ChinaUWBProject.git

			@@ -5,14 +5,21 @@
			#include "mk_power.h"
			#include "mk_sleep_timer.h"
			#include "lib_ranging.h"
			#include "lib_aoa.h"
			#include "dw_app_anchor.h"
			#include "global_param.h"
			#include "board.h"


			#include "lib_aoa.h"
			#include "WS2812.h"
			extern int simple_main(void);
			extern int temp_main(void);
			void Calibration_Time(void);
			void TagListUpdate(void);
			void TagListUpdate_person_num(void);
			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);

			@@ -30,12 +37,12 @@
			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;
			static uint8_t frame_len,recpoll_len,current_syncid,new_tagid,seize_anchor,result,g_start_sync_flag;
			extern uint8_t gps_power_state,motor_power_state,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state;
			extern uint8_t gps_power_state,motor_power_state,uwb_state,air780_power_state,gps_success_state,red_charge_state,green_charge_state,air780_success_state;
			int poll_rx_num,resp_tx_num;
			//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
			@@ -47,23 +54,38 @@
			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;
			uint32_t temp_internal=0;
			int16_t elevation = 0;
			int16_t azimuth = 0;
			uint8_t fom = 0;
			int32_t distance;
			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;
			extern int16_t first_search_flag;
			typedef enum
			{
			SEARCH,
			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 450U //yuan750 7500Haoyong
			#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

			@@ -79,7 +101,8 @@
			/* RX window open in advance */
			#define RX_WIN_IN_ADVANCE_US (150)

			#define DELAY_BETWEEN_TWO_FRAME_UUS 400
			#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
			@@ -92,14 +115,113 @@
			#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 */
			struct UWB_CONFIG_T phy_cfg;
			};

			/* Default communication configuration. */
			///* Default communication configuration. */
			//static struct mk_uwb_configure config = {//原来的基站非110k代码
			// .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.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 */
			//};
			#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. */
			.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 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 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),
			.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. */
			@@ -113,9 +235,14 @@
			.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_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;
			};
			/* Buffer to store received frame */

			/* Frames used in the ranging process
			@@ -197,14 +324,24 @@

			/* RX done process handler. */
			int8_t rssi;
			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);
			@@ -216,7 +353,28 @@
			poll_rx_num++;
			rssi = rx_report->rssi;
			receive_flag=1;
			recev_error_num=0;
			Anchor_App();
			if(resp_tx_flag==0)
			{

			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
			{
			@@ -226,10 +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;
			receive_error_flag=1;

			OpenUWB();

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

			/* TX done process handler. */
			@@ -244,17 +412,25 @@
			temp_count= phy_timer_count_get();
			temp_internal=temp_count;
			resp_tx_num++;

			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;
			static uint16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
			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;
			int16_t temp_recdist_before_offset;
			int16_t dist_temp;
			void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary)
			{
			uint8_t i;
			@@ -272,24 +448,65 @@
			anchordata_num++;
			}
			anchordata_id[i] = ancid;//与之通信的标签id存入当前表中
			distance=dist0.5+(int16_t)anchordata_dist[i]0.5;
			anchordata_dist[i] = dist;
			anchordata_bat[i] = battary;
			tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
			if(dist>0)
			distance=dist0.5+distance0.5;
			dist_temp=dist;
			// if(dist>0)

			// if(temp_recdist_before_offset!=0&&distance!=0x1ffff)
			// {
			// distance=dist0.5+distance0.5;
			// }else{
			// distance=dist;
			// }

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

			static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts)
			{
			int i,ts2;
			@@ -301,19 +518,38 @@
			}
			}

			//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;
			//}
			void TagListUpdate(void)
			{
			uint8_t i,j=0;
			for(i=0; i<anchordata_num; i++)
			uint16_t i,j=0,k=0;
			for(i=0; i<taglist_num; i++)
			{
			if(tagofflinetime[i]++<QUIT_SLOT_TIME)
			if(tagofflinetime[i]++<TAG_KEEPTIMES)
			{
			anchordata_id[j]=anchordata_id[i];
			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];
			}
			}
			anchordata_num=j;
			}
			taglist_num=j;
			}

			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;
			@@ -322,18 +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()%1000);//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_num20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbaseposDELAY_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 = random_time+phy_timer_count_get()+ US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+rec_nearbase_num*US_TO_PHY_TIMER_COUNT(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_num20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbaseposDELAY_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(POLL_RX_TO_RESP_TX_DLY_US)+(ancrec_nearbasepos+1)*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//后面的需要根据已有基站数量进行更改,自己非抢占
			}//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
			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);
			@@ -341,60 +569,208 @@
			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();
			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);
			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();
			// 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);
			}

			uint16_t uwb_searchcount;
			extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
			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();
			uint8_t flag_recsuccess;

			// // Set calibration parameters
			// uwb_calibration_params_set(config.phy_cfg.ch_num);
			uint32_t start_receive_count_calibration;
			uint32_t current_count_calibration;
			uint32_t get_in_num,get_out_num;
			struct anchor_id_car anchor_id_in_car[TAG_NUM_IN_SYS],anchor_id_out_car[TAG_NUM_IN_SYS];
			int16_t change_count[TAG_NUM_IN_SYS];
			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;

			// // 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;
			temp_count3=phy_timer_count_get();
			gpio_pin_set(SCL_PIN);
			uwb_rx(0, 0, RX_SYNC_WIN_US);//开启接收
			while(mac_is_busy());
			temp_count2=phy_timer_count_get();
			// start_receive_count=phy_timer_count_get();
			// poll_timeout=rec_nearbase_numUS_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(DELAY_DEFAULT);//多一个多0.4ms默认0.4ms计算为0.1254*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
			// {
			if(receive_flag==1)//成功接收
			uint16_t CmpCarInTable(uint16_t tagid)
			{ uint16_t i;
			for(i=0; i<get_in_num; i++)
			{
			if(memcmp(&tagid,&anchor_id_in[i],2)==0)
			break;
			}
			if(i==get_in_num)
			return get_in_num;
			//tagofflinetime[i] = 0;
			return i;
			}
			void Calibration_Time(void)
			{
			current_count_calibration=phy_timer_count_get();
			if((current_count_calibration-start_receive_count_calibration>=MS_TO_PHY_TIMER_COUNT(500)\|\|current_count_calibration+(UINT32_MAX-start_receive_count_calibration)>=MS_TO_PHY_TIMER_COUNT(500))
			&&!((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

			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
			{ temp_count2=phy_timer_count_get();

			if(secondtask_search_count++%2==0)
			{
			secondtask_search_flag = 1;
			}else{
			secondtask_search_flag = 0;
			}
			if(secondtask_search_flag)//更新S时间TICK
			{
			HIDO_TimerTick();
			TagListUpdate();
			// GPS_Poll();
			// if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
			// nomove_count++;
			// else{
			// nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
			// }
			}
			// update_led_power_state();//更新等状态防止震动卡死在搜索
			}
			}
			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);
			uwb_rx_flag=0;
			//LOG_INFO(TRACE_MODULE_APP,"关闭uwb_rx\r\n");
			}
			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)
			{
			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 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_num2],&tagdist_list,2taglist_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)
			{
			UWBIdleTask();
			}
			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;
			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
			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
			@@ -402,219 +778,110 @@
			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);
			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);
			}
			}
			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;
			}
			}
			uwbled=BLUE;
			// 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);

			}
			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);
			}
			} else {
			sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//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;
			}
			}

			gpio_pin_clr(SCL_PIN);
			// 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
			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
			tagid_list[taglist_pos] = tag_id_recv;

			}
			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);
			}
			}
			// else
			// {
			// OpenUWB();
			// }


			}


			//主函数绑定接受逻辑
			int UwbSearch(void)
			void Uwb_init(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();

			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);

			// set advanced parameters
			#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));

			// 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);
			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0.1254100000,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;
			}
			}

			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
			{ 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+2rec_nearbase_num],2rec_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)
			{
			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);
			}
			sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
			gpio_pin_clr(SCL_PIN);//测试
			return 1;//返回发送成功标志
			}

			}

			uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收

			}
			// 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 120
			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:
			{ //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;
			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
			}