蓝牙现在通过PCA9555关闭使能，反初始化串口，拉低PCA中断脚，现在是0.8v

zhangbo

2025-04-23 755f0e3a86e41e9e3cb98f36578b3199c6206e59

 keil/uwb_app.c

@@ -11,7 +11,7 @@
#include "lora_1268.h"
#include "PCA9555.h"

#define TAG_KEEPTIMES           30
#define TAG_KEEPTIMES           20
#define REPORT_TAG_KEEPTIMES     1

#define GROUP_NUM   3
@@ -137,22 +137,66 @@
    struct UWB_CONFIG_T phy_cfg;
};

/* Default communication configuration. */
#ifdef DW1000
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,                  /* 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.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 = NON_STD_NSFD5_8,          /* Identifier for SFD sequence               */
    .phy_cfg.ranging_bit = 1,                 /* ranging bit set.                          */
    .phy_cfg.ranging_bit = 1,                 /* ranging bit set 1                         */
    .phy_cfg.trx_mode = TRX_MODE_15_4A,  /* 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                       */
};
#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.                           */
    .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_ant_id = UWB_RX_ANT_3,        /* UWB RX antenna port                       */
};
/* 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,
};
#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

/* Buffer to store received frame */

@@ -279,15 +323,17 @@
uint16_t REV_POLL_NUM;
uint16_t REPLY_POLL_NUM;
uint16_t ERR_RX_NUM;
uint8_t send_qiangzhan_NUM;
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{      uint8_t valid_sts=0;
    // Power off radio
    power_off_radio();

	
    /** UWB RX success */
    if (rx_report->err_code == UWB_RX_OK)
    {
            UWB_STATE=UWB_STATE_IDLE;
			

        /* Received data does not contain FCS */
        rx_length = rx_report->pkt_len;
        memcpy(rx_buf, rx_report->pkt_data, rx_length);
@@ -326,19 +372,22 @@
        /* UWB_BD_ERR      Preamble detection error  */
        /* UWB_TO_ERR      Receive timeout           */
        /* UWB_STS_ERR     STS error                 */
                 temp_count= phy_timer_count_get();
           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;
            UWB_STATE=UWB_STATE_IDLE;	

         //   OpenUWB();//再次开启UWB接收
    }
   OpenUWB();//再次开启UWB接收
#ifdef USE_TX_UWBON			
            if(UWB_STATE==UWB_STATE_IDLE)
            {
               UWB_STATE=UWB_RX_STATE_BUSY;
               OpenUWB();//再次开启UWB接收
            }
         //   OpenUWB();//再次开启UWB接收
    }
//   OpenUWB();//再次开启UWB接收
#endif
}
uint16_t TX_CALL_POLL_NUM;
/* TX done process handler. */
@@ -346,17 +395,27 @@
{
    // Power off radio
    power_off_radio();
    UWB_STATE=UWB_STATE_IDLE;
#ifdef USE_TX_UWBON
        UWB_STATE=UWB_STATE_IDLE;			
            UWB_STATE=UWB_RX_STATE_BUSY;
           OpenUWB();//再次开启UWB接收	
#endif
    /** UWB TX success */
    if (tx_report->err_code == UWB_TX_OK)
    {

         
        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
//           if(send_qiangzhan_NUM)
//            {
//            send_qiangzhan_NUM=0;
//            resp_tx_num++;
//            }
//				

           //gpio_pin_clr(IO_PIN_5);
        //LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
    }
@@ -392,6 +451,18 @@
//    if(dist>0)
    distance=dist*0.5+distance*0.5;
}
//uint16_t CmpTagInList(uint16_t tagid)
//{   uint16_t i;
//    for(i=0; i<taglist_num; i++)
//    {
//        if(memcmp(&tagid,&tagid_list[i],2)==0)
//            break;
//    }
//    if(i==taglist_num)
//        return taglist_num;
//    //tagofflinetime[i] = 0;
//    return i;
//}
uint16_t CmpTagInList(uint16_t tagid)
{   uint16_t i;
    for(i=0; i<taglist_num; i++)
@@ -399,12 +470,8 @@
        if(memcmp(&tagid,&tagid_list[i],2)==0)
            break;
    }
    if(i==taglist_num)
        return taglist_num;
    //tagofflinetime[i] = 0;
    return i;
}


static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts)
{
@@ -438,7 +505,20 @@
    report_ancnum = k;
    taglist_num=j;
}

//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];
//            tagofflinetime[j++]=tagofflinetime[i];
//        }
//      }
//       taglist_num=j;	
//}

//static uint8_t tagofflinetime[ANC_MAX_NUM];
//int flag1=0;
@@ -447,6 +527,7 @@
//uint32_t timeceshi2;

uint8_t position;
uint16_t response_num;
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;
@@ -478,15 +559,12 @@
    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();
//      temp_rx=uwb_rx(buf_1,0,10);
//      CloseUWB();
//    UWB_STATE==UWB_TX_STATE_BUSY;
//     gpio_pin_set(IO_PIN_1);
//      gpio_pin_clr(IO_PIN_1);		
    flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
    UWB_STATE==UWB_TX_STATE_BUSY;
      flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
   
      
      tagofflinetime[taglist_pos] = 0;//更新标签通信
    temp_count1=phy_timer_count_get();
//    temp_count1=phy_timer_count_get();
//      temp_tx_flag=1;
//      Delay_Ms(2);

@@ -506,146 +584,146 @@
uint32_t UWB_fachu_count=0;
uint32_t UWB_qiangzhanfachu_count=0;
uint32_t UWB_1003_count,UWB_6666_count=0;
int UwbRange(void)
{
//int UwbRange(void)
//{

    uint8_t i;
    uint16_t tempid;
//    uint8_t i;
//    uint16_t tempid;

    mac_register_process_handler(tx_int_callback, rx_int_callback);
    receive_flag = 0;
      flag_recsuccess = 0;
//    mac_register_process_handler(tx_int_callback, rx_int_callback);
//    receive_flag = 0;
//      flag_recsuccess = 0;

    uwb_rxflag=uwb_rx(0, 0, range_timeout_us);//开启接收
//    uwb_rxflag=uwb_rx(0, 0, range_timeout_us);//开启接收

    uwb_rxflag_num1++;
  //  while(mac_is_busy());
  //  temp_count2=phy_timer_count_get();
      start_receive_count=phy_timer_count_get();
   poll_timeout=US_TO_PHY_TIMER_COUNT(range_timeout_us);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
   end_receive_count=start_receive_count+poll_timeout;
   if(end_receive_count>=UINT32_MAX)
   {end_receive_count-=UINT32_MAX;}
   current_count=phy_timer_count_get();
         while(mac_is_busy())
        {
//            IdleTask();
            current_count=phy_timer_count_get();
            if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)//超时时间为4.992秒
            {
                    break;
            }
        }
			
    if(receive_flag==1)//成功接收
    {
      time_count_sdsj=phy_timer_count_get();
//          gpio_pin_set(IO_PIN_5);
					
//      gpio_pin_clr(IO_PIN_5);
      #ifdef DEBUG_BOXING
//      gpio_pin_set(IO_PIN_5);//测试
//      gpio_pin_clr(IO_PIN_5);//测试
      #endif
//            timeceshi1=phy_timer_count_get();
//            temp_count7=poll_rx_en_start_u32;
        receive_flag=0;
        if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)/*&&!memcmp(&rx_buf[TAG_ID_IDX],&g_com_map[BIND_DEV_ID],2)*///判断是否是和自己是同一组通讯的且为poll包
        {  
//                  UWB_shoudao_count++;
                  flag_recsuccess = 1;
//                 temp_count2=phy_timer_count_get();
            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
					
                 //rec_nearbase_num=25;  
					
            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+2*rec_nearbase_num],2*rec_nearbase_num);
            // memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
//            timeceshi1=phy_timer_count_get();
//            temp_count7=poll_rx_en_start_u32;
                 taglist_pos=CmpTagInList(tag_id_recv);
            for(i=0; i<rec_nearbase_num; i++)
            {
							
                if(rec_ancidlist[i] == dev_id)
                {
                    rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
                    PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
                             UWB_fachu_count++;
//    uwb_rxflag_num1++;
//  //  while(mac_is_busy());
//  //  temp_count2=phy_timer_count_get();
//      start_receive_count=phy_timer_count_get();
//   poll_timeout=US_TO_PHY_TIMER_COUNT(range_timeout_us);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
//   end_receive_count=start_receive_count+poll_timeout;
//   if(end_receive_count>=UINT32_MAX)
//   {end_receive_count-=UINT32_MAX;}
//   current_count=phy_timer_count_get();
//         while(mac_is_busy())
//        {
////            IdleTask();
//            current_count=phy_timer_count_get();
//            if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)//超时时间为4.992秒
//            {
//                    break;
//            }
//        }
//			
//    if(receive_flag==1)//成功接收
//    {
//      time_count_sdsj=phy_timer_count_get();
////          gpio_pin_set(IO_PIN_5);
//					
////      gpio_pin_clr(IO_PIN_5);
//      #ifdef DEBUG_BOXING
////      gpio_pin_set(IO_PIN_5);//测试
////      gpio_pin_clr(IO_PIN_5);//测试
//      #endif
////            timeceshi1=phy_timer_count_get();
////            temp_count7=poll_rx_en_start_u32;
//        receive_flag=0;
//        if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)/*&&!memcmp(&rx_buf[TAG_ID_IDX],&g_com_map[BIND_DEV_ID],2)*///判断是否是和自己是同一组通讯的且为poll包
//        {  
////                  UWB_shoudao_count++;
//                  flag_recsuccess = 1;
////                 temp_count2=phy_timer_count_get();
//            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
//					
//                 //rec_nearbase_num=25;  
//					
//            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+2*rec_nearbase_num],2*rec_nearbase_num);
//            // memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
////            timeceshi1=phy_timer_count_get();
////            temp_count7=poll_rx_en_start_u32;
//                 taglist_pos=CmpTagInList(tag_id_recv);
//            for(i=0; i<rec_nearbase_num; i++)
//            {
//							
//                if(rec_ancidlist[i] == dev_id)
//                {
//                    rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
//                    PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
//                             UWB_fachu_count++;
////      #ifdef DEBUG_BOXING
//////      gpio_pin_clr(IO_PIN_5);//测试
////      gpio_pin_set(IO_PIN_5);//测试
////      #endif
//                }
//            }
//            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];
//                        if(group_min_dist[group_id]>rec_ancdistlist[i])
//                        {
//                            group_min_dist[group_id] = rec_ancdistlist[i];
//                        }
//                        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;
//                        }
//                        break;
//                              }
//            }

//            if(i==rec_nearbase_num)
//            {
//							
//                seize_anchor=1;   //抢占anchor
//                Anchor_RecNearPoll(i);
//                       UWB_qiangzhanfachu_count++;

//            }
//                  recev_error_num=0;

////            sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
////            LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度：%d.\r\n",g_com_map[BIND_DEV_ID],distance,rssi);
//       
//            }
//      //  uwb_rxflag=uwb_rx(0, 0, range_timeout_us);
//    }    
//      #ifdef DEBUG_BOXING
////      gpio_pin_clr(IO_PIN_5);//测试
//      gpio_pin_set(IO_PIN_5);//测试
//      #endif
                }
            }
            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];
                        if(group_min_dist[group_id]>rec_ancdistlist[i])
                        {
                            group_min_dist[group_id] = rec_ancdistlist[i];
                        }
                        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;
                        }
                        break;
                              }
            }

            if(i==rec_nearbase_num)
            {
							
                seize_anchor=1;   //抢占anchor
                Anchor_RecNearPoll(i);
                       UWB_qiangzhanfachu_count++;

            }
                  recev_error_num=0;

//            sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
//            LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度：%d.\r\n",g_com_map[BIND_DEV_ID],distance,rssi);
       
            }
      //  uwb_rxflag=uwb_rx(0, 0, range_timeout_us);
    }    
      #ifdef DEBUG_BOXING
//      gpio_pin_clr(IO_PIN_5);//测试
//      gpio_pin_set(IO_PIN_5);//测试
      #endif
	
    delay_us(1);
    uwb_rx_force_off(1);
//      gpio_pin_clr(IO_PIN_5); 
//      #ifdef DEBUG_BOXING
//      gpio_pin_clr(IO_PIN_5);//测试.
//      #endif
//      if(!flag_recsuccess)
//      {
//         sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-3));//测试
//        LOG_INFO(TRACE_MODULE_APP,"测距失败，计数：%d\r\n",recev_error_num);
//        if(recev_error_num++>5)
//        {
//            recev_error_num=0;
//            UWB_work_state=SEARCH_DEV;
//            uwb_searchcount = 0;
//            search_open_flag = 1;
//        }
//         }
//      #ifdef DEBUG_BOXING
//      gpio_pin_clr(IO_PIN_5);//测试
////      gpio_pin_set(IO_PIN_5);//测试
//      #endif    
}
//      #endif
//	
//    delay_us(1);
//    uwb_rx_force_off(1);
////      gpio_pin_clr(IO_PIN_5); 
////      #ifdef DEBUG_BOXING
////      gpio_pin_clr(IO_PIN_5);//测试.
////      #endif
////      if(!flag_recsuccess)
////      {
////         sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-3));//测试
////        LOG_INFO(TRACE_MODULE_APP,"测距失败，计数：%d\r\n",recev_error_num);
////        if(recev_error_num++>5)
////        {
////            recev_error_num=0;
////            UWB_work_state=SEARCH_DEV;
////            uwb_searchcount = 0;
////            search_open_flag = 1;
////        }
////         }
////      #ifdef DEBUG_BOXING
////      gpio_pin_clr(IO_PIN_5);//测试
//////      gpio_pin_set(IO_PIN_5);//测试
////      #endif    
//}
int Uwbinit(void)
{
    uwb_open();
@@ -669,6 +747,53 @@
    // Register rx interrupt callback function
    mac_register_process_handler(tx_int_callback, rx_int_callback);
}
//void Uwbinit(void)
//{
//      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);
//      #if (defined STS_MODE) || (defined MK_MODE)
//      ranging_lib_init();
//      #endif
//    ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
//      #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
//      mac_register_process_handler(tx_int_callback, rx_int_callback);//初始化回调
//}
uint16_t g_com_receive_id;
void CloseUWB(void)
{
@@ -702,23 +827,24 @@
{   uint16_t i;
    for(i=0; i<taglist_num; i++)
    {
        if(memcmp(&tagid,&tagid_list[i],2)==0)
        if(memcmp(&tagid,&tagid_list[i],2)==0) 
            return 1;
    }
    return 0;
}
enumwltagstate wltag_state=RANGE;
uint32_t wltag_statetimer,wltag_uwbtimer;

//enumwltagstate wltag_state=RANGE;
//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)
//            {
@@ -770,9 +896,10 @@
//      }
//      break;
//   }

    UWBIdleTask();
}
//uint16_t REV_RX_NUM;

//uint16_t REV_POLL_NUM;
//uint16_t REPLY_POLL_NUM;
int Anchor_App(void)
@@ -781,7 +908,7 @@
            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;
                  wltag_state=RANGE;//成功后从search切换为range
//                  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();
@@ -801,12 +928,12 @@
                              memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
                              if(tempid==dev_id)
                              {
											  
                                    Anchor_RecNearPoll(i);
                                    tagdist_list[taglist_pos]=rec_ancdistlist[i];
                                    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
                                         REPLY_POLL_NUM++;
                                          tagid_list[taglist_pos] = tag_id_recv;
                                    }
                                    break;
@@ -815,14 +942,15 @@
                         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);
//                              REPLY_POLL_NUM++;
//                              send_qiangzhan_NUM=1;
                }
            }
   else{
            if(UWB_STATE==UWB_STATE_IDLE)
            {
            UWB_STATE=UWB_RX_STATE_BUSY;
            OpenUWB();
            }
#ifdef USE_TX_UWBON			
               UWB_STATE=UWB_RX_STATE_BUSY;
               OpenUWB();//再次开启UWB接收
#endif
         }
            
            
@@ -915,7 +1043,7 @@
//            if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL&&!memcmp(&rx_buf[TAG_ID_IDX],&g_com_map[BIND_DEV_ID],2))//判断是否是和自己是同一组通讯的且为poll包
            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
                  {   
                       sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-13));//测试
//                       sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-13));//测试
                        range_timeout_us=20000;//将下次range开启后超时时间设为20ms之后再range里恢复
                        temp_count2=phy_timer_count_get();
                frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序