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

@@ -35,10 +35,11 @@
static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS];
static int16_t rec_ancdistlist[TAG_NUM_IN_SYS];
extern uint8_t group_id;
static uint16_t anc_id_recv,tag_id_recv;
static uint16_t anc_id_recv;
static uint32_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;
@@ -47,7 +48,8 @@
//resp函数
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];
static uint32_t tagid_list[TAG_NUM_IN_SYS];
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];
@@ -67,6 +69,7 @@
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 
{
@@ -78,7 +81,7 @@
#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 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

@@ -97,7 +100,7 @@
/* 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
@@ -133,7 +136,7 @@
//    .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.                           */
@@ -149,7 +152,7 @@
    .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                       */
};
#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.                           */
@@ -165,7 +168,6 @@
    .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                       */
};
#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,
@@ -177,6 +179,24 @@
    .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_ant_id = UWB_RX_ANT_3,        /* UWB RX antenna port                       */
};
#endif

static struct anchor_id_car{
 uint16_t anchor_new_id;
 uint16_t change_num;
@@ -312,9 +332,9 @@
                 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
    }
   //OpenUWB();//再次开启UWB接收
   OpenUWB();//再次开启UWB接收
}

/* TX done process handler. */
@@ -329,12 +349,13 @@
        temp_count= phy_timer_count_get();
        temp_internal=temp_count;
        resp_tx_num++;
            OpenUWB();//再次开启UWB接收
      //      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);
    }
}
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];
@@ -375,17 +396,35 @@
//      }
      
}
//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)
@@ -411,30 +450,93 @@
        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;
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;
            }
        }
    }
    anchordata_num=j;
}
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;
    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
      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;
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
@@ -449,18 +551,27 @@
//       resp_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+ancrec_nearbasepos*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()
      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();
      tagofflinetime[taglist_pos] = 0;//更新标签通信
//    temp_count1=phy_timer_count_get();
    //while(mac_is_busy());
    gpio_pin_clr(SCL_PIN);
    //gpio_pin_clr(SCL_PIN);
}

uint16_t uwb_searchcount;
@@ -497,7 +608,7 @@
      &&!((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)
    {
@@ -524,17 +635,20 @@
{
      uwb_rx_force_off(1);
      uwb_rx_flag=0;
   LOG_INFO(TRACE_MODULE_APP,"关闭uwb_rx\r\n");
   //LOG_INFO(TRACE_MODULE_APP,"关闭uwb_rx\r\n");
}
void OpenUWB(void)
{
      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");
      //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 UWBIdleTask(void)
{
@@ -547,91 +661,242 @@
}
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();
}

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++) {
        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;
    }
}
}

int Anchor_App(void)
{
            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();
                 //temp_count2=phy_timer_count_get();
                  uwb_losttimer=0;//成功测距清0 lost时间
            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(&tag_id_recv,&rx_buf[TAG_ID_IDX],4);
            memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
            memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
            memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
            for(i=0; i<rec_nearbase_num; i++)
            {
                if(rec_ancidlist[i] == dev_id)
                {      temp_recdist_before_offset=rec_ancdistlist[i];
                    rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
                    PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
                }
            }
            for(i=0; i<rec_nearbase_num; i++)
            {
                memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
                if(tempid==dev_id)//也是比id如果有就更新没有就抢占
                {
                    seize_anchor=0;  //非抢占。已存在列表中
                    Anchor_RecNearPoll(i);
                    break;
                }
            }
//            for(i=0; i<rec_nearbase_num; i++)
//            {
//                if(rec_ancidlist[i] == dev_id)
//                {      temp_recdist_before_offset=rec_ancdistlist[i];
//                    rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
//                    PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
//                }
//            }
//            for(i=0; i<rec_nearbase_num; i++)
//            {
//                memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
//                if(tempid==dev_id)//也是比id如果有就更新没有就抢占
//                {
//                    seize_anchor=0;  //非抢占。已存在列表中
//                    Anchor_RecNearPoll(i);
//                    break;
//                }
//            }

            if(i==rec_nearbase_num)
            {
                seize_anchor=1;   //抢占anchor
                Anchor_RecNearPoll(i);
            }
            }else{
            OpenUWB();//接收到不是自己的包再次开启UWB接收
//            if(i==rec_nearbase_num)
//            {
//                seize_anchor=1;   //抢占anchor
//                Anchor_RecNearPoll(i);
//            }

                        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
//                              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
                                          tagid_list[taglist_pos] = tag_id_recv;//新增基站
                                          find_flag=1;
                                    }
                                    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)
@@ -802,7 +1067,7 @@

    // 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
      #if (defined STS_MODE) || (defined MK_MODE)
      ranging_lib_init();
      #endif
    ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);