ChinaUWBProject.git

			@@ -11,6 +11,8 @@
			#include "board.h"
			#include "lib_aoa.h"
			#include "WS2812.h"
			#include "TCPClient.h"

			extern int simple_main(void);
			extern int temp_main(void);
			void Calibration_Time(void);
			@@ -62,6 +64,7 @@
			int16_t elevation = 0;
			int16_t azimuth = 0;
			uint8_t fom = 0;
			extern CountState_t current_state;
			int32_t distance;
			uint8_t taglist_num;
			float *sts_rssi=NULL;
			@@ -69,20 +72,23 @@
			uint8_t uwb_rx_flag;
			extern Operation_step UWB_work_state;
			extern int16_t first_search_flag;
			typedef enum
			typedef enum
			{
			SEARCH,
			SEARCH,
			CLOSE,
			RANGE,
			}enumwltagstate;
			} 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

			@@ -99,6 +105,7 @@
			#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
			@@ -111,6 +118,9 @@
			#define MSG_COMMON_LEN 10

			#define UWB_DELAY_TIME_US 496



			uint8_t receive_flag=0;
			struct mk_uwb_configure
			{
			@@ -134,7 +144,24 @@
			// .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_MK8000_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_OLD
			static struct mk_uwb_configure config = {
			.phy_work_mode = (uint8_t)(PHY_TX \| PHY_RX),
			.phy_cfg.ch_num = 5, /* Channel number. */
			@@ -150,6 +177,26 @@
			.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),
			@@ -195,9 +242,9 @@
			};
			#endif

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

			@@ -288,14 +335,14 @@
			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;
			{ 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 */
			@@ -309,10 +356,10 @@
			poll_rx_num++;
			rssi = rx_report->rssi;
			receive_flag=1;
			Anchor_App();
			Anchor_App();
			if(resp_tx_flag==0)
			{
			OpenUWB();
			OpenUWB();
			}
			// #ifdef STS_MODE
			// valid_sts= sts_valid_check();
			@@ -339,11 +386,14 @@
			/* UWB_TO_ERR Receive timeout */
			/* UWB_STS_ERR STS error */
			rxnumerrornum++;
			temp_count= phy_timer_count_get();
			temp_count= phy_timer_count_get();
			memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
			rx_length = 0;
			receive_error_flag=1;
			OpenUWB();//再次开启UWB接收

			OpenUWB();

			// OpenUWB();//再次开启UWB接收
			}
			// CloseUWB();
			// OpenUWB();//再次开启UWB接收
			@@ -363,13 +413,16 @@
			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
			// 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];
			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;
			@@ -396,20 +449,20 @@
			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;
			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
			dist_temp=dist;
			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;
			@@ -481,19 +534,19 @@
			//}
			void TagListUpdate(void)
			{
			uint16_t i,j=0,k=0;
			uint16_t i,j=0,k=0;
			for(i=0; i<taglist_num; i++)
			{
			if(tagofflinetime[i]++<TAG_KEEPTIMES)
			if(tagofflinetime[i]++<TAG_KEEPTIMES)
			{
			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_bat[j]=anchordata_bat[i];//电量随之更新
			anchor_rssi[j]=anchor_rssi[i];
			tagofflinetime[j++]=tagofflinetime[i];
			}
			}
			taglist_num=j;
			}
			taglist_num=j;
			}

			uint8_t position;
			@@ -506,6 +559,7 @@
			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);

			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
			@@ -518,7 +572,7 @@
			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
			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())
			@@ -561,33 +615,33 @@
			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(secondtask_search_count++%2==0)
			{
			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))))
			{
			secondtask_search_flag = 1;
			}else{
			secondtask_search_flag = 0;
			}
			if(secondtask_search_flag)//更新S时间TICK
			{
			HIDO_TimerTick();
			TagListUpdate();
			start_receive_count_calibration=current_count_calibration;//更新开始时间


			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];
			@@ -596,33 +650,34 @@
			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");
			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;
			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");
			}
			//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
			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
			}
			extern uint16_t gaodu;
			void UWBSendUDPTask(void)
			{
			uint16_t checksum,tempdistarray[20];
			uint16_t checksum,tempdistarray[20];
			// UDP_TEST();
			for(uint16_t i=0;i<taglist_num-1;i++)
			for(uint16_t i=0; i<taglist_num-1; i++)
			{
			for(uint16_t j=0;j<taglist_num-1-i;j++)
			for(uint16_t j=0; j<taglist_num-1-i; j++)
			{
			if(tagdist_list[j]>tagdist_list[j+1])
			{
			@@ -643,7 +698,7 @@
			anchor_rssi[j+1] = rssi1;
			}
			}


			}
			// if(taglist_num>0)
			// {
			@@ -655,35 +710,38 @@
			// }
			// }
			// 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;

			if(taglist_num>14) //最多上传20个基站数据，距离最近的20个
			taglist_num = 14;
			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;
			usart_send[9] = userkey_state\|0<<1\|0<<2\|0<<5\|uwb_state<<6;
			// memcpy(&usart_send[10],&rec_tagheight,2);
			memcpy(&usart_send[12],gaodu,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;
			}
			extern uint32_t step_count;
			extern uint8_t uwb_OpenClose_flag;
			void UWBIdleTask(void)
			{
			// if(receive_flag)
			@@ -697,35 +755,46 @@
			// receive_error_flag=0;
			// OpenUWB();
			// }
			if(HIDO_TimerGetTick()-uwbtasktimer >=1)
			{
			uwbtasktimer = HIDO_TimerGetTick();
			UWBOneSecondTask();
			UWBSendUDPTask();
			}
			if(HIDO_TimerGetTick()-uwbtasktimer >=1)
			{
			step_count = mir3da_get_step(); // 获取步数
			uwbtasktimer = HIDO_TimerGetTick();
			UWBOneSecondTask();
			if(g_com_map[UWBFrequency]==1&&uwb_OpenClose_flag==1)
			{
			UWBSendUDPTask();
			}
			}
			}
			int uwb_app_poll(void)
			{
			UWBIdleTask();
			UWBIdleTask();
			}
			extern uint8_t uwb_offtime_count;
			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+2rec_nearbase_num],2rec_nearbase_num);
			memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
			uwbled=BLUE;
			uint8_t i;
			uint16_t tempid;
			uwb_offtime_count=0;
			#ifdef CEJU_ZIUMIAN
			current_state = STATE_NORMAL;
			#endif
			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+2rec_nearbase_num],2rec_nearbase_num);
			memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
			uwbled=BLUE;


			// for(i=0; i<rec_nearbase_num; i++)
			// {
			// if(rec_ancidlist[i] == dev_id)
			@@ -750,85 +819,85 @@
			// 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);
			taglist_pos=CmpTagInList(tag_id_recv);
			if(taglist_num>=TAG_NUM_IN_SYS)
			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();
			// }




			}

			void Uwb_init(void)
			{
			uwb_open();
			#ifdef STS_MODE
			// Set STS key and IV
			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

			// which RX ports will be used for AoA/PDoA
			phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
			#endif
			#endif
			// Set calibration parameters
			uwb_calibration_params_set(config.phy_cfg.ch_num);
			#ifndef STS_MODE
			// 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
			#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
			#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
			#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);
			#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

			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
			}