一对多稳定版本不丢包，加了错位时间

chen

2024-11-28 d0dda34680bb885a8525cc82bfdeb9008025df80

 keil/simple_ss_twr_dw_resp.c

@@ -6,16 +6,17 @@
#include "mk_sleep_timer.h"
#include "lib_ranging.h"
#include "dw_app_anchor.h"

#include "global_param.h"
#include "board.h"

#if defined(MK_SS_TWR_DW_RESP)

extern int simple_main(void);
extern int temp_main(void);
void TagListUpdate(void);
extern void IO_LED_control_change(uint8_t data);
extern void IO_control_init(void);
extern void blink_led(uint8_t*state);

extern void updata_led_power_state(void);
/*receive buffer*/
static uint8_t rx_buf[150];
@@ -25,7 +26,8 @@

//resp变量
static uint8_t frame_seq_nb2,battary,button,rec_nearbase_num,ancidlist_num;
static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS],rec_ancdistlist[TAG_NUM_IN_SYS];
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 int16_t rec_antdelay;
@@ -37,25 +39,26 @@
extern uint8_t gps_power_state,motor_power_state,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state;
int poll_rx_num,resp_tx_num;
//resp函数
void PushAnchorDataArray(uint16_t ancid,uint16_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
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];
uint16_t CmpTagInList(uint16_t tagid);
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos);
static uint8_t send_buffer[100];
static uint8_t tagofflinetime[TAG_NUM_IN_SYS];
uint32_t temp_count=0;
uint32_t temp_count1=0;
uint32_t temp_count2=0;
uint32_t temp_count3=0;
uint32_t temp_internal=0;
int temp_flag;
int temp_flag,distance;
extern uint8_t recev_error_num;
typedef enum
{      UN_BIND=0,
      LINK_SUCCESS,
      SEARCH_DEV,
}Operation_step;
extern Operation_step Operation_state;
        LINK_SUCCESS,
        SEARCH_DEV,
} Operation_step;
extern Operation_step UWB_Work_State;
extern int16_t first_search_flag;
/* Ranging period */
#define RANGING_PERIOD_MS (1000)
@@ -66,7 +69,7 @@
#define RESP_TX_TO_FINAL_RX_DLY_US 500U

/* RX sync window size 50 ms*/
#define RX_SYNC_WIN_US 10000U //yuan1000  7000success
#define RX_SYNC_WIN_US 5000U //yuan1000  7000success

/* RX sync window size 50 ms*/
#define RX_SYNC_WIN_US_TEMP 2000000U //yuan1000  7000success
@@ -103,7 +106,7 @@
/* Default communication configuration. */
static struct mk_uwb_configure config = {
    .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,                  /* 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.                           */
@@ -208,14 +211,15 @@
        /* Received data does not contain FCS */
        rx_length = rx_report->pkt_len;
        memcpy(rx_buf, rx_report->pkt_data, rx_length);
            memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
        memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
        /* Calculate rx timestamp */
            temp_count= phy_timer_count_get();
         poll_rx_en_start_u32 = rx_rpt.timestamp - phy_shr_duration();
         poll_rx_ts_i64 = ranging_rx_time_correct(&rx_rpt);
             poll_rx_num++;
            receive_flag=1;
            recev_error_num=0;
        temp_count= phy_timer_count_get();
        poll_rx_en_start_u32 = rx_rpt.timestamp - phy_shr_duration();
        poll_rx_ts_i64 = ranging_rx_time_correct(&rx_rpt);
        poll_rx_num++;
        receive_flag=1;
        recev_error_num=0;
        sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
    }
    else
    {
@@ -226,14 +230,14 @@
        /* UWB_TO_ERR      Receive timeout           */
        /* UWB_STS_ERR     STS error                 */
        memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
           rx_length = 0;
            recev_error_num++;
            if(recev_error_num==20){
            recev_error_num=0;
            first_search_flag=1;//首次进入搜索标志
            Operation_state=SEARCH_DEV;
            }
            receive_flag=2;
        rx_length = 0;
        recev_error_num++;
        if(recev_error_num==20) {
            recev_error_num=0;
            first_search_flag=1;//首次进入搜索标志
            UWB_Work_State=SEARCH_DEV;
        }
        receive_flag=2;
    }
}

@@ -246,93 +250,108 @@
    /** UWB TX success */
    if (tx_report->err_code == UWB_TX_OK)
    {
         temp_count= phy_timer_count_get();
         temp_internal=temp_count;
         resp_tx_num++;
         LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
        temp_count= phy_timer_count_get();
        temp_internal=temp_count;
        resp_tx_num++;
        //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;
static uint16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
static uint8_t anchordata_num = 0;
uint8_t anchordata_num = 0;
static int32_t tagdist_list[TAG_NUM_IN_SYS];
uint16_t random_time;
//anchor
void PushAnchorDataArray(uint16_t ancid,uint16_t dist,uint8_t battary)
void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary)
{
    uint8_t i;
    for(i=0;i<anchordata_num;i++)
    for(i=0; i<anchordata_num; i++)
    {
        if(anchordata_id[i] == ancid)//查询标签是否在自己已通讯列表中
        {
            

            break;
        }
    }
    if(i==anchordata_num)
    {
        if(anchordata_num<TAG_NUM_IN_SYS-1)
        anchordata_num++;
            anchordata_num++;
    }
    anchordata_id[i] = ancid;//与之通信的标签id存入当前表中
    anchordata_dist[i] = dist;
    anchordata_bat[i] = battary;  
    anchordata_bat[i] = battary;
    tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
    distance=dist;
}
uint16_t CmpTagInList(uint16_t tagid)
{uint16_t i;
   for(i=0;i<taglist_num;i++)
   {
      if(memcmp(&tagid,&anchordata_id[i],2)==0)
         break;
   }
   if(i==taglist_num)
      return taglist_num;
{   uint16_t i;
    for(i=0; i<taglist_num; i++)
    {
        if(memcmp(&tagid,&anchordata_id[i],2)==0)
            break;
    }
    if(i==taglist_num)
        return taglist_num;
    //tagofflinetime[i] = 0;
   return i;
    return i;
}
static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts)
{
    int i,ts2;
      ts2=(int32_t)ts;
    ts2=(int32_t)ts;
    for (i = 0; i < 4; i++)
    {
    ts_field[i] = (uint8_t)ts2;
    ts2 >>= 8;
        ts_field[i] = (uint8_t)ts2;
        ts2 >>= 8;
    }
}


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;
}
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
{
         temp_count2=poll_rx_en_start_u32;
			
         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
         send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
			
    temp_count2=poll_rx_en_start_u32;

    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
    send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;

    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
        //resp_tx_time = (poll_rx_ts+((random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_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+poll_rx_en_start_u32+ 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_time = (poll_rx_ts + ((rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
          resp_tx_en_start_u32 = poll_rx_en_start_u32 + 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
        // (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_time = (poll_rx_ts + ((rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_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_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);
       resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts_i64);//此处时间戳int64直接转换为uint64不知道会不会有错误
     memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&disoffset,2);//差个修正offset,修正有符号但是这个com表为无符号的,传过去直接赋给Int16_t相当于还原了
      temp_resp_i64=resp_tx_ts_i64;
      temp_count3= phy_timer_count_get();
      temp_flag=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());

    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);
    resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts_i64);//此处时间戳int64直接转换为uint64不知道会不会有错误
    memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&disoffset,2);//差个修正offset,修正有符号但是这个com表为无符号的,传过去直接赋给Int16_t相当于还原了
    temp_resp_i64=resp_tx_ts_i64;
    temp_count3= phy_timer_count_get();
    temp_flag=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);
}
int simple_main(void)
{
@@ -348,7 +367,7 @@
        .thres_fap_detect = 40,
        .nth_scale_factor = 4,
        .ranging_performance_mode = 0,
         .skip_weakest_port_en = 0,
        .skip_weakest_port_en = 0,
    };
    phy_adv_params_configure(&adv_config);

@@ -359,19 +378,19 @@

    // Register rx interrupt callback function
    mac_register_process_handler(tx_int_callback, rx_int_callback);
      //#if LOW_POWER_EN
    //#if LOW_POWER_EN
//    // Initialize low power mode
//    power_init();
//    // Enable sleep timer
//    sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, NULL);
//#endif
         uint8_t i;
         uint16_t tempid;
      temp_count3=phy_timer_count_get();
		
      uwb_rx(0, 0, RX_SYNC_WIN_US);//开启接收
      while(mac_is_busy());
      temp_count2=phy_timer_count_get();
    uint8_t i;
    uint16_t tempid;
    temp_count3=phy_timer_count_get();
    gpio_pin_set(SCL_PIN);
    uwb_rx(0, 0, RX_SYNC_WIN_US);//开启接收
    while(mac_is_busy());
    temp_count2=phy_timer_count_get();
//      start_receive_count=phy_timer_count_get();
//   poll_timeout=rec_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
//   end_receive_count=start_receive_count+poll_timeout;
@@ -380,49 +399,51 @@
//   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
//      {
      if(receive_flag==1)//成功接收
      {	
         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
         {      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+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(receive_flag==1)//成功接收
    {

        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
        {   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+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)
                {
                    if(rec_ancidlist[i] == dev_id)
                    {
                        PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);  
                    }
                    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);	
               }
				
         }
         }else if (receive_flag==2)//接受失败
      {
            }
            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);
            }

        }
    } else if (receive_flag==2)//接受失败
    {
//      //清除错误标志位重新开启接收进行同步
//      uwb_rx(0, 0, RX_SYNC_WIN_US);//开启接收
//      while(mac_is_busy());
      }
      //receive_flag=0;
    }
    //receive_flag=0;
    gpio_pin_clr(SCL_PIN);
}


@@ -441,7 +462,7 @@
        .thres_fap_detect = 40,
        .nth_scale_factor = 4,
        .ranging_performance_mode = 0,
         .skip_weakest_port_en = 0,
        .skip_weakest_port_en = 0,
    };
    phy_adv_params_configure(&adv_config);

@@ -452,61 +473,76 @@

    // Register rx interrupt callback function
    mac_register_process_handler(tx_int_callback, rx_int_callback);
      //#if LOW_POWER_EN
    //#if LOW_POWER_EN
//    // Initialize low power mode
//    power_init();
//    // Enable sleep timer
//    sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, NULL);
//#endif
         uint8_t i;
         uint16_t tempid;
      temp_count3=phy_timer_count_get();
      uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收
      while(mac_is_busy());
		
      temp_count2=phy_timer_count_get();
      if(receive_flag==1)//成功接收
      {	
         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
         {      temp_count2=phy_timer_count_get();
    uint8_t i;
    uint16_t tempid;
    temp_count3=phy_timer_count_get();
    gpio_pin_set(SCL_PIN);
    uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收
    start_receive_count=phy_timer_count_get();
    poll_timeout=rec_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
    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
    {
        while(mac_is_busy());

        temp_count2=phy_timer_count_get();
        if(receive_flag==1)//成功接收
        {
            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
            {   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);
                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++)
                for(i=0; i<rec_nearbase_num; i++)
                {
                    if(rec_ancidlist[i] == dev_id)
                    {
                        PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);  
                        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);	
               }
				
         }
         return 1;//返回发送成功标志
         }else if (receive_flag==2)//接受失败
      {
      return 0;//返回绑定失败标志
      }
      //receive_flag=0;
                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);
                }

            }
            gpio_pin_clr(SCL_PIN);//测试
            return 1;//返回发送成功标志
        } else if (receive_flag==2)//接受失败
        {
            uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
        }
        //receive_flag=0;
    }
    gpio_pin_clr(SCL_PIN);//测试
    return 0;//返回绑定失败标志
}
//}
#endif