111111111

WXK

2025-01-03 847f098fdfd333528b1363f4c4a5aab761ecdf0a

 keil/uwb_tag_.c

@@ -8,16 +8,17 @@
#include "dw_app.h"
#include "board.h"
#include "mk_calib.h"

#include <global_param.h>
#include "mk_flash.h"
#if defined(MK_SS_TWR_DW_INIT)

extern int TagRange(void);

void Tag_uwb_init(void);
/* Ranging period: 1s */
#define RANGING_PERIOD_MS (1000)

/* This is the delay from the end of the poll frame transmission to the enable of the receiver */
#define POLL_TX_TO_RESP_RX_DLY_US 750U  //yuan700
#define POLL_TX_TO_RESP_RX_DLY_US 300U  //yuan700

#define RESP_RX_TO_FINAL_TX_DLY_US 550U

@@ -25,7 +26,7 @@
#define POLL_DELAY  100U //yuan100U

/* Receive response timeout */
#define RESP_RX_TIMEOUT_US 2000U //Yuan500 10mssuccess 300jixian
#define RESP_RX_TIMEOUT_US 1200U //Yuan500 10mssuccess 300jixian

/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -33,7 +34,7 @@
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define DELAY_DEFAULT 50000
#define DELAY_BETWEEN_TWO_FRAME_UUS 400
#define DELAY_BETWEEN_TWO_FRAME_UUS 600  //yuan1400
#define HALF_SECOND_TIME 62400000

uint16_t CmpTagInList(uint16_t tagid);
@@ -47,10 +48,11 @@
};
uint32_t dev_id;
uint8_t group_id;
#ifdef DW1000
/* Default communication configuration. */
static struct mk_uwb_configure config = {//yuan
    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
    .phy_cfg.ch_num = 5,                      /* Channel number.                           */
    .phy_cfg.ch_num = 9,                      /* 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                            */
@@ -63,6 +65,51 @@
    .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,
};
#else //MKmode
/* Default communication configuration. */
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
///* Default communication configuration. */
//static struct mk_uwb_configure config = {
//    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
@@ -164,7 +211,7 @@
    memcpy(&uwb_sendbuffer[NEARBASEID_INDEX+nearbase_num*2],&u16_nearbase_distlist,nearbase_num*2);
      uwb_sendbuffer[MESSAGE_TYPE_IDX] = MBX_POLL;   
      memcpy(&uwb_sendbuffer[ANCHOR_ID_IDX],&mainbase_id,2);
}
} 

static enum SIMPLE_FSM_T state = SIMPLE_IDLE;

@@ -220,6 +267,7 @@
               //获取发射端时钟偏差
         resp_rx_num++;
         freq_offset=phy_freq_offset_get();
			
      //   freq_offset_filter=average_filter(freq_offset);//获取频偏
         //int32_t ppm = freq_offset_filter / (int32_t)(ch_center_freq_map[UWB_CH_NUM] * 1e-6);
         //calib_xtal38m4_load_cap_auto_tune(ppm);//利用电容调整晶振适配频偏应在完整的一包之后调整，需要关闭XTAL_AUTO_TUNE_EN 宏定义避免收包中途校准导致测距错误
@@ -366,16 +414,28 @@
    temp = AddNewTagIntoList(tagid);
   return temp;
}

int TagRange(void)
uint32_t count_index;
int tt=1;
void Tag_uwb_init(void)
{
    // The following peripherals will be initialized in the uwb_open function
 // 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);
#endif
    // Set calibration parameters
    uwb_calibration_params_set(config.phy_cfg.ch_num);

#ifdef STS_MODE
    // 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,
    };
#else
    // set advanced parameters
     struct PHY_ADV_CONFIG_T adv_config = {
        .thres_fap_detect = 40,
@@ -383,22 +443,62 @@
        .ranging_performance_mode = 0,
        .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);

}
static uint16_t source_id;
int sleep_time_step=SLEEP_COUNT;
uint8_t rec_index,rec_secdelay;
uint16_t rec_value;
uint8_t readgcom_flag;
uint16_t wg_report_id;
uint16_t rec_wenjian_daxiao;
uint16_t wangguan_up_id;
uint8_t shengji_flag,time=5;
uint8_t LoraUp_flag;
extern uint16_t final_bag_num;
int TagRange(void)
{		
    if(readgcom_flag)
    {
    readgcom_flag=0;
    phy_timer_open(1, IRQ_PRIORITY_HIGH);
    mac_register_process_handler(tx_int_callback, rx_int_callback); 
    uint8_t data_length = 0x50;
   uint16_t checksum = 0;
   uwb_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_READPARARESP;
   uwb_sendbuffer[MSG_LENGTH] = data_length+11;
    memcpy(&uwb_sendbuffer[SOURCE_ID_IDX],&g_com_map[DEV_ID],2);
    memcpy(&uwb_sendbuffer[DEST_ID_IDX],&wg_report_id,2);
   uwb_sendbuffer[RP_CMD_IDX] = WGRSP_RWTAG_READ;
   uwb_sendbuffer[RP_INDEX_IDX] = 2;
   uwb_sendbuffer[RP_LEN_IDX] = data_length;
   memcpy(&uwb_sendbuffer[9], &g_com_map[1], data_length);
   checksum = Checksum_u16(uwb_sendbuffer,11+data_length);
   memcpy(&uwb_sendbuffer[11+data_length],&checksum,2);
//    Radio.Send(uwb_sendbuffer,data_length+13);
  //  Delay_Ms(100);
    poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//发送必须要延时发送才可以用于测距否则立即发送会获取时间戳不对，需要计算程序运行时间，避免设置过去时间
    tempflag=uwb_tx(uwb_sendbuffer,data_length+13,1,poll_tx_en_start_u32);//立即发送  
    poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//修正时间戳
    temp_count1=phy_timer_count_get();
    while(mac_is_busy());//等待发送完成    
    }
    else
    {        
      phy_timer_open(1, IRQ_PRIORITY_HIGH);
    // Register rx interrupt callback function
    mac_register_process_handler(tx_int_callback, rx_int_callback);
        mac_register_process_handler(tx_int_callback, rx_int_callback);

//#if LOW_POWER_EN
//    // Initialize low power mode
//    power_init();
//    // Enable sleep timer
//    sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, NULL);
//#endif

      uwb_poll_buffer_construct();
      temp_tag_num=0;//临时数量为0
      poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//发送必须要延时发送才可以用于测距否则立即发送会获取时间戳不对，需要计算程序运行时间，避免设置过去时间
@@ -410,33 +510,49 @@
      poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//修正时间戳
      temp_count1=phy_timer_count_get();
      while(mac_is_busy());//等待发送完成
      temp_count2=phy_timer_count_get();
   #ifdef BOXING
      gpio_pin_clr(IO_PIN_5);//测试
      gpio_pin_set(IO_PIN_5);//测试
   #endif	
   temp_count2=phy_timer_count_get();
      resp_rx_en_start_u32 =  poll_tx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);//设置发送多少s后接收按target独立时间起点算+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US为发送后要多久开启接收时间
      temp_resp=resp_rx_en_start_u32;
   //tempflag=uwb_rx(1, resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);//开启接受并设置接收超时
   tempflag=uwb_rx(0,0, RESP_RX_TIMEOUT_US);
   tempflag=uwb_rx(0,resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);
   
   
   start_receive_count=phy_timer_count_get();
   poll_timeout=nearbase_num*US_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0.125*4*100000,默认开启1mss
   //poll_timeout=nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(RESP_RX_TIMEOUT_US);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
   poll_timeout=US_TO_PHY_TIMER_COUNT(RESP_RX_TIMEOUT_US);
   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();      
   count_index=end_receive_count+HALF_SECOND_TIME;
//   if(tt){
   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();//不断刷新当前计数器值
      temp_count2=phy_timer_count_get();
      while(mac_is_busy());//等待接收完成
      while(mac_is_busy())//等待接收完成
      {
                  IdleTask();
            current_count=phy_timer_count_get();
            if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)
            {
                    break;
            }
      }
      temp_count3=phy_timer_count_get();
      if(receive_flag==1)//成功接收数据
      {
         receive_flag=0;
	
   tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
         //接收成功则判断是否为同一组
         if (rx_buf[MESSAGE_TYPE_IDX] == MBX_RESPONSE&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2)&&rx_buf[GROUP_ID_IDX]==group_id) //判断接收到的数据是否是response数据
                     {	
            {	
                           memcpy(&rec_nearbaseid,&rx_buf[ANCHOR_ID_IDX],2);
                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                           SetANCTimestap(rec_nearbasepos,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2,(uint32_t)poll_tx_ts_i64);
@@ -453,28 +569,307 @@
//                     uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
//                     while(mac_is_busy());
                     //break;//成功接收就退出
					
      }
                     tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
            #ifdef BOXING 
      gpio_pin_clr(IO_PIN_5);//测试
         #endif
            }
            else
            {
                uint16_t checksum1;
                if(rx_buf[MSG_TYPE_IDX]==LORA_MSGTYPE_WGRESPTAG)
                {
                    checksum1=Checksum_u16(rx_buf,rx_length-2);
                    if(!memcmp(&checksum1,&rx_buf[rx_length-2],2))
                    if(!memcmp(&dev_id,&rx_buf[DEST_ID_IDX],2))
                    {
                       memcpy(&source_id,&rx_buf[SOURCE_ID_IDX],2); 
//                        if(wg_state==WG_Lost)
//                        {
//                            wg_state = WG_Connected;
                            wg_report_id = source_id;
//                        }
//                        if(!memcmp(&wg_report_id,&rx_buf[SOURCE_ID_IDX],2))
//                        {
//                            wg_lost_count = 0;
//                            loraled=GREEN;
                            switch(rx_buf[PWTAG_RW_FLAG_IDX])
                            {
                                case WGRSP_RWTAG_READ:
                                    readgcom_flag = 1;
//                                    LoraSendComMap(WGRSP_RWTAG_READ);
                                    break;
                                case WGRSP_RWTAG_WRITE:
                                    rec_index = rx_buf[PWTAG_WRITE_IDX_IDX];
                                    if(rec_index<=DEV_ID)
                                    {break;}
                                    memcpy(&rec_value,&rx_buf[PWTAG_WRITE_VALUE_IDX],2);
                                    if(g_com_map[rec_index/2]==rec_value)
                                    {break;}
                                    g_com_map[rec_index/2] = rec_value;
                                    save_com_map_to_flash();
                                    delay_us(60000);
                                    NVIC_SystemReset();
                                    break; 
                                case WGRSP_RWTAG_UPDATE:
                                rec_index = rx_buf[PWTAG_WRITE_IDX_IDX];
                                switch(rec_index)
                                {
                                    case 0xaa:  //升级下发
                                    memcpy(&rec_wenjian_daxiao,&rx_buf[11],2);//文件大小
                                    if(rec_wenjian_daxiao>APP_SIZE||rec_wenjian_daxiao==0)
                                    {}//文件过大，超出范围
                                    else
                                    {
                                    final_bag_num=(rec_wenjian_daxiao/ONE_BAG_DAXIAO)+1;    
                                    memcpy(&wangguan_up_id,&rx_buf[SOURCE_ID_IDX],2);//网关ID 占用2个字节
                                    shengji_flag=1;
                                    LoraUp_flag=1;    
                                    LOG_INFO(TRACE_MODULE_APP, "进入升级模式,接收文件大小%d\r\n",rec_wenjian_daxiao); 
                                    }
                                        break;                        
                                }
                                    break; 
                            }
//                        }
                    }
                } 
            
            
            }
							
//            #ifdef BOXING 
//      gpio_pin_clr(IO_PIN_5);//测试
//         #endif
      }else if(receive_flag==2){//接收出错
      receive_flag=0;
//      sleep_timer_start(__MS_TO_32K_CNT(SLEEP_COUNT-phy_timer_count_get()%30));//测试
//         sleep_time_step=SLEEP_COUNT-phy_timer_count_get()%10;
      tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
      temp_count3=phy_timer_count_get();
//      while(mac_is_busy());
      temp_count1=phy_timer_count_get();
      }
         #ifdef BOXING 
   #ifdef 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);
//   }
      #ifdef BOXING 
      gpio_pin_clr(IO_PIN_5);//测试
      #endif
      delay_us(1);
      uwb_rx_force_off(1);
      //dwt_forecetrxoff();
       CalculateDists(poll_tx_ts_i64); //计算距离并更新距离表
       AnchorListUpdate();//更新存活基站列表
   //    Rank_ANchor_list_by_dis();//冒泡排序重新按距离重新排列基站列表最小距离存货基站放到最前面
    }
}
#endif
#endif

uint16_t UpdateCRC16(uint16_t crcIn, uint8_t byte)
{
  uint32_t crc = crcIn;
  uint32_t in = byte|0x100;

  do
  {
    crc <<= 1;
    in <<= 1;

    if(in&0x100)
    {
      ++crc;
    }
    
    if(crc&0x10000)
    {
      crc ^= 0x1021;
    }
 } while(!(in&0x10000));

 return (crc&0xffffu);
}

/**
  * @brief  Cal CRC16 for YModem Packet
  * @param  data
  * @param  length
  * @retval CRC value
  */
uint16_t Cal_CRC16(const uint8_t* data, uint32_t size)
{
  uint32_t crc = 0;
  const uint8_t* dataEnd = data+size;
  
  while(data<dataEnd)
  {
    crc = UpdateCRC16(crc,*data++);
  }
  crc = UpdateCRC16(crc,0);
  crc = UpdateCRC16(crc,0);

  return (crc&0xffffu);
}
void delay_ms(uint32_t nTimer)  
{  
    uint32_t i=1000*nTimer;  
    delay_us(i);  
}  
uint8_t send_lora_data[250];
uint16_t muqiandeshengjibao;
static uint16_t current_count1,target_count1,end_count1,start_count1;
uint8_t huifushengjibaoerror_num;
uint16_t final_bag_num;
uint16_t testflag;
uint32_t Zhongjian_data[60];
uint8_t shengji_flag;
uint16_t wangguan_up_id;
uint8_t huifushengjibao_flag;
uint8_t LoraUp_flag;
uint16_t rec_wenjian_daxiao;
uint8_t lora_up_rec_flag;
uint16_t flash_shuju;
static uint32_t status_reg;
static uint32_t frame_len;
void LoraUp_Poll()
{    uint16_t  result ;
    uint16_t crc16;
    uint8_t jindu;
    if(shengji_flag)
    {
    uwb_rx_force_off(1);
    Tag_uwb_init();
    phy_timer_open(1, IRQ_PRIORITY_HIGH);
    mac_register_process_handler(tx_int_callback, rx_int_callback);
        
    send_lora_data[MSG_TYPE_IDX]=LORA_MSGTYPE_UPDATE_CONFIRM;
    memcpy(&send_lora_data[SOURCE_ID_IDX],&dev_id,2);//网关ID 占用2个字节
    memcpy(&send_lora_data[DEST_ID_IDX],&wangguan_up_id,2);//标签或者基站的设备ID 2个字节
//    send_lora_data[MUQIAN_BAG]=0xFF;
    crc16=Checksum_u16(send_lora_data,6);
    memcpy(&send_lora_data[6],&crc16,2);
    huifushengjibao_flag=0;
    LoraUp_flag=1;
         
    poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//发送必须要延时发送才可以用于测距否则立即发送会获取时间戳不对，需要计算程序运行时间，避免设置过去时间
    tempflag=uwb_tx(send_lora_data,8+2,1,poll_tx_en_start_u32);//立即发送  
    poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//修正时间戳
    temp_count1=phy_timer_count_get();
    while(mac_is_busy());//等待发送完成        

   __disable_irq();
    result=flash_open(FLASH_ID0,NULL);
    flash_read(FLASH_ID0, APP2_ADRESS, (uint8_t*)&flash_shuju, 2);
    if(flash_shuju!=0xffff/*&&flash_shuju!=0x0000*/)
    {
            while(1)
        {
            flash_erase(FLASH_ID0,APP2_ADRESS,APP_SIZE);      
            delay_ms(500);
            flash_read(FLASH_ID0, APP2_ADRESS, (uint8_t*)&flash_shuju, 2);
            if(flash_shuju==0xffff/*&&flash_shuju!=0x0000*/)
            {break;}
        }
    }
   __enable_irq();
            while(1)
            {
                uwb_rx_force_off(1);
                send_lora_data[MSG_TYPE_IDX]=LORA_MSGTYPE_UPDATEFILE_REQUEST;
                memcpy(&send_lora_data[SOURCE_ID_IDX],&dev_id,2);//网关ID 占用2个字节
                memcpy(&send_lora_data[DEST_ID_IDX],&wangguan_up_id,2);//标签或者基站的设备ID 2个字节
//                send_lora_data[MUQIAN_BAG]=muqiandeshengjibao;
                memcpy(&send_lora_data[MUQIAN_BAG],&muqiandeshengjibao,2);
                crc16=Checksum_u16(send_lora_data,8);
                memcpy(&send_lora_data[8],&crc16,2);
                lora_up_rec_flag=0;    
//                LOG_INFO(TRACE_MODULE_APP, "正在请求第%d包\r\n",muqiandeshengjibao);
                jindu=(muqiandeshengjibao*100)/final_bag_num;
                LOG_INFO(TRACE_MODULE_APP, "升级进度%d\r\n",jindu);
                
                poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//发送必须要延时发送才可以用于测距否则立即发送会获取时间戳不对，需要计算程序运行时间，避免设置过去时间
                tempflag=uwb_tx(send_lora_data,10+2,1,poll_tx_en_start_u32);//立即发送
                poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//修正时间戳
                temp_count1=phy_timer_count_get();
                while(mac_is_busy());//等待发送完成
                temp_count2=phy_timer_count_get();
                resp_rx_en_start_u32 =  poll_tx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);//设置发送多少s后接收按target独立时间起点算+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US为发送后要多久开启接收时间
                temp_resp=resp_rx_en_start_u32;
                tempflag=uwb_rx(0,0, 50000);
                
                while(mac_is_busy())
                {}
                if(receive_flag==1)//成功接收数据
                {   uint16_t result12;
                     
                     __disable_irq();
                     crc16=Cal_CRC16(rx_buf,DATA_IDX+ONE_BAG_DAXIAO);

                     if(!memcmp(&muqiandeshengjibao,&rx_buf[MUQIAN_BAG],2)&&!memcmp(&crc16,&rx_buf[DATA_IDX+ONE_BAG_DAXIAO],2)&&!memcmp(&dev_id,&rx_buf[DEST_ID_IDX],2)&& !memcmp(&wangguan_up_id,&rx_buf[SOURCE_ID_IDX],2))
                     {
                     result=flash_open(FLASH_ID0,NULL);
                     memcpy(Zhongjian_data,&rx_buf[DATA_IDX],ONE_BAG_DAXIAO);
                     result12=flash_write_nbytes(FLASH_ID0, APP2_ADRESS+ONE_BAG_DAXIAO*muqiandeshengjibao, (uint8_t*)Zhongjian_data, ONE_BAG_DAXIAO);
                     while(!result12==0)
                     {
                     result12=flash_write_nbytes(FLASH_ID0, APP2_ADRESS+ONE_BAG_DAXIAO*muqiandeshengjibao, (uint8_t*)Zhongjian_data, ONE_BAG_DAXIAO);
                     delay_ms(10);    
                     }                         
                     if(result12==0)
                     {
//                         if(muqiandeshengjibao==650)
//                         {
//                         delay_ms(10);   
//                         }
                     muqiandeshengjibao++;   
                     huifushengjibaoerror_num=0;
                     delay_ms(10);       
                     }
                     }
                     __enable_irq();
                }
                else
                {
                    delay_ms(500);
                    huifushengjibaoerror_num++;
                    if(huifushengjibaoerror_num>=20)
                    {
                    huifushengjibaoerror_num=0;    
                    muqiandeshengjibao=0;
                    delay_ms(500);
                    NVIC_SystemReset();    
                    break;
                    }   
                    uwb_rx_force_off(1);
                }
                if(muqiandeshengjibao==final_bag_num)
                {
                send_lora_data[MSG_TYPE_IDX]=0x99;
                memcpy(&send_lora_data[SOURCE_ID_IDX],&dev_id,2);//网关ID 占用2个字节
                memcpy(&send_lora_data[DEST_ID_IDX],&wangguan_up_id,2);//标签或者基站的设备ID 2个字节
                crc16=Checksum_u16(send_lora_data,6);
                memcpy(&send_lora_data[6],&crc16,2);
                huifushengjibao_flag=0;
                LoraUp_flag=1;    
                LOG_INFO(TRACE_MODULE_APP, "正在发送最后一包\r\n");    
                poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//发送必须要延时发送才可以用于测距否则立即发送会获取时间戳不对，需要计算程序运行时间，避免设置过去时间
                tempflag=uwb_tx(send_lora_data,8+2,1,poll_tx_en_start_u32);//立即发送  
                poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//修正时间戳
                temp_count1=phy_timer_count_get();
                while(mac_is_busy());//等待发送完成        
                
                uint16_t tmp11 ,result11;
                tmp11=0XDDDD;
                result=flash_open(FLASH_ID0,NULL); 
                result11=flash_erase(FLASH_ID0,APP_1OR2_ADRESS,0x1000);
                if(result11==0)
                flash_write_nbytes(FLASH_ID0, APP_1OR2_ADRESS, (uint8_t*)&tmp11, 2);
                __disable_irq();       
                delay_ms(500);
                NVIC_SystemReset(); 
                }
            }
   uwb_rx_force_off(1);
  }
}