ChinaUWBProject.git

			@@ -5,6 +5,7 @@
			#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"
			@@ -35,7 +36,7 @@
			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
			@@ -60,7 +61,7 @@
			#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 670U //yuan450

			#define RESP_TX_TO_FINAL_RX_DLY_US 500U

			@@ -79,7 +80,7 @@
			/* 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 600 //yuan1400

			/* Field index in frame */
			#define MSG_SEQ_NUM_IDX 2
			@@ -91,31 +92,73 @@
			/* Length of the common part of the message */
			#define MSG_COMMON_LEN 10

			#define UWB_DELAY_TIME_US 495
			#define UWB_DELAY_TIME_US 496
			static 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. */
			/* 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,
			};
			///* 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
			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, /* 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.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. */
			.phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF, /* IEEE802.15.4z - BPRF mode */
			.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 */
			};

			#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
			/* Buffer to store received frame */

			/* Frames used in the ranging process
			@@ -216,7 +259,7 @@
			poll_rx_num++;
			rssi = rx_report->rssi;
			receive_flag=1;
			recev_error_num=0;

			}
			else
			{
			@@ -226,6 +269,7 @@
			/* UWB_BD_ERR Preamble detection error */
			/* UWB_TO_ERR Receive timeout */
			/* UWB_STS_ERR STS error */
			temp_count= phy_timer_count_get();
			memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
			rx_length = 0;

			@@ -255,6 +299,8 @@
			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;
			@@ -275,8 +321,14 @@
			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)
			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;
			@@ -290,6 +342,7 @@
			//tagofflinetime[i] = 0;
			return i;
			}

			static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts)
			{
			int i,ts2;
			@@ -325,14 +378,16 @@

			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
			random_time = (phy_timer_count_get()%100);//多基站抢占一个位置时避免一个也收不到的情况就每一个随机错开几十uS
			//resp_tx_time = (poll_rx_ts+((random_time+rec_nearbase_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_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(20rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_numDELAY_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()
			resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(20rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_numDELAY_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_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. */
			@@ -344,12 +399,17 @@
			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);
			gpio_pin_clr(SCL_PIN);
			}
			uint16_t uwb_searchcount,uwb_timer_reload_value = 496;
			uint8_t range_success;
			uint32_t delay_time;
			extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
			uint32_t range_timeout_us = 5000;
			uint16_t uwb_searchcount;
			uint8_t flag_recsuccess;
			uint8_t flag_temp2,flag_temp1;
			uint8_t valid_sts = 0;
			int16_t elevation = 0;
			int16_t azimuth = 0;
			uint8_t fom = 0;
			extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag,flag_secondtask;
			int UwbRange(void)
			{
			uint8_t i;
			@@ -377,86 +437,87 @@

			// Register rx interrupt callback function
			mac_register_process_handler(tx_int_callback, rx_int_callback);
			range_success = 0;

			receive_flag = 0;
			flag_recsuccess = 0;
			temp_count3=phy_timer_count_get();
			#ifdef DEBUG_BOXING
			gpio_pin_set(SCL_PIN);
			#endif
			uwb_rx(0, 0, RX_SYNC_WIN_US);//开启接收
			temp_count2=phy_timer_count_get();
			start_receive_count=phy_timer_count_get();
			poll_timeout=US_TO_PHY_TIMER_COUNT(5000);//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
			{
			current_count=phy_timer_count_get();
			while(mac_is_busy())
			flag_temp1=uwb_rx(0, 0, range_timeout_us);//开启接收

			// while(mac_is_busy());
			// temp_count2=phy_timer_count_get();
			start_receive_count=phy_timer_count_get();
			poll_timeout=US_TO_PHY_TIMER_COUNT(range_timeout_us);//多一个多0.4ms默认0.4ms计算为0.1254100000,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
			{
			current_count=phy_timer_count_get();
			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;
			}
			}
			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)
			{
			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(receive_flag==1)//成功接收
			{

			if(i==rec_nearbase_num)
			{
			seize_anchor=1; //抢占anchor
			Anchor_RecNearPoll(i);

			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
			{ flag_recsuccess = 1;
			sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
			temp_count2=phy_timer_count_get();
			frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
			battary = rx_buf[BATTARY_IDX];
			rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX]; //标签传过来的他与基站交互的基站id数目
			memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
			memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
			memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+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)
			{ 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);
			}
			range_success = 1;
			sleep_timer_start(__MS_TO_32K_CNT(uwb_timer_reload_value));//测试
			#ifdef DEBUG_BOXING
			gpio_pin_clr(SCL_PIN);
			#endif
			delay_time = (current_count-start_receive_count)>>7;

			LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度：%d. 等待时间%d\r\n",g_com_map[BIND_DEV_ID],distance,rssi,delay_time);
			break;
			}
			} else {
			uwb_rx(0, 0, RX_SYNC_WIN_US);//再次开启接收
			}
			}
			if(!range_success)
			{
			sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-4));//测试
			for(i=0; i<rec_nearbase_num; i++)
			{
			memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
			if(tempid==dev_id)//也是比id如果有就更新没有就抢占
			{
			seize_anchor=0; //非抢占。已存在列表中
			Anchor_RecNearPoll(i);
			break;
			}
			}

			if(i==rec_nearbase_num)
			{
			seize_anchor=1; //抢占anchor
			Anchor_RecNearPoll(i);
			}
			recev_error_num=0;
			range_timeout_us=5000;//恢复为5000进入range后
			LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度：%d.\r\n",g_com_map[BIND_DEV_ID],distance,rssi);
			gpio_pin_clr(SCL_PIN);
			break;
			}
			}
			//失败或者接受被高发射机打断都会再次开启接收
			flag_temp1=uwb_rx(0, 0, range_timeout_us);
			}
			delay_us(1);
			uwb_rx_force_off(1);
			if(!flag_recsuccess)
			{
			sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-3));//测试
			LOG_INFO(TRACE_MODULE_APP,"测距失败，计数：%d\r\n",recev_error_num);
			if(recev_error_num++>5)
			{
			@@ -465,46 +526,59 @@
			uwb_searchcount = 0;
			search_open_flag = 1;
			}
			}
			}



			return 0;
			}


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

			uint8_t i;
			uint16_t tempid;
			// The following peripherals will be initialized in the uwb_open function
			// phy/mac/aes/lsp/phy timers initialized
			uwb_open();
			// 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);

			// Set calibration parameters
			uwb_calibration_params_set(config.phy_cfg.ch_num);

			// set advanced parameters
			// set advanced parameters
			struct PHY_ADV_CONFIG_T adv_config = {
			.thres_fap_detect = 40,
			.nth_scale_factor = 4,
			.ranging_performance_mode = 0,
			.ranging_performance_mode = 3,
			.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_lib_init();
			ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);

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

			receive_flag = 0;
			temp_count3=phy_timer_count_get();
			#ifdef DEBUG_BOXING
			gpio_pin_set(SCL_PIN);
			#endif
			uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收
			flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收
			start_receive_count=phy_timer_count_get();
			poll_timeout=US_TO_PHY_TIMER_COUNT(2000000);//多一个多0.4ms默认0.4ms计算为0.1254100000,默认开启1mss
			end_receive_count=start_receive_count+poll_timeout;
			@@ -529,7 +603,10 @@
			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();
			{
			sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-13));//测试
			range_timeout_us=20000;//将下次range开启后超时时间设为20ms之后再range里恢复
			temp_count2=phy_timer_count_get();
			frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
			battary = rx_buf[BATTARY_IDX];
			rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX]; //标签传过来的他与基站交互的基站id数目
			@@ -541,6 +618,8 @@
			{
			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);
			}
			}
			@@ -560,27 +639,25 @@
			seize_anchor=1; //抢占anchor
			Anchor_RecNearPoll(i);
			}
			sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
			#ifdef DEBUG_BOXING

			gpio_pin_clr(SCL_PIN);//测试
			#endif
			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);
			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

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

			#define SEARCH_TIMESTEMP 120
			#define SEARCH_TIMESTEMP 20
			void UWBPoll(void)
			{
			switch(UWB_work_state)
			@@ -634,7 +711,7 @@
			//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
			// update_led_power_state();//更新灯状态
			}
			LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
			}