权的标签才会开启，否则都是关闭
			{
			if(tagdist_list[0]<button_determinate_distance)
			{
			gpio_pin_set(BUTTON_PIN);
			}else{
			gpio_pin_clr(BUTTON_PIN);
			}
			}else{
			gpio_pin_clr(BUTTON_PIN);
			}
			}
			void TagListUpdate(void)
			{
			uint16_t i,j=0,k=0;
			for(i=0; i<taglist_num; i++)
			{
			if(tagofflinetime[i]++<TAG_KEEPTIMES)
			{
			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];
			}
			}
			taglist_num=j;
			sort_tag_lists();//增加距离小的排到前面逻辑
			buffer_message_send();//发送测距报文信息
			update_show_buffer();//根据角度和距离判断区域位置
			//delay_ms(10);
			buffer_485_send(show_location);//发送显示信息
			}

			uint8_t flag_temp2,flag_temp1;
			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
			{
			temp_count2=poll_rx_en_start_u32;

			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
			memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,4);//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
			@@ -432,20 +694,31 @@
			// resp_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(20rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+ancrec_nearbaseposDELAY_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()
			resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US);
			position=ancrec_nearbasepos;
			resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+ancrec_nearbasepos*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//加入帧间隔
			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
			if(tagdist_list[ancrec_nearbasepos]<=change_by_frequency_distance&&tag_authorized_List[ancrec_nearbasepos]==1)//授权才改变频率否则不改变
			{
			send_buffer[RESP_MSG_TAG_FREQUENCY]=tag_near_frequency;//新加入改变标签测距hz
			}
			else{
			send_buffer[RESP_MSG_TAG_FREQUENCY]=1;//新加入改变标签测距hz
			}
			temp_resp_i64=resp_tx_ts_i64;
			temp_count3= phy_timer_count_get();
			flag_temp2=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());
			gpio_pin_clr(SCL_PIN);
			resp_tx_flag=1;//限制重复开启
			tagofflinetime[taglist_pos] = 0;//更新标签通信
			//phy_update_sts_iv_counter(0x00, sts_iv_key.sts_vcounter);//重置sts
			// temp_count1=phy_timer_count_get();
			//while(mac_is_busy());
			//gpio_pin_clr(SCL_PIN);
			}
			uint32_t range_timeout_us = 5000;//yuan5000

			uint16_t uwb_searchcount;
			uint8_t flag_recsuccess;

			@@ -457,6 +730,10 @@
			uint16_t anchor_id_in[TAG_NUM_IN_SYS],anchor_id_out[TAG_NUM_IN_SYS];
			uint8_t secondtask_search_count,secondtask_search_flag;
			extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag,flag_secondtask;
			enumwltagstate wltag_state=RANGE;
			uint32_t wltag_statetimer,wltag_uwbtimer;
			uint32_t uwbtasktimer=0,uwbtagsendtimer=0;

			uint16_t CmpCarInTable(uint16_t tagid)
			{ uint16_t i;
			for(i=0; i<get_in_num; i++)
			@@ -469,71 +746,6 @@
			//tagofflinetime[i] = 0;
			return i;
			}
			void TagListUpdate_person_num(void)
			{
			uint8_t i,j=0;
			for(i=0; i<anchordata_num; i++)
			{
			if(tagofflinetime[i]++<QUIT_SLOT_TIME)
			{
			anchordata_id[j]=anchordata_id[i];
			tagofflinetime[j++]=tagofflinetime[i];
			}else{
			// for(int h=0;h<get_in_num;h++)//消除车内离线id
			// {
			// if(anchordata_id[i]==anchor_id_in[h])
			// {
			// for(int k=h+1;k<get_in_num;k++)
			// {
			// anchor_id_in[k-1]=anchor_id_in[k];//缺个数量--
			// }
			// get_in_num--;//车内不删除
			// }
			// }
			for(int h=0;h<get_out_num;h++)//消除车外离线id
			{
			if(anchordata_id[i]==anchor_id_out[h])
			{
			for(int k1=h+1;k1<get_out_num;k1++)
			{
			anchor_id_out[k1-1]=anchor_id_out[k1];//缺个数量--
			}
			get_out_num--;
			}
			}
			}
			}
			anchordata_num=j;

			}
			void in_table_log(void)
			{
			uint32_t u32LogLen,datalenth;
			char acReadponse[200];
			u32LogLen = snprintf(acReadponse, sizeof(acReadponse), "车内：%d 人 ID:",get_in_num,get_out_num);
			for(uint16_t i=0;i<get_in_num;i++)
			{
			datalenth = sprintf((char*)&acReadponse[u32LogLen],",%04X",anchor_id_in[i]);
			u32LogLen += datalenth;
			}
			LOG_INFO(TRACE_MODULE_APP,"%s\r\n",acReadponse);
			}
			void TagListUpdate_person_num_car(void)
			{
			uint8_t i,j=0;
			for(i=0; i<anchordata_num; i++)
			{
			if(tagofflinetime[i]++<QUIT_SLOT_TIME)
			{
			anchordata_id[j]=anchordata_id[i];
			tagofflinetime[j++]=tagofflinetime[i];
			}else{
			change_count[j]=0;
			}
			}
			anchordata_num=j;

			}
			void Calibration_Time(void)
			{
			current_count_calibration=phy_timer_count_get();
			@@ -541,7 +753,7 @@
			&&!((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)
			{
			@@ -564,115 +776,348 @@
			}
			}
			uint16_t g_com_receive_id;
			int add_in_car_table(uint16_t position_anchor_in_table,uint16_t receive_success_id)
			void CloseUWB(void)
			{
			if(position_anchor_in_table==get_in_num)//新增
			{
			if(get_in_num<TAG_NUM_IN_SYS-1)
			get_in_num++;
			}
			anchor_id_in[position_anchor_in_table]=receive_success_id;
			uwb_rx_force_off(1);
			uwb_rx_flag=0;
			//LOG_INFO(TRACE_MODULE_APP,"关闭uwb_rx\r\n");
			}
			int delete_in_car_table(uint16_t position_anchor_in_table)
			void OpenUWB(void)
			{
			if(position_anchor_in_table<get_in_num)//若在列表里
			{
			for(int i=position_anchor_in_table+1;i<get_in_num;i++)
			{
			anchor_id_in[i-1]=anchor_id_in[i];//缺个数量--
			}
			get_in_num--;//更新列表现存数
			}
			flag_temp1=uwb_rx(0, 0,range_timeout_us);//提交接收请求
			uwb_rx_flag=1;
			//LOG_INFO(TRACE_MODULE_APP,"打开uwb_rx\r\n");
			}
			void UWBOneSecondTask(void)
			{
			TagListUpdate();//更新标签数
			uwb_losttimer++;
			if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
			uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//防止溢出
			}
			void check_if_in_or_out(uint16_t receive_success_id,int32_t distance_from_tag,float rssi_ant0,float rssi_ant2)
			void UWBIdleTask(void)
			{
			uint8_t i;
			if(rssi_ant0>rssi_ant2&&distance_from_tag<200)
			{
			for(i=0; i<get_in_num; i++)
			{
			if(anchor_id_in[i] == receive_success_id)//查询标签是否在自己已通讯列表中
			{

			break;
			}
			}
			if(i==get_in_num)
			{
			if(get_in_num<TAG_NUM_IN_SYS-1)
			get_in_num++;
			for(i=0;i<get_out_num;i++)//消除车外id
			{
			if(receive_success_id==anchor_id_out[i])
			{
			for(i=i+1;i<get_out_num;i++)
			{
			anchor_id_out[i-1]=anchor_id_out[i];//缺个数量--
			}
			get_out_num--;
			}
			}
			anchor_id_in[get_in_num-1]=receive_success_id;
			}
			}else if(rssi_ant0<rssi_ant2&&distance_from_tag<200)
			if(HIDO_TimerGetTick()-uwbtasktimer >=1)
			{
			for(i=0; i<get_out_num; i++)
			{
			if(anchor_id_out[i] == receive_success_id)//查询标签是否在自己已通讯列表中
			{

			break;
			}
			}
			if(i==get_out_num)
			{
			if(get_out_num<TAG_NUM_IN_SYS-1)
			get_out_num++;
			for(i=0;i<get_in_num;i++)//消除车内id
			{
			if(receive_success_id==anchor_id_in[i])
			{
			for(i=i+1;i<get_in_num;i++)
			{
			anchor_id_in[i-1]=anchor_id_in[i];//缺个数量--
			}
			get_in_num--;
			}
			}
			anchor_id_out[get_out_num-1]=receive_success_id;
			}
			uwbtasktimer = HIDO_TimerGetTick();
			UWBOneSecondTask();
			}
			}

			void check_if_in_or_out_car(uint16_t receive_success_id,int32_t distance_from_tag,float rssi_ant0,float rssi_ant2)
			int uwb_app_poll(void)
			{
			uint8_t i;
			uint16_t position_anchor_exist,position_anchor_in_table;
			position_anchor_exist=CmpCarInExistList(receive_success_id);
			if(rssi_ant0>rssi_ant2&&distance_from_tag<200)
			// 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();
			}

			extern uint8_t bind_flag;
			void bubble_sort(uint32_t *arr, uint32_t n)
			{
			if (n <= 1) return; // 无需排序

			uint32_t i, j;
			uint8_t swapped; // 标记是否发生交换

			for (i = 0; i < n - 1; i++) {
			swapped = 0; // 重置交换标记

			// 每轮将最大元素"冒泡"到末尾
			for (j = 0; j < n - i - 1; j++) {
			if (arr[j] > arr[j + 1]) {
			// 交换相邻元素
			uint32_t temp = arr[j];
			arr[j] = arr[j + 1];
			arr[j + 1] = temp;
			swapped = 1; // 标记发生了交换
			}
			}

			// 优化：如果本轮未发生交换，说明数组已排序
			if (!swapped) break;
			}
			}
			uint16_t tag_authorization_list_num_temp;
			void fliter_tag_id_authorization_list(uint16_t*tag_authorization_list_real_num)
			{
			uint32_t filtered_count = 0;

			// 遍历所有标签，将距离小于阈值的ID存入结果数组
			for (uint32_t i = 0; i < taglist_num; i++) {
			if (tagdist_list[i] < bind_distance&&tagid_list[i]!=0) {
			fliter_tagid_list[filtered_count] = tagid_list[i];
			filtered_count++;
			}
			//fliter_tagid_list
			}
			*tag_authorization_list_real_num=filtered_count;
			}
			void copy_taglist_to_flash(void)
			{
			fliter_tag_id_authorization_list(&tag_authorization_list_num_temp);//过滤调id为0的标签和不满足绑定距离的标签
			memset(tag_id_authorization_list,0,sizeof(tag_id_authorization_list));//清空上一次数组防止重叠
			memcpy(&tag_id_authorization_list,&fliter_tagid_list,tag_authorization_list_num_temp*4);//复制满足条件数组
			bubble_sort(&tag_id_authorization_list,tag_authorization_list_num_temp);//进行排序后存入,为二分法做基础
			save_taglist_map_to_flash();//存入flash
			}

			void find_in_tag_id_authorization_list(uint32_t authorization_list_num)
			{
			// for (uint32_t i = 0; i < taglist_num; i++) {
			// uint32_t target = tagid_list[i];
			// uint32_t left = 0;
			// uint32_t right = authorization_list_num - 1; // 授权列表的最大索引
			// uint8_t found = 0;
			//
			// // 二分查找循环
			// while (left <= right) {
			// uint32_t mid = left + ((right - left) >> 1); // 防止整数溢出
			// uint32_t mid_val = tag_id_authorization_list[mid];
			//
			// if (mid_val == target) {
			// found = 1;
			// break; // 找到目标值，立即退出循环
			// } else if (mid_val < target) {
			// left = mid + 1;
			// } else {
			// right = mid - 1;
			// }
			// LOG_INFO(TRACE_MODULE_APP, "DEBUG: i=%u, left=%d, right=%d, found=%u\n", i, left, right, found);
			// }
			////
			//// // 存储查找结果
			//// tag_authorized_List[i] = found;
			// }
			{
			// 如果授权列表为空，直接全部标记为0
			if (authorization_list_num == 0) {
			for (int i = 0; i < taglist_num; i++) {

			tag_authorized_List[i] = 0;
			}
			return;
			}

			// 遍历需要查找的每个ID
			for (int i = 0; i < taglist_num; i++) {
			if (tag_authorized_List[i] != 2) {
			continue; // 跳过不需要查找的项
			}
			int key = tagid_list[i];
			int low = 0;
			int high = authorization_list_num - 1;
			int found = 0; // 标记是否找到

			// 在授权列表中执行二分查找
			while (low <= high) {
			int mid = low + (high - low) / 2; // 防止整数溢出

			if (tag_id_authorization_list[mid] == key) {
			found = 1; // 找到匹配项
			break;
			} else if (tag_id_authorization_list[mid] < key) {
			low = mid + 1; // 在右半部分继续查找
			} else {
			high = mid - 1; // 在左半部分继续查找
			}
			}

			// 根据查找结果设置输出列表
			tag_authorized_List[i] = found ? 1 : 0;
			}
			}
			}
			#define AREA_1 0xa1
			#define AREA_2 0xa2
			#define AREA_3 0xa3
			#define AREA_4 0xa4
			#define AREA_5 0xa5
			#define AREA_6 0xa6
			#define AREA_7 0xa7
			#define AREA_8 0xa8
			uint8_t change_by_distance(uint8_t position,uint16_t distance)
			{
			if(distance<1000){
			position=position;
			}else if (distance>1000&&distance<2000){
			position=position+16;
			}else if (distance>2000&&distance<3000){
			position=position+16;
			}
			return position;
			}
			void update_show_buffer(void)
			{
			uint8_t location_temp;
			for(int i=0;i<taglist_num;i++)
			{
			change_count[position_anchor_exist]++;
			if(change_count[position_anchor_exist]>0)
			if((int16_t)angle_azimuth[i]>=-22.5&&(int16_t)angle_azimuth[i]<=22.5)
			{
			position_anchor_in_table=CmpCarInTable(receive_success_id);
			add_in_car_table(position_anchor_in_table,receive_success_id);
			location_temp=change_by_distance(AREA_1,tagdist_list[i]);
			}else if((int16_t)angle_azimuth[i]>=22.5&&(int16_t)angle_azimuth[i]<=67.5){
			location_temp=change_by_distance(AREA_8,tagdist_list[i]);
			}else if((int16_t)angle_azimuth[i]>=67.5&&(int16_t)angle_azimuth[i]<=112.5){
			location_temp=change_by_distance(AREA_7,tagdist_list[i]);
			}else if((int16_t)angle_azimuth[i]>=112.5&&(int16_t)angle_azimuth[i]<=157.5){
			location_temp=change_by_distance(AREA_6,tagdist_list[i]);
			}else if(((int16_t)angle_azimuth[i]>=157.5&&(int16_t)angle_azimuth[i]<=180)\|\|((int16_t)angle_azimuth[i]>=-180&&(int16_t)angle_azimuth[i]<=-157.5)){
			location_temp=change_by_distance(AREA_5,tagdist_list[i]);
			}else if((int16_t)angle_azimuth[i]>=-157.5&&(int16_t)angle_azimuth[i]<=-112.5){
			location_temp=change_by_distance(AREA_4,tagdist_list[i]);
			}else if((int16_t)angle_azimuth[i]>=-112.5&&(int16_t)angle_azimuth[i]<=-67.5){
			location_temp=change_by_distance(AREA_3,tagdist_list[i]);
			}else if((int16_t)angle_azimuth[i]>=-67.5&&(int16_t)angle_azimuth[i]<=-22.5){
			location_temp=change_by_distance(AREA_2,tagdist_list[i]);
			}
			if(change_count[position_anchor_exist]>=3)
			{ change_count[position_anchor_exist]=3;

			}
			}else if(rssi_ant0<rssi_ant2&&distance_from_tag<200)
			{
			change_count[position_anchor_exist]--;
			if(change_count[position_anchor_exist]<0)
			{
			position_anchor_in_table=CmpCarInTable(receive_success_id);
			delete_in_car_table(position_anchor_in_table);
			}
			if(change_count[position_anchor_exist]<=-3)
			{change_count[position_anchor_exist]=-3;
			}
			show_location[i]=location_temp;
			}
			}
			void buffer_485_send(uint8_t* show_buffer)
			{ static uint8_t usart_send[100];
			uint16_t checksum = 0;
			usart_send[0] = 0x55;
			usart_send[1] = 0xAA;
			usart_send[2] = 0x50;
			usart_send[3] = 9+5*taglist_num; //length
			memcpy(&usart_send[4],&dev_id,2); //anchor_id)
			usart_send[6]=taglist_num; //区域数量
			memcpy(&usart_send[7],show_buffer,taglist_num);//区域位置
			memcpy(&usart_send[7+taglist_num],&tagid_list,2*taglist_num);//tag_idlist
			memcpy(&usart_send[7+taglist_num+2taglist_num],&tagdist_list,2taglist_num); //tag_distlist
			usart_send[7+5*taglist_num]=0;//保留4位RESERVE1
			usart_send[7+5*taglist_num+1]=0;
			usart_send[7+5*taglist_num+2]=0;
			usart_send[7+5*taglist_num+3]=0;

			checksum = Checksum_u16(&usart_send[2],9+5*taglist_num);
			memcpy(&usart_send[7+5*taglist_num+4], &checksum, 2);
			while(uart_is_busy(UART_ID0));
			uart_send(UART_ID0, usart_send,13+5*taglist_num, NULL);
			}
			void buffer_message_send(void)
			{ static uint8_t usart0_send[1024];
			uint16_t checksum = 0;
			uint32_t yuliu=0;
			usart0_send[0] = 0x55;
			usart0_send[1] = 0xAA;
			usart0_send[2] = 0x51;
			usart0_send[3] = 8+16*taglist_num; //length
			memcpy(&usart0_send[4],&dev_id,2); //anchor_id
			for(uint8_t i=0;i<taglist_num;i++)
			{
			memcpy(&usart0_send[6+i*16],tagid_list[i],2);
			usart0_send[8+i*20] = tag_seq[i];//包序
			memcpy(&usart0_send[9+i*16],&tagdist_list[i],2); //distance
			memcpy(&usart0_send[11+i*16],&angle_azimuth[i],2);//angle_azithum
			memcpy(&usart0_send[13+i*16],&angle_elevation[i],2);//angle_elevation
			memcpy(&usart0_send[15+i*16],&tag_rssi[i],1); //信号强度
			memcpy(&usart0_send[16+i*16],&rssi_quality[i],1); //信号质量预留
			usart0_send[17+i*20]=anchordata_bat[i];//标签电量
			memcpy(&usart0_send[18+i*16],&state_button[i],2); //设备状态
			memcpy(&usart0_send[20+i*16],&pressure[i],2); //气压
			}
			memcpy(&usart0_send[6+taglist_num*16],&yuliu,4); //预留位4位
			checksum = Checksum_u16(&usart0_send[2],8+16*taglist_num);
			memcpy(&usart0_send[10+16*taglist_num], &checksum, 2);
			uart_send(UART_ID0, usart0_send,12+16*taglist_num, NULL);
			}
			int Anchor_App(void)
			{
			uint8_t i;
			uint16_t tempid;
			//phy_update_sts_iv_counter(0x01, 0x00);//接受到后更新sts时间
			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
			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

			// #if AOA_EN
			// // AOA caculation
			// aoa_calculate(&elevation, &azimuth);
			// aoa_fom_get(NULL, &fom);
			//#elif PDOA_3D_EN
			// // PDoA caculation
			// pdoa_3d_calculate(0, &elevation, &azimuth);
			// pdoa_fom_get(NULL, &fom);
			//#endif

			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
			memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
			memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
			memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2rec_nearbase_num],2rec_nearbase_num);
			memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
			allow_flag=1;
			taglist_pos=CmpTagInList(tag_id_recv);
			if(taglist_num>=ANC_MAX_NUM)
			return 0;
			for(i=0; i<rec_nearbase_num; i++)
			{
			memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
			if(tempid==dev_id)
			{
			Anchor_RecNearPoll(i);
			tagdist_list[taglist_pos]=rec_ancdistlist[i];
			anchordata_bat[taglist_pos] = battary;//保存该基站电量
			tag_seq[taglist_pos]=frame_seq_nb2;
			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;//新增基站
			}
			break;
			}
			}

			if((i==rec_nearbase_num&&taglist_pos==taglist_num)\|\|(rec_nearbase_num==0&&!ExistInTagList(tag_id_recv)))//当基站不在标签列表中，标签也不在基站列表中时，随机找个时间片回复基站。
			{
			Anchor_RecNearPoll(rec_nearbase_num);
			}
			}


			}
			int UwbRange(void)
			{
			@@ -680,7 +1125,7 @@
			uint16_t tempid;
			// The following peripherals will be initialized in the uwb_open function
			// phy/mac/aes/lsp/phy timers initialized
			uwb_open();
			//uwb_open();

			// // Set calibration parameters
			// uwb_calibration_params_set(config.phy_cfg.ch_num);
			@@ -700,7 +1145,7 @@
			// ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);

			// Register rx interrupt callback function
			mac_register_process_handler(tx_int_callback, rx_int_callback);
			//mac_register_process_handler(tx_int_callback, rx_int_callback);

			receive_flag = 0;
			flag_recsuccess = 0;
			@@ -775,8 +1220,7 @@
			}
			recev_error_num=0;
			//range_timeout_us=5000;//恢复为5000进入range后
			LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 包序%d\r\n",g_com_receive_id,distance,frame_seq_nb2);
			check_if_in_or_out_car(g_com_receive_id,distance,sts_rssi[0],sts_rssi[2]);
			//LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 包序%d\r\n",g_com_receive_id,distance,frame_seq_nb2);


			gpio_pin_clr(SCL_PIN);
			@@ -810,39 +1254,112 @@

			return 0;
			}
			void Uwb_init(void)
			void Uwb_init(void)//uwbinit修改了
			{
			// Set STS key and IV
			phy_sts_key_configure(&sts_iv_key);

			// which RX ports will be used for AoA/PDoA
			phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);

			uwb_open();
			// Set calibration parameters
			uwb_calibration_params_set(config.phy_cfg.ch_num);

			// set advanced parameters
			struct PHY_ADV_CONFIG_T adv_config = {
			// set advanced parameters
			struct PHY_ADV_CONFIG_T adv_config =
			{
			.thres_fap_detect = 40,
			.nth_scale_factor = 4,
			.ranging_performance_mode = 3,
			.nth_scale_factor = 1,
			.ranging_performance_mode = 0,
			#if RX_ANT_PORTS_NUM == 4
			.skip_weakest_port_en = 1,
			#else
			.skip_weakest_port_en = 0,
			#endif
			};
			phy_adv_params_configure(&adv_config);

			// uwb configure
			uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);

			ranging_lib_init();
			ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);

			aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM);
			aoa_steering_vector_set((const float *)((uint32_t)((config.phy_cfg.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) \| SRAM_BASE));

			aoa_param_config();

			phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
			ranging_lib_init(config.phy_cfg.sts_pkt_cfg, CE_AUX_CH_PWR_NLOS_FOM);

			// Register rx interrupt callback function
			mac_register_process_handler(tx_int_callback, rx_int_callback);

			// Reduce inter frame spacing (IFS) for non encrypted packets
			mac_ifs_set(0, 0);
			}
			#if PDOA_3D_EN
			#define PDOA_3D_SUPPORT_NUM 10
			#define PDOA_3D_TIMEOUT_MS 2000
			static struct PDOA_3D_MAC_ADDR_T mac_addr_cache[PDOA_3D_SUPPORT_NUM];
			static struct PDOA_3D_PDOA_DATA_T pdoa_data_cache[PDOA_3D_SUPPORT_NUM];
			#endif
			#define KF_SUPPORT_NUM 3
			#define KF_TIMEOUT_MS 2000
			static struct KF_MAC_ADDR_T kf_mac_addr_cache[KF_SUPPORT_NUM];
			static struct KF_CHANNEL_CACHE_T kf_channel_cache[KF_SUPPORT_NUM];
			static struct KF_MAT_VALUE_CACHE_T kf_mat_value_cache[KF_SUPPORT_NUM];
			void Anchor_uwb_aoa_square_init(void)
			{
			uwb_open();
			// Set calibration parameters
			uwb_calibration_params_set(config.phy_cfg.ch_num);

			// set advanced parameters
			struct PHY_ADV_CONFIG_T adv_config =
			{
			.thres_fap_detect = 40,
			.nth_scale_factor = 1,
			.ranging_performance_mode = 0,
			#if RX_ANT_PORTS_NUM == 4
			.skip_weakest_port_en = 1,
			#else
			.skip_weakest_port_en = 0,
			#endif
			};
			phy_adv_params_configure(&adv_config);

			// uwb configure
			uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);

			ranging_lib_init(config.phy_cfg.sts_pkt_cfg, CE_AUX_CH_PWR_NLOS_FOM);

			// Register rx interrupt callback function
			mac_register_process_handler(tx_int_callback, rx_int_callback);

			// Reduce inter frame spacing (IFS) for non encrypted packets
			mac_ifs_set(0, 0);

			#if (ANT_PATTERN == ANT_PATTERN_SQUARE)
			angle_span_t aoa_span;
			aoa_span.Ndim = 2;
			aoa_span.el_low = 90;
			aoa_span.el_high = 90;
			aoa_span.el_step = 1;
			aoa_span.az_low = 0;
			aoa_span.az_high = 359;
			aoa_span.az_step = 1;
			aoa_angle_search_span_set(&aoa_span);
			#endif

			#if AOA_EN
			sts_param_config(config.phy_cfg.sts_pkt_cfg, STS_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM, STS_BUF_NUM, STS_BUF_SIZE);
			aoa_steering_vector_set((const float *)((uint32_t)((config.phy_cfg.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) \| SRAM_BASE));
			#else
			sts_param_config(config.phy_cfg.sts_pkt_cfg, STS_AUX_ANT_IQ_RSSI, STS_BUF_NUM, STS_BUF_SIZE);
			#endif

			#if PDOA_3D_EN
			pdoa_3d_param_config(ANT_PATTERN, ANT_LAYOUT, PDOA_3D_AMBIGUITY_LEVEL_NONE, mac_addr_cache, pdoa_data_cache, PDOA_3D_SUPPORT_NUM, PDOA_3D_TIMEOUT_MS);
			// pdoa_angle_reverse_set(1, 0);
			#endif

			// Set STS key and IV
			phy_sts_key_configure(&sts_iv_key);

			phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
			//初始化滤波空间
			loc_post_kf_config(1000, kf_mac_addr_cache, kf_channel_cache, kf_mat_value_cache, KF_SUPPORT_NUM, KF_TIMEOUT_MS);
			}


			//主函数绑定接受逻辑
			int UwbSearch(void)
			{
			@@ -851,36 +1368,51 @@
			// The following peripherals will be initialized in the uwb_open function
			// phy/mac/aes/lsp/phy timers initialized
			uwb_open();
			#ifdef STS_MODE
			// Set STS key and IV
			phy_sts_key_configure(&sts_iv_key);

			// which RX ports will be used for AoA/PDoA
			phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);

			#endif
			// Set calibration parameters
			uwb_calibration_params_set(config.phy_cfg.ch_num);

			#ifndef STS_MODE
			// set advanced parameters
			struct PHY_ADV_CONFIG_T adv_config = {
			.thres_fap_detect = 40,
			.nth_scale_factor = 4,
			.ranging_performance_mode = 0,
			.skip_weakest_port_en = 0,
			};
			#else
			// set advanced parameters
			struct PHY_ADV_CONFIG_T adv_config = {
			.thres_fap_detect = 40,
			.nth_scale_factor = 4,
			.ranging_performance_mode = 3,
			.skip_weakest_port_en = 0,
			};
			#endif
			phy_adv_params_configure(&adv_config);

			// uwb configure
			uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);

			#ifdef STS_MODE
			ranging_lib_init();
			ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);

			#endif
			//ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);//新版本修改
			ranging_lib_init(config.phy_cfg.sts_pkt_cfg, CE_AUX_CH_PWR_NLOS_FOM);
			#ifdef STS_MODE
			aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM);
			aoa_steering_vector_set((const float *)((uint32_t)((config.phy_cfg.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) \| SRAM_BASE));

			aoa_param_config();

			phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
			#endif
			// Register rx interrupt callback function
			mac_register_process_handler(tx_int_callback, rx_int_callback);