Merge branch 'MK大工卡-低精度GPS-1/5HZ' of http://47.108.70.204:60062/r/ChinaUWBP...

WXK

2025-05-06 8217c70984ac4feb7bfc952e4f6e944bf824527d

 keil/uwb_app.c

@@ -37,7 +37,7 @@
extern uint8_t group_id;
static uint16_t anc_id_recv,tag_id_recv;
static int16_t rec_antdelay;
extern uint32_t dev_id;
extern uint16_t dev_id;
static uint16_t taglist_pos,tmp_time;
extern uint16_t tag_frequency;
extern uint16_t disoffset;
@@ -54,6 +54,7 @@
static uint8_t tagofflinetime[TAG_NUM_IN_SYS];
uint32_t temp_count=0;
uint32_t temp_count1=0;
uint32_t temp_endcount1=0;
uint32_t temp_count2=0;
uint32_t temp_count3=0;
uint32_t temp_count7=0;
@@ -74,14 +75,17 @@
    CLOSE,
    RANGE,
}enumwltagstate;
#define TAGFREQ_IDX                  7

/* 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 550U //yuan550极限
//#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan550极限

#define RESP_TX_TO_FINAL_RX_DLY_US 500U

//#define RESP_TX_TO_FINAL_RX_DLY_US 500U
/* RX sync window size 50 ms*/
#define RX_SYNC_WIN_US 5000U //yuan1000  7000success

@@ -98,6 +102,7 @@
#define RX_WIN_IN_ADVANCE_US (150)

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

/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -110,7 +115,10 @@
#define MSG_COMMON_LEN 10

#define UWB_DELAY_TIME_US 496
static uint8_t receive_flag=0;



uint8_t receive_flag=0;
struct mk_uwb_configure
{
    uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
@@ -133,7 +141,7 @@
//    .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                       */
//};
#ifdef DW1000
#ifdef UWB_DW1000_XB
static struct mk_uwb_configure config = {
    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
    .phy_cfg.ch_num = 5,                      /* Channel number.                           */
@@ -149,6 +157,43 @@
    .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
#ifdef UWB_DW1000_MBXJZ
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_64,        /* 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 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                       */
};
#endif

#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,                  /* 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_64,        /* 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 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),
@@ -279,17 +324,24 @@

/* RX done process handler. */
int8_t rssi;
uint32_t range_timeout_us = 2000000;//yuan5000
uint32_t range_timeout_us = 1000000;//yuan5000
uint8_t flag_temp2,flag_temp1;
uint16_t uwb_losttimer;
uint8_t rxnum;
uint8_t receive_error_flag;
uint8_t rxnumoknum,rxnumerrornum;
uint8_t resp_tx_flag;
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{      uint8_t valid_sts=0;
    // Power off radio
    power_off_radio();

    rxnum++;
    
    /** UWB RX success */
    if (rx_report->err_code == UWB_RX_OK)
    {
    {   
        resp_tx_flag=0;
        rxnumoknum++;
        /* Received data does not contain FCS */
        rx_length = rx_report->pkt_len;
        memcpy(rx_buf, rx_report->pkt_data, rx_length);
@@ -301,22 +353,28 @@
        poll_rx_num++;
        rssi = rx_report->rssi;
        receive_flag=1;
            Anchor_App();
         #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]);
      Anchor_App();
        if(resp_tx_flag==0)
        {

               sts_rssi = sts_rssi_output_get();
         }
         #endif
            OpenUWB();

        }
//         #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
    {
@@ -326,12 +384,20 @@
        /* UWB_BD_ERR      Preamble detection error  */
        /* UWB_TO_ERR      Receive timeout           */
        /* UWB_STS_ERR     STS error                 */
        rxnumerrornum++;
                 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
        receive_error_flag=1;
	
               OpenUWB();

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

/* TX done process handler. */
@@ -346,15 +412,20 @@
        temp_count= phy_timer_count_get();
        temp_internal=temp_count;
        resp_tx_num++;
      //      OpenUWB();//再次开启UWB接收

            OpenUWB();

//          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);
    }
//    OpenUWB();//再次开启UWB接收
}
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];
static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
static int8_t anchor_rssi[TAG_NUM_IN_SYS];
uint8_t anchordata_num = 0;
static int32_t tagdist_list[TAG_NUM_IN_SYS];
static int16_t tagdist_list[TAG_NUM_IN_SYS];
uint16_t random_time;
//anchor
int32_t hist_dist;
@@ -470,6 +541,7 @@
            tagid_list[j]=tagid_list[i];
            tagdist_list[j] = tagdist_list[i];
                  anchordata_bat[j]=anchordata_bat[i];//电量随之更新
            anchor_rssi[j]=anchor_rssi[i];
            tagofflinetime[j++]=tagofflinetime[i];
        }
      }
@@ -477,6 +549,7 @@
}

uint8_t position;
uint8_t resp_tx_error;
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;
@@ -485,21 +558,10 @@
    memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);//自身id
    memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);//接受者id
    send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
     memcpy(&send_buffer[TAGFREQ_IDX],&tag_frequency,2);

//    if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式自己为新基站
//    {
//        random_time = (phy_timer_count_get()%100);//多基站抢占一个位置时避免一个也收不到的情况就每一个随机错开几十uS
//        //resp_tx_time = (poll_rx_ts+((random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
//        // (resp_tx_en_start_u32) is the moment when TX enable
//        resp_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_num*DELAY_BETWEEN_TWO_FRAME_UUS);//后面的需要根据已有基站数量进行更改，如果是抢占自己最后一个回复，要有底数
//				
//      } else {
//        //resp_tx_time = (poll_rx_ts + ((rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
//       resp_tx_en_start_u32 = 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()
      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
    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);
@@ -508,9 +570,19 @@
    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
    resp_tx_flag=1;
      tagofflinetime[taglist_pos] = 0;//更新标签通信
//    temp_count1=phy_timer_count_get();
    //while(mac_is_busy());
//    temp_endcount1=phy_timer_count_get()+MS_TO_PHY_TIMER_COUNT(10);
//    while(mac_is_busy())
//    {
//       temp_count1=phy_timer_count_get();
//        if(temp_count1>temp_endcount1)
//        {
//        resp_tx_error++;
//        break;
//        }
//    }
    //gpio_pin_clr(SCL_PIN);
}

@@ -571,6 +643,10 @@
   }
}
uint16_t g_com_receive_id;
uint8_t usart_send[400];
extern uint8_t userkey_state;
extern uint8_t bat_percent;
uint16_t tagseq;
void CloseUWB(void)
{
      uwb_rx_force_off(1);
@@ -579,8 +655,11 @@
}
void OpenUWB(void)
{
//        while(!mac_is_busy())
//        {
      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)
@@ -590,57 +669,96 @@
 if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
 uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//防止溢出
}
void UWBSendUDPTask(void)
{
   uint16_t checksum,tempdistarray[20];
//    UDP_TEST();
    for(uint16_t i=0;i<taglist_num-1;i++)
    {
        for(uint16_t j=0;j<taglist_num-1-i;j++)
        {
            if(tagdist_list[j]>tagdist_list[j+1])
            {
                uint16_t id,dist;
                uint8_t bat;
                int8_t rssi1;
                id = tagid_list[j];
                dist = tagdist_list[j];
                bat = anchordata_bat[j];
                rssi1=anchor_rssi[j];
                tagid_list[j] = tagid_list[j+1];
                tagdist_list[j] = tagdist_list[j+1];
                anchordata_bat[j] = anchordata_bat[j+1];
                anchor_rssi[j] = anchor_rssi[j+1];
                tagid_list[j+1] = id;
                tagdist_list[j+1] = dist;
                anchordata_bat[j+1] = bat;
                anchor_rssi[j+1] = rssi1;
            }
        }
    
    }
//    if(taglist_num>0)
//    {
//        if(uwbled==LEDOFF)
//        {
//            uwbled = BLUE;
//        }else{
//            uwbled = LEDOFF;
//        }
//    }
//    Set4LEDColor(uwbled,rtkled,led4g,powerled);
    
    if(taglist_num>20)       //最多上传20个基站数据，距离最近的20个
        taglist_num = 20;
                    usart_send[0]= 0x55;
                    usart_send[1]= 0xaa;
               usart_send[2] = 0x12;//正常模式 
               usart_send[3] = 15+5*(taglist_num);//数据段长度
               memcpy(&usart_send[4],&dev_id,2);
               usart_send[6] = tagseq;
               usart_send[7] = (tagseq++)>>8;
               usart_send[8] = bat_percent;
//                    usart_send[8] = rxnum;
               usart_send[9] = userkey_state|0<<1|0<<2|0<<5|uwb_state<<6;
            //   memcpy(&usart_send[10],&rec_tagheight,2);
               usart_send[12] = 0;
               usart_send[13] = 0;
               usart_send[14] = 0;
               usart_send[15] = 0;
               usart_send[16] = taglist_num;
				 
               memcpy(&usart_send[17],&tagid_list,2*taglist_num);
               memcpy(&usart_send[17+taglist_num*2],&tagdist_list,2*taglist_num);
                    memcpy(&usart_send[17+taglist_num*4],&anchordata_bat,taglist_num);
               checksum = Checksum_u16(&usart_send[2],15+5*taglist_num);
               memcpy(&usart_send[17+5*taglist_num],&checksum,2);
               HexToAsciiSendUDP(usart_send,19+5*taglist_num);
                    taglist_num = 0;                    
//                    rxnum=0;
}
void UWBIdleTask(void)
{

//    if(receive_flag)
//    {
//    receive_flag=0;
//    Anchor_App();
//    OpenUWB();
//    }
//    if(receive_error_flag)
//    {
//    receive_error_flag=0;
//    OpenUWB();
//    }
   if(HIDO_TimerGetTick()-uwbtasktimer >=1)
   {
      uwbtasktimer = HIDO_TimerGetTick();
      UWBOneSecondTask();
//        UWBSendUDPTask();
   }
}
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;
//   }
    UWBIdleTask();
}
int Anchor_App(void)
@@ -687,7 +805,7 @@
//            }
                        taglist_pos=CmpTagInList(tag_id_recv);
                if(taglist_num>=ANC_MAX_NUM)
                              return 0;
               return 0;
                         for(i=0; i<rec_nearbase_num; i++)
                        {
                              memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
@@ -696,6 +814,7 @@
                                    Anchor_RecNearPoll(i);
                                    tagdist_list[taglist_pos]=rec_ancdistlist[i];
                                    anchordata_bat[taglist_pos] = battary;//保存该基站电量
                        anchor_rssi[taglist_pos]=rssi;
                                    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
@@ -710,144 +829,14 @@
                       Anchor_RecNearPoll(rec_nearbase_num);
                }
            }
//                else
//                {
//                OpenUWB();
//                }
            
            
}
int UwbRange(void)
{
    uint8_t i;
    uint16_t tempid;
    // The following peripherals will be initialized in the uwb_open function
    // phy/mac/aes/lsp/phy timers initialized
    //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 = 4,
//        .ranging_performance_mode = 0,
//        .skip_weakest_port_en = 0,
//    };
//    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_frame_type_set(config.phy_cfg.sts_pkt_cfg);

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

    receive_flag = 0;
      flag_recsuccess = 0;
    temp_count3=phy_timer_count_get();
    gpio_pin_set(SCL_PIN);
      sts_lsp_store();
    flag_temp1=uwb_rx(0, 0, range_timeout_us);//开启接收
	
   // 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(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//循环接受包体,若为124.8K则是+62400000
      {
         current_count=phy_timer_count_get();
         while(mac_is_busy())
        {
                  Calibration_Time();
            IdleTask();
            current_count=phy_timer_count_get();
            if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)
            {
                    break;
            }
        }
         sts_lsp_store_stop();
			
			
    if(receive_flag==1)//成功接收
    {

        //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
        {    flag_recsuccess = 1;
               memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
//                sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
                 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
            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);
            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);
            }
                  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);
					
					
                  gpio_pin_clr(SCL_PIN);
        //break;去掉break变为一对多
            }
    } 
         sts_lsp_store();
			
         break;
      //失败或者接受被高发射机打断都会再次开启接收
         //flag_temp1=uwb_rx(0, 0, range_timeout_us);
   }
      delay_us(1);
      sts_lsp_store_stop();
      uwb_rx_force_off(1);

//      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;
//        }
         //}

   
			
         return 0;
}
void Uwb_init(void)
{
      uwb_open();
@@ -894,219 +883,5 @@
      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
}
//主函数绑定接受逻辑
int UwbSearch(void)
{
    uint8_t i;
    uint16_t tempid;
    // 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();
      #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
    // Register rx interrupt callback function
    mac_register_process_handler(tx_int_callback, rx_int_callback);
		
    receive_flag = 0;
    temp_count3=phy_timer_count_get();
    gpio_pin_set(SCL_PIN);
      sts_lsp_store();
    flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收
    start_receive_count=phy_timer_count_get();
    poll_timeout=US_TO_PHY_TIMER_COUNT(2000000);//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(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//循环接受包体,若为124.8K则是+62400000
    {
        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)
            {
                    break;
            }
        }
            sts_lsp_store_stop();
				
				
        temp_count2=phy_timer_count_get();
        if(receive_flag==1)//成功接收
        {
//            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
                        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
                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+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;
                    }
                }

                if(i==rec_nearbase_num)
                {
                    seize_anchor=1;   //抢占anchor
                    Anchor_RecNearPoll(i);
                }
                
                gpio_pin_clr(SCL_PIN);//测试
                        LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度ANT0:%f,信号强度ANT2: %f\r\n",g_com_map[BIND_DEV_ID],distance,sts_rssi[0],sts_rssi[2]);
                return 1;//返回发送成功标志
            }

        }
            temp_count3=phy_timer_count_get();
            sts_lsp_store();
        flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
    }
      delay_us(2);
      sts_lsp_store_stop();
      uwb_rx_force_off(1);
    // LOG_INFO(TRACE_MODULE_APP,"超时定时器：%x,%x,%x\r\n",start_receive_count,end_receive_count,current_count);
    gpio_pin_clr(SCL_PIN);//测试
    return 0;//返回绑定失败标志
}
//}

#define SEARCH_TIMESTEMP 20
void UWBPoll(void)
{
    switch(UWB_work_state)
    {
    case LINK_SUCCESS:
    {   //连接成功进行轮询测距

        uwb_led_on();
        UwbRange();
        uwb_led_off();

    }
    break;
    case SEARCH_DEV:
    {   
         UWB_work_state=LINK_SUCCESS;
         Uwb_init();
//         //接包不成功或者通讯失败进入搜索模式
//        if(search_open_flag)
//        {
//            LOG_INFO(TRACE_MODULE_APP,"开启搜索\r\n");
//            search_open_flag=0;
//            uwb_led_on();
//            link_success_flag=UwbSearch();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
//            uwb_led_off();
//            if(link_success_flag)
//                UWB_work_state=LINK_SUCCESS;
//        }else{
//            LOG_INFO(TRACE_MODULE_APP,"等待进入搜索模式：%d\r\n",SEARCH_TIMESTEMP-uwb_searchcount);
//        }

    }
    break;
    case UN_BIND:
    {
        uwb_led_off();//关闭uwb指示灯
    }
    break;
    }
    if(UWB_work_state==LINK_SUCCESS)
    {   //成功时清0错误计数
        uwb_searchcount=0;
    }
    if(UWB_work_state==SEARCH_DEV)
    {
        if(!search_open_flag)
        {
            if(uwb_searchcount++>SEARCH_TIMESTEMP)
            {
                uwb_searchcount=0;
                search_open_flag=1;
            }
        }
        //link_error_count+=g_com_map[COM_INTERVAL];
        //if(link_error_count>=g_com_map[4G_INTERNAL])
        //link_error_count=0;
       // update_led_power_state();//更新灯状态
    }
     //LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
}

uint8_t GetUWBBindState(void)
{
    if(UWB_work_state == UN_BIND)
    {
        return 0;
    }
    return 1;
}