一对多稳定版本不丢包，加了错位时间

chen

2024-11-28 d0dda34680bb885a8525cc82bfdeb9008025df80

 keil/uwb_app.c

@@ -5,14 +5,18 @@
#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"

#include "lib_aoa.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);
extern void IO_LED_control_change(uint8_t data);
extern void IO_control_init(void);

@@ -35,7 +39,7 @@
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
@@ -49,9 +53,14 @@
uint32_t temp_count1=0;
uint32_t temp_count2=0;
uint32_t temp_count3=0;
uint32_t temp_count7=0;
uint32_t temp_internal=0;
int16_t elevation = 0;
int16_t azimuth = 0;
uint8_t fom = 0;
int32_t distance;
uint8_t taglist_num;
float *sts_rssi=NULL;
extern uint8_t recev_error_num;

extern Operation_step UWB_work_state;
@@ -60,7 +69,7 @@
#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 2000U //yuan670 with urt 3000success

#define RESP_TX_TO_FINAL_RX_DLY_US 500U

@@ -79,7 +88,7 @@
/* 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 300 //yuan1400

/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -99,23 +108,70 @@
    struct UWB_CONFIG_T phy_cfg;
};

/* Default communication configuration. */
///* 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 = 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.                           */
    .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.                          */
    .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
/* 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 */

/*     Frames used in the ranging process
@@ -198,7 +254,7 @@
/* RX done process handler. */
int8_t rssi;
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{
{      uint8_t valid_sts=0;
    // Power off radio
    power_off_radio();

@@ -216,7 +272,19 @@
        poll_rx_num++;
        rssi = rx_report->rssi;
        receive_flag=1;
        recev_error_num=0;
            valid_sts= sts_valid_check();
      if (valid_sts)
      {
            aoa_calculate(&elevation, &azimuth);
            aoa_fom_get(NULL, &fom);
//            float pdoa[3];
//            pdoa[0] = pdoa_select_get(0, 3);
//            pdoa[1] = pdoa_select_get(1, 3);
//            pdoa[2] = pdoa_select_get(2, 3);
//            LOG_INFO(TRACE_MODULE_APP, "PDOA: %f %f %f\r\n", pdoa[0], pdoa[1], pdoa[2]);

               sts_rssi = sts_rssi_output_get();
         }
    }
    else
    {
@@ -226,6 +294,7 @@
        /* 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;

@@ -248,12 +317,15 @@
    }
}
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];
 uint16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
uint8_t anchordata_num = 0;
static int32_t tagdist_list[TAG_NUM_IN_SYS];
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;
@@ -271,11 +343,20 @@
            anchordata_num++;
    }
    anchordata_id[i] = ancid;//与之通信的标签id存入当前表中
      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
    //if(dist>0)
    distance=dist;
      dist_temp=dist;
//    if(dist>0)
		
//      if(temp_recdist_before_offset!=0&&distance!=0x1ffff)
//      {
//    distance=dist*0.5+distance*0.5;
//      }else{
//         distance=dist;
//      }
		
}
uint16_t CmpTagInList(uint16_t tagid)
{   uint16_t i;
@@ -289,6 +370,20 @@
    //tagofflinetime[i] = 0;
    return i;
}

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;
}

static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts)
{
    int i,ts2;
@@ -313,6 +408,9 @@
    }
    anchordata_num=j;
}


uint8_t flag_temp2,flag_temp1;
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;
@@ -322,17 +420,19 @@
    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+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()

//    if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式自己为新基站
//    {
//        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_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 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_num*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(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 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US);
    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);
@@ -340,13 +440,240 @@
    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();
    uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
    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);
}
uint32_t range_timeout_us = 5000;//yuan5000
uint16_t uwb_searchcount;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
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;
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 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;
		
}
void in_table_log(void)
{
   uint32_t u32LogLen,datalenth;
   char acReadponse[200];
   u32LogLen = snprintf(acReadponse, sizeof(acReadponse), "车内：%d 人 ID:",get_in_num,get_out_num);
               for(uint16_t i=0;i<get_in_num;i++)
            {
                datalenth = sprintf((char*)&acReadponse[u32LogLen],",%04X",anchor_id_in[i]);
                u32LogLen += datalenth;
            }
      LOG_INFO(TRACE_MODULE_APP,"%s\r\n",acReadponse);
}
void TagListUpdate_person_num_car(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{
                  change_count[j]=0;
         }
    }
    anchordata_num=j;

}
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
//      MotorPoll();
		
      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;
int add_in_car_table(uint16_t position_anchor_in_table,uint16_t receive_success_id)
{
       if(position_anchor_in_table==get_in_num)//新增
            {
        if(get_in_num<TAG_NUM_IN_SYS-1)
            get_in_num++;
            }
            anchor_id_in[position_anchor_in_table]=receive_success_id;
}
int delete_in_car_table(uint16_t position_anchor_in_table)
{
         if(position_anchor_in_table<get_in_num)//若在列表里
         {
         for(int i=position_anchor_in_table+1;i<get_in_num;i++)
                     {
                        anchor_id_in[i-1]=anchor_id_in[i];//缺个数量--
                     }
                     get_in_num--;//更新列表现存数
         }
}
void check_if_in_or_out(uint16_t receive_success_id,int32_t distance_from_tag,float rssi_ant0,float rssi_ant2)
{
    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
        {

            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
        {

            break;
        }
    }
    if(i==get_out_num)
    {
        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;
    }
   }
}

void check_if_in_or_out_car(uint16_t receive_success_id,int32_t distance_from_tag,float rssi_ant0,float rssi_ant2)
{
    uint8_t i;
      uint16_t position_anchor_exist,position_anchor_in_table;
      position_anchor_exist=CmpCarInExistList(receive_success_id);
   if(rssi_ant0>rssi_ant2&&distance_from_tag<200)
   {
      change_count[position_anchor_exist]++;
      if(change_count[position_anchor_exist]>0)
      {
      position_anchor_in_table=CmpCarInTable(receive_success_id);
      add_in_car_table(position_anchor_in_table,receive_success_id);
      }
      if(change_count[position_anchor_exist]>=3)
      {   change_count[position_anchor_exist]=3;
			
      }
   }else if(rssi_ant0<rssi_ant2&&distance_from_tag<200)
   {
      change_count[position_anchor_exist]--;
      if(change_count[position_anchor_exist]<0)
      {
      position_anchor_in_table=CmpCarInTable(receive_success_id);
      delete_in_car_table(position_anchor_in_table);
      }
      if(change_count[position_anchor_exist]<=-3)
      {change_count[position_anchor_exist]=-3;
      }	
   }
}
int UwbRange(void)
{
    uint8_t i;
@@ -376,24 +703,45 @@
    mac_register_process_handler(tx_int_callback, rx_int_callback);

    receive_flag = 0;
      flag_recsuccess = 0;
    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;
//   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
//      {
      sts_lsp_store();
    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0.125*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
      {
         current_count=phy_timer_count_get();
         while(mac_is_busy())
        {
                  Calibration_Time();
            IdleTask();
            current_count=phy_timer_count_get();
            if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)
            {
                    break;
            }
        }
         sts_lsp_store_stop();
			
			
    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();
        //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
         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;
               memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
//                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
@@ -404,7 +752,7 @@
            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);
                }
@@ -424,58 +772,123 @@
            {
                seize_anchor=1;   //抢占anchor
                Anchor_RecNearPoll(i);

            }
            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);
        }
    } else {
        LOG_INFO(TRACE_MODULE_APP,"测距失败\r\n");
        if(recev_error_num++>5)
        {
            recev_error_num=0;
            UWB_work_state=SEARCH_DEV;
            uwb_searchcount = 0;
            search_open_flag = 1;
        }
    }
    sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
    gpio_pin_clr(SCL_PIN);
                  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 包序%d\r\n",g_com_receive_id,distance,frame_seq_nb2);
                check_if_in_or_out_car(g_com_receive_id,distance,sts_rssi[0],sts_rssi[2]);
					
					
                  gpio_pin_clr(SCL_PIN);
        //break;去掉break变为一对多
            }
    } 
         sts_lsp_store();
			
         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);
      sts_lsp_store_stop();
      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)
//        {
//            recev_error_num=0;
//            UWB_work_state=SEARCH_DEV;
//            uwb_searchcount = 0;
//            search_open_flag = 1;
//        }
         //}

   
			
         return 0;
}


//主函数绑定接受逻辑
int UwbSearch(void)
void Uwb_init(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);
}
//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
    struct PHY_ADV_CONFIG_T adv_config = {
        .thres_fap_detect = 40,
        .nth_scale_factor = 4,
        .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();
    gpio_pin_set(SCL_PIN);
    uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收
      sts_lsp_store();
    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0.125*4*100000,默认开启1mss
    end_receive_count=start_receive_count+poll_timeout;
@@ -483,23 +896,30 @@
    {
        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())
        {
            IdleTask();
            current_count=phy_timer_count_get();
            if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)
            {
                    break;
            }
        }

            sts_lsp_store_stop();
				
				
        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&&!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();
//            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
            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
                  {   
                       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
@@ -511,6 +931,8 @@
                {
                    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);
                    }
                }
@@ -530,25 +952,29 @@
                    seize_anchor=1;   //抢占anchor
                    Anchor_RecNearPoll(i);
                }
                sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
                
                gpio_pin_clr(SCL_PIN);//测试
                        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_map[BIND_DEV_ID],distance,sts_rssi[0],sts_rssi[2]);
                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();
            sts_lsp_store();
        flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
    }
      delay_us(2);
      sts_lsp_store_stop();
      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);
    gpio_pin_clr(SCL_PIN);//测试
    return 0;//返回绑定失败标志
}
//}

#define SEARCH_TIMESTEMP 120
#define SEARCH_TIMESTEMP 20
void UWBPoll(void)
{
    LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
    switch(UWB_work_state)
    {
    case LINK_SUCCESS:
@@ -561,17 +987,22 @@
    }
    break;
    case SEARCH_DEV:
    {   //接包不成功或者通讯失败进入搜索模式
        if(search_open_flag)
        {
            LOG_INFO(TRACE_MODULE_APP,"开启搜索\r\n");
            search_open_flag=0;
            uwb_led_on();
            link_success_flag=UwbSearch();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
            uwb_led_off();
            if(link_success_flag)
                UWB_work_state=LINK_SUCCESS;
        }
    {   
         UWB_work_state=LINK_SUCCESS;
         Uwb_init();
//         //接包不成功或者通讯失败进入搜索模式
//        if(search_open_flag)
//        {
//            LOG_INFO(TRACE_MODULE_APP,"开启搜索\r\n");
//            search_open_flag=0;
//            uwb_led_on();
//            link_success_flag=UwbSearch();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
//            uwb_led_off();
//            if(link_success_flag)
//                UWB_work_state=LINK_SUCCESS;
//        }else{
//            LOG_INFO(TRACE_MODULE_APP,"等待进入搜索模式：%d\r\n",SEARCH_TIMESTEMP-uwb_searchcount);
//        }

    }
    break;
@@ -598,8 +1029,9 @@
        //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);
}

uint8_t GetUWBBindState(void)