ChinaUWBProject.git

			@@ -35,10 +35,11 @@
			static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS];
			static int16_t rec_ancdistlist[TAG_NUM_IN_SYS];
			extern uint8_t group_id;
			static uint16_t anc_id_recv,tag_id_recv;
			static uint16_t anc_id_recv;
			static uint32_t tag_id_recv;
			static int16_t rec_antdelay;
			extern uint32_t dev_id;
			static uint16_t taglist_pos,tmp_time;
			static uint32_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;
			@@ -47,7 +48,7 @@
			//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
			static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts);//用来对应位置放入时间戳
			static uint16_t tagid_list[TAG_NUM_IN_SYS];
			static uint32_t tagid_list[TAG_NUM_IN_SYS];
			uint16_t CmpTagInList(uint16_t tagid);
			uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos);
			static uint8_t send_buffer[100];
			@@ -67,6 +68,7 @@
			extern uint8_t recev_error_num;
			uint8_t uwb_rx_flag;
			extern Operation_step UWB_work_state;
			void find_in_tag_id_authorization_list(uint32_t authorization_list_num);
			extern int16_t first_search_flag;
			typedef enum
			{
			@@ -461,6 +463,8 @@
			// }
			// anchordata_num=j;
			//}
			uint8_t find_flag;
			extern uint32_t tag_id_authorization_list_num;
			void TagListUpdate(void)
			{
			uint16_t i,j=0,k=0;
			@@ -475,6 +479,11 @@
			}
			}
			taglist_num=j;
			if(find_flag)
			{
			find_in_tag_id_authorization_list(tag_id_authorization_list_num);
			find_flag=0;
			}
			}

			uint8_t position;
			@@ -484,7 +493,7 @@

			memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//组id
			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
			memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,4);//接受者id
			send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;

			// if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式自己为新基站
			@@ -644,6 +653,69 @@
			// }
			UWBIdleTask();
			}
			uint8_t tag_authorized_List[TAG_NUM_IN_SYS];
			extern uint8_t bind_flag;
			void bubble_sort(uint32_t *arr, uint32_t n)
			{
			if (n <= 1) return; // 无需排序

			uint32_t i, j;
			uint8_t swapped; // 标记是否发生交换

			for (i = 0; i < n - 1; i++) {
			swapped = 0; // 重置交换标记

			// 每轮将最大元素"冒泡"到末尾
			for (j = 0; j < n - i - 1; j++) {
			if (arr[j] > arr[j + 1]) {
			// 交换相邻元素
			uint32_t temp = arr[j];
			arr[j] = arr[j + 1];
			arr[j + 1] = temp;
			swapped = 1; // 标记发生了交换
			}
			}

			// 优化：如果本轮未发生交换，说明数组已排序
			if (!swapped) break;
			}
			}
			void copy_taglist_to_flash(void)
			{
			memcpy(&tag_id_authorization_list,&tagid_list,taglist_num*4);
			//进行排序后存入,为二分法做基础
			bubble_sort(&tag_id_authorization_list,taglist_num);
			save_taglist_map_to_flash();
			}

			void find_in_tag_id_authorization_list(uint32_t authorization_list_num)
			{
			for (uint32_t i = 0; i < taglist_num; i++) {
			uint32_t target = tagid_list[i];
			uint32_t left = 0;
			uint32_t right = authorization_list_num - 1; // 授权列表的最大索引
			uint8_t found = 0;

			// 二分查找循环
			while (left <= right) {
			uint32_t mid = left + ((right - left) >> 1); // 防止整数溢出
			uint32_t mid_val = tag_id_authorization_list[mid];

			if (mid_val == target) {
			found = 1;
			break; // 找到目标值，立即退出循环
			} else if (mid_val < target) {
			left = mid + 1;
			} else {
			right = mid - 1;
			}
			}

			// 存储查找结果
			tag_authorized_List[i] = found;
			}
			}

			int Anchor_App(void)
			{
			uint8_t i;
			@@ -657,7 +729,7 @@
			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(&tag_id_recv,&rx_buf[TAG_ID_IDX],4);
			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);
			@@ -699,8 +771,8 @@
			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;

			tagid_list[taglist_pos] = tag_id_recv;//新增基站
			find_flag=1;
			}
			break;
			}