修改了一些授权判断逻辑，授权查找未修改

chen

2025-07-01 56336ce608d00c214057e430517762deff487122

 keil/uwb_app.c

@@ -468,6 +468,43 @@
uint16_t bind_distance,button_determinate_distance,change_by_frequency_distance;
uint8_t tag_near_frequency;
extern uint32_t tag_id_authorization_list_num;
void sort_tag_lists(void)
{
   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;
            }
        }
    }
}
uint8_t tag_authorized_List[TAG_NUM_IN_SYS];
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;
@@ -482,12 +519,14 @@
        }
      }
       taglist_num=j;
      sort_tag_lists();//增加距离小的排到前面逻辑
      if(find_flag)
      {
         //if(tt5)
      find_in_tag_id_authorization_list(tag_id_authorization_list_num);
      find_flag=0;
      }
      change_button_state();
}

uint8_t position;
@@ -519,7 +558,7 @@
    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)
      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
      }
@@ -664,7 +703,7 @@
//   }
    UWBIdleTask();
}
uint8_t tag_authorized_List[TAG_NUM_IN_SYS];

extern uint8_t bind_flag;
void bubble_sort(uint32_t *arr, uint32_t n)
{
@@ -783,7 +822,8 @@
            uint8_t i;
            uint16_t tempid;
         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;
        {    
                  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();
@@ -819,6 +859,7 @@
//                seize_anchor=1;   //抢占anchor
//                Anchor_RecNearPoll(i);
//            }

                        taglist_pos=CmpTagInList(tag_id_recv);
                if(taglist_num>=ANC_MAX_NUM)
                              return 0;
@@ -831,15 +872,15 @@
                                    Anchor_RecNearPoll(i);
                                    tagdist_list[taglist_pos]=rec_ancdistlist[i];
                                    anchordata_bat[taglist_pos] = battary;//保存该基站电量
                              if(tag_authorized_List[taglist_pos]==1)
                              {
                                 if(tagdist_list[taglist_pos]<button_determinate_distance)
                                 {
                                    gpio_pin_set(BUTTON_PIN);
                                 }else{
                                    gpio_pin_clr(BUTTON_PIN);
                                 }
                              }
//                              if(tag_authorized_List[taglist_pos]==1)
//                              {
//                                 if(tagdist_list[taglist_pos]<button_determinate_distance)
//                                 {
//                                    gpio_pin_set(BUTTON_PIN);
//                                 }else{
//                                    gpio_pin_clr(BUTTON_PIN);
//                                 }
//                              }
                                    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
@@ -849,9 +890,10 @@
                                    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);
                {    
                           Anchor_RecNearPoll(rec_nearbase_num);
                }
            }