加入上传从小到大排序，最多6个基站跟升级完善

WXK

2025-04-25 9a51eb7d3ad95c533c29cf657433a7f62f2106da

 keil/uwb_app.c

@@ -10,13 +10,16 @@
#include "global_param.h"
#include "board.h"
#include "lib_aoa.h"

#include <serial_at_cmd_app.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);

@@ -62,14 +65,20 @@
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;
/* 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 4000U //yuan670 with urt 3000success
#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan600 success 并且不卡busy

#define RESP_TX_TO_FINAL_RX_DLY_US 500U

@@ -88,7 +97,7 @@
/* RX window open in advance */
#define RX_WIN_IN_ADVANCE_US (150)

#define DELAY_BETWEEN_TWO_FRAME_UUS 300 //yuan1400
#define DELAY_BETWEEN_TWO_FRAME_UUS 500 //yuan1400

/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -107,24 +116,7 @@
    uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
    struct UWB_CONFIG_T phy_cfg;
};

///* 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                       */
//};
#ifndef STS_MODE
extern uint8_t uwb_ch;
static struct mk_uwb_configure config = {
    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
    .phy_cfg.ch_num = 5,                      /* Channel number.                           */
@@ -140,33 +132,11 @@
    .phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment       */
    .phy_cfg.rx_ant_id = UWB_RX_ANT_3,    /* UWB RX antenna port                       */
};
#else
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                       */
};
#endif
/* Use the default key and IV specified in the IEEE 802.15.4z attachment */
static struct UWB_STS_KEY_CONFIG_T sts_iv_key = {
    .sts_vcounter = 0x1F9A3DE4,
    .sts_vupper0 = 0xD37EC3CA,
    .sts_vupper1 = 0xC44FA8FB,
    .sts_vupper2 = 0x362EEB34,
    .sts_key0 = 0x14EB220F,
    .sts_key1 = 0xF86050A8,
    .sts_key2 = 0xD1D336AA,
    .sts_key3 = 0x14148674,


static struct anchor_id_car{
 uint16_t anchor_new_id;
 uint16_t change_num;
};
/* Buffer to store received frame */

@@ -249,8 +219,22 @@

/* RX done process handler. */
int8_t rssi;
uint32_t range_timeout_us = 2000000;//yuan5000
uint8_t flag_temp2,flag_temp1;
uint16_t uwb_losttimer;
uint8_t lorarec_usart_send[200]={0x55,0xaa};
uint16_t lorarec_tagid;
extern uint8_t send_lora_data[250];
uint8_t Lora_upanc_time;
uint8_t update_tag_time;
extern uint16_t mubiao_anchor_ID;
uint8_t Lora_qingqiu_flag;
extern uint16_t Lora_qingqiu_bao;
uint8_t shengji_flag;
extern uint8_t Dtu_shengji_jindu[20];
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{      uint8_t valid_sts=0;
    uint16_t checksum1 = 0,dest_id;
    // Power off radio
    power_off_radio();

@@ -268,6 +252,82 @@
        poll_rx_num++;
        rssi = rx_report->rssi;
        receive_flag=1;
//        uart_send(UART_ID0, rx_buf,rx_length, NULL);
        gpio_pin_toggle(IO_PIN_4);
        if(rx_buf[MESSAGE_TYPE_IDX]==MBX_POLL&&!shengji_flag)
        {
        Anchor_App();
        }
        else
        {
            memcpy(&lorarec_tagid,&rx_buf[SOURCE_ID_IDX],2);
            memcpy(&dest_id,&rx_buf[DEST_ID_IDX],2);
            checksum1=Checksum_u16(rx_buf,rx_length-4);
            if(!memcmp(&checksum1,&rx_buf[rx_length-4],2))  //CRC16校验是否通过
            {
                if(!memcmp(&dev_id,&dest_id,2)/*||dest_id==0xffff||(dest_id==0xfffe&&get_channel==5)*/)
                {
                    shengji_flag=1;
                    switch(rx_buf[MSG_TYPE_IDX])
                    {
                    case LORA_MSGTYPE_UPDATE_CONFIRM:
                        memset(&send_lora_data,0,sizeof(send_lora_data));
//                        Lora_upanc_flag=1;   //升级信号启动
                        update_tag_time=20;
                        mubiao_anchor_ID=lorarec_tagid;
                        LOG_INFO(TRACE_MODULE_APP, "收到基站发送来的升级请求\r\n");
                        break;
                    case LORA_MSGTYPE_UPDATEFILE_REQUEST:
                        Lora_upanc_time=0;//数清零,不清零10次后重启

                        memcpy(&Lora_qingqiu_bao,&rx_buf[MUQIAN_BAG],2);
        //                Lora_qingqiu_bao=rx_buffer[MUQIAN_BAG];//看基站请求的哪一包
                        Lora_qingqiu_flag= 1; //准备发送标志位1
                        update_tag_time=20;
//                        LOG_INFO(TRACE_MODULE_APP, "标签正在请求第%d包\r\n",Lora_qingqiu_bao);
                    Lora_upanc_ing_Poll();
                        break;
                    
                    case 0x99:
//                    LOG_INFO(TRACE_MODULE_APP, "收到结束升级请求\r\n",Lora_qingqiu_bao);
                    delay_ms(200);
                    Dtu_shengji_jindu[4]=100;
                    memcpy(&Dtu_shengji_jindu[5],&mubiao_anchor_ID,2);
                    uart_send(UART_ID0, Dtu_shengji_jindu,9, NULL);
                    
                        delay_ms(1000);
//                        Lora_upanc_flag=0;
                        Lora_qingqiu_flag=0;
                        NVIC_SystemReset();
                        break; 

                    }	
                }
            }
            else
            {
//            switch(rx_buf[MSG_TYPE_IDX])
//            {
//                case LORA_MSGTYPE_READPARARESP:
                if(rx_buf[MSG_TYPE_IDX]==LORA_MSGTYPE_READPARARESP)
                {
                    memcpy(&lorarec_usart_send[2],rx_buf,rx_length);
                    uart_send(UART_ID0, lorarec_usart_send,rx_length+2, NULL);
                    for(uint8_t i=0; i<PWTAG_MAXGROUPNUM; i++)
                    {
                        if(pwtag.groupid[i][0]<=lorarec_tagid&&lorarec_tagid<=pwtag.groupid[i][1])
                        {
                            pwtag.remain_time[i] = 0;
                        }
                    }
//                    break;
                }

//            }
            }
        }

         #ifdef STS_MODE
            valid_sts= sts_valid_check();
      if (valid_sts)
      {
@@ -281,6 +341,7 @@

               sts_rssi = sts_rssi_output_get();
         }
         #endif
    }
    else
    {
@@ -293,8 +354,10 @@
                 temp_count= phy_timer_count_get();
        memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
        rx_length = 0;

//            OpenUWB();//再次开启UWB接收
    }
   OpenUWB();//再次开启UWB接收
//    LOG_INFO(TRACE_MODULE_APP,"RXdone_uwb_rx打开\r\n");
}

/* TX done process handler. */
@@ -309,14 +372,20 @@
        temp_count= phy_timer_count_get();
        temp_internal=temp_count;
        resp_tx_num++;
//        if(update_tag_time>0)
//        {
//            OpenUWB();//再次开启UWB接收
//            LOG_INFO(TRACE_MODULE_APP,"TXdone_uwb_rx打开\r\n");
//        }
        //LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
    }
}
uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
 uint16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
int16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
static uint16_t anchordata_version[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;
@@ -339,7 +408,7 @@
            anchordata_num++;
    }
    anchordata_id[i] = ancid;//与之通信的标签id存入当前表中
      distance=dist*0.5+anchordata_dist[i]*0.5;
      distance=dist*0.5+(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
@@ -358,11 +427,33 @@
{   uint16_t i;
    for(i=0; i<taglist_num; i++)
    {
        if(memcmp(&tagid,&anchordata_id[i],2)==0)
        if(memcmp(&tagid,&tagid_list[i],2)==0)
            break;
    }
    if(i==taglist_num)
        return taglist_num;
    //tagofflinetime[i] = 0;
    return i;
}

uint16_t ExistInTagList(uint16_t tagid)
{   uint16_t i;
    for(i=0; i<taglist_num; i++)
    {
        if(memcmp(&tagid,&tagid_list[i],2)==0)
            return 1;
    }
    return 0;
}
uint16_t CmpCarInExistList(uint16_t tagid)
{   uint16_t i;
    for(i=0; i<anchordata_num; i++)
    {
        if(memcmp(&tagid,&anchordata_id[i],2)==0)
            break;
    }
    if(i==anchordata_num)
        return anchordata_num;
    //tagofflinetime[i] = 0;
    return i;
}
@@ -378,24 +469,75 @@
    }
}

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


uint8_t flag_temp2,flag_temp1;
uint16_t g_com_receive_id;
uint8_t cmd_flag,position;;
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos)//根据自己是否为新基站定制消息去发送，根据是否抢占判断
{
    cmd_flag=0;
    uint16_t checksum1 = 0;
    for(uint8_t i=0; i<PWTAG_MAXGROUPNUM; i++)
    {
        if(pwtag.remain_time[i]!=0)
        {
            lorarec_tagid=g_com_receive_id;
            if(pwtag.groupid[i][0]<=lorarec_tagid&&lorarec_tagid<=pwtag.groupid[i][1])
            {
                send_buffer[MSG_TYPE_IDX] = LORA_MSGTYPE_WGRESPTAG;
                send_buffer[MSG_LENGTH] = 14;
                memcpy(&send_buffer[SOURCE_ID_IDX],&dev_id,2);
                memcpy(&send_buffer[DEST_ID_IDX],&lorarec_tagid,2);
                send_buffer[RW_FLAG_IDX] = pwtag.duorxie[i];
                send_buffer[WRITE_IDX_IDX] = pwtag.index[i];
                memcpy(&send_buffer[WRITE_VALUE_IDX],pwtag.value[i],pwtag.len[i]);

                checksum1=Checksum_u16(send_buffer,pwtag.len[i]+WRITE_VALUE_IDX);
                memcpy(&send_buffer[pwtag.len[i]+WRITE_VALUE_IDX],&checksum1,2);
                resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US);
                flag_temp2=uwb_tx(send_buffer, pwtag.len[i]+WRITE_VALUE_IDX+2,1 ,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);
                cmd_flag=1;
                if(send_buffer[RW_FLAG_IDX]==0x01)
                {
                delay_ms(100);
                NVIC_SystemReset();    
                }
                break;
            }
        }
    }
    if(cmd_flag==0)
    {
    temp_count2=poll_rx_en_start_u32;

    memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//组id
@@ -415,7 +557,8 @@
//       resp_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS);//后面的需要根据已有基站数量进行更改，如果是抢占自己最后一个回复，要有底数
//            //这里应该有问题问一下钟工
//      }//此处设置绝对时间将poll u32改为phy_timer_count_get()
      resp_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US);
      position=ancrec_nearbasepos;
      resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+ancrec_nearbasepos*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//加入帧间隔
    resp_tx_ts_i64 = ranging_tx_time_correct(resp_tx_en_start_u32 + phy_shr_duration());//修正时间戳
    /* Write all timestamps in the final message. See NOTE 8 below. */
    resp_msg_set_ts(&send_buffer[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts_i64);
@@ -424,58 +567,41 @@
    temp_resp_i64=resp_tx_ts_i64;
    temp_count3= phy_timer_count_get();
    flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
    temp_count1=phy_timer_count_get();
    while(mac_is_busy());
    gpio_pin_clr(SCL_PIN);
      tagofflinetime[taglist_pos] = 0;//更新标签通信
//    temp_count1=phy_timer_count_get();
    //while(mac_is_busy());
    //gpio_pin_clr(SCL_PIN);
    }
    
}
uint32_t range_timeout_us = 5000;//yuan5000

uint16_t uwb_searchcount;
uint8_t flag_recsuccess;

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;
void TagListUpdate_person_num(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];
        }else{
//            for(int h=0;h<get_in_num;h++)//消除车内离线id
//            {
//               if(anchordata_id[i]==anchor_id_in[h])
//               {
//                     for(int k=h+1;k<get_in_num;k++)
//                     {
//                        anchor_id_in[k-1]=anchor_id_in[k];//缺个数量--
//                     }
//                     get_in_num--;//车内不删除
//               }
//            }
            for(int h=0;h<get_out_num;h++)//消除车外离线id
            {
               if(anchordata_id[i]==anchor_id_out[h])
               {
                     for(int k1=h+1;k1<get_out_num;k1++)
                     {
                        anchor_id_out[k1-1]=anchor_id_out[k1];//缺个数量--
                     }
                     get_out_num--;
               }
            }
         }
    }
    anchordata_num=j;
		
}
enumwltagstate wltag_state=RANGE;
uint32_t wltag_statetimer,wltag_uwbtimer;
uint32_t uwbtasktimer=0,uwbtagsendtimer=0;

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();
@@ -505,69 +631,149 @@
//      update_led_power_state();//更新等状态防止震动卡死在搜索
   }
}
uint16_t g_com_receive_id;
int Uwb_One_Shot(void)

void CloseUWB(void)
{
		
      uwb_rx_force_off(1);
      uwb_rx_flag=0;
//   LOG_INFO(TRACE_MODULE_APP,"关闭uwb_rx\r\n");
}
void check_if_in_or_out(uint16_t receive_success_id,int32_t distance_from_tag,float rssi_ant0,float rssi_ant2)
void OpenUWB(void)
{
    uint8_t i;
   if(rssi_ant0>rssi_ant2&&distance_from_tag<200)
   {
    for(i=0; i<get_in_num; i++)
    {
        if(anchor_id_in[i] == receive_success_id)//查询标签是否在自己已通讯列表中
        {
      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)
{
 uwb_losttimer++;
    TagListUpdate();
   if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
      uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//防止溢出
}
uint8_t uwbsend[200];

            break;
        }
    }
    if(i==get_in_num)
    {
        if(get_in_num<TAG_NUM_IN_SYS-1)
            get_in_num++;
            for(i=0;i<get_out_num;i++)//消除车外id
            {
               if(receive_success_id==anchor_id_out[i])
               {
                     for(i=i+1;i<get_out_num;i++)
                     {
                        anchor_id_out[i-1]=anchor_id_out[i];//缺个数量--
                     }
                     get_out_num--;
               }
            }
            anchor_id_in[get_in_num-1]=receive_success_id;
    }
   }else if(rssi_ant0<rssi_ant2&&distance_from_tag<200)
   {
   for(i=0; i<get_out_num; i++)
    {
        if(anchor_id_out[i] == receive_success_id)//查询标签是否在自己已通讯列表中
        {
void UWBIdleTask(void)
{

            break;
        }
    }
    if(i==get_out_num)
   if(HIDO_TimerGetTick()-uwbtasktimer >=1)
   {
            
    for(uint16_t i=0;i<taglist_num-1;i++)
    {
        if(get_out_num<TAG_NUM_IN_SYS-1)
            get_out_num++;
            for(i=0;i<get_in_num;i++)//消除车内id
            {
               if(receive_success_id==anchor_id_in[i])
               {
                     for(i=i+1;i<get_in_num;i++)
                     {
                        anchor_id_in[i-1]=anchor_id_in[i];//缺个数量--
                     }
                     get_in_num--;
               }
            }
            anchor_id_out[get_out_num-1]=receive_success_id;
        for(uint16_t j=0;j<taglist_num-1-i;j++)
        {
            if(tagdist_list[j]>tagdist_list[j+1])
            {
                uint16_t id,dist,version;
                uint8_t bat;
                id = tagid_list[j];
                dist = tagdist_list[j];
                version = anchordata_version[j];
                tagid_list[j] = tagid_list[j+1];
                tagdist_list[j] = tagdist_list[j+1];
                anchordata_version[j] = anchordata_version[j+1];
                tagid_list[j+1] = id;
                tagdist_list[j+1] = dist;
                anchordata_version[j+1] = version;
            }
        }
    
    }
    
        if(taglist_num>6)
        {
        taglist_num=6;
        }
      uwbtasktimer = HIDO_TimerGetTick();
      UWBOneSecondTask();
        uwbsend[0]=0x55;
        uwbsend[1]=0xaa;
        uwbsend[2]=0x40;
        uwbsend[3]=taglist_num;
        memcpy(&uwbsend[4],&tagid_list,taglist_num*2);
        memcpy(&uwbsend[4+taglist_num*2],&tagdist_list,taglist_num*2);
        memcpy(&uwbsend[4+taglist_num*4],&anchordata_version,taglist_num*2);
        uart_send(UART_ID0, uwbsend,taglist_num*6+4, NULL);
        taglist_num=0;
//        for(int i=0;i<anchordata_num;i++)
//        {
//        LOG_INFO(TRACE_MODULE_APP,"当前测距基站ID:%x,距离:%d.\r\n",tagid_list[0],tagdist_list[0]);
//        }
   }
}
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
            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);
//            }
                        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
//                                                anchordata_version[taglist_pos] = battary;//保存该基站版本号
                                                memcpy(& anchordata_version[taglist_pos],&rx_buf[7],2);
                                    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);
                }
            }
}
int UwbRange(void)
{
@@ -575,7 +781,7 @@
    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();

//    // Set calibration parameters
//    uwb_calibration_params_set(config.phy_cfg.ch_num);
@@ -595,7 +801,7 @@
//    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);
    //mac_register_process_handler(tx_int_callback, rx_int_callback);

    receive_flag = 0;
      flag_recsuccess = 0;
@@ -670,8 +876,7 @@
            }
                  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 信号强度ANT0: %f,信号强度ANT2: %f\r\n",g_com_receive_id,distance,sts_rssi[0],sts_rssi[2]);
                check_if_in_or_out(g_com_receive_id,distance,sts_rssi[0],sts_rssi[2]);
           //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);
@@ -707,36 +912,51 @@
}
void Uwb_init(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
//    config.phy_cfg.ch_num=g_com_map[NEARBASE_ID1];
    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
}
//主函数绑定接受逻辑
int UwbSearch(void)
@@ -746,36 +966,51 @@
    // 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);