初步调好demo，升级未测试

chen

5 天以前 f34293f18e4fbfe4d0d025657d2bda505861066a

 keil/uwb_app.c

@@ -10,13 +10,16 @@
#include "global_param.h"
#include "board.h"
#include "lib_aoa.h"

#include <serial_at_cmd_app.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);
void OpenUWB(void);
void CloseUWB(void);
int Anchor_App(void);
extern void IO_LED_control_change(uint8_t data);
extern void IO_control_init(void);

@@ -62,14 +65,20 @@
uint8_t taglist_num;
float *sts_rssi=NULL;
extern uint8_t recev_error_num;

uint8_t uwb_rx_flag;
extern Operation_step UWB_work_state;
extern int16_t first_search_flag;
typedef enum 
{
      SEARCH,
    CLOSE,
    RANGE,
}enumwltagstate;
/* 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 2000U //yuan670 with urt 3000success
#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan600 success 并且不卡busy

#define RESP_TX_TO_FINAL_RX_DLY_US 500U

@@ -88,7 +97,7 @@
/* RX window open in advance */
#define RX_WIN_IN_ADVANCE_US (150)

#define DELAY_BETWEEN_TWO_FRAME_UUS 300 //yuan1400
#define DELAY_BETWEEN_TWO_FRAME_UUS 500 //yuan1400

/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -107,24 +116,7 @@
    uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
    struct UWB_CONFIG_T phy_cfg;
};

///* 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
extern uint8_t uwb_ch;
static struct mk_uwb_configure config = {
    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
    .phy_cfg.ch_num = 5,                      /* Channel number.                           */
@@ -140,34 +132,8 @@
    .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;
@@ -189,9 +155,6 @@
 *     - byte 14 - 17: response message reception timestamp.
 *     - byte 18 - 21: final message transmission timestamp.
 */
static uint8_t rx_poll_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x02};
static uint8_t tx_resp_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x4D, 0x49, 0x53, 0x45, 0x03, 0x07};
static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x04, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};

/* Count value of phy counter when transmitting and receiving frames */
static uint32_t poll_rx_en_start_u32;
@@ -253,74 +216,26 @@

/* 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();
uint32_t range_timeout_us = 2000000;//yuan5000
uint8_t flag_temp2,flag_temp1;
uint16_t uwb_losttimer;
uint16_t lorarec_tagid;
extern uint8_t send_lora_data[250];
uint8_t Lora_upanc_time;
uint8_t update_tag_time;
extern uint16_t mubiao_anchor_ID;
uint8_t Lora_qingqiu_flag;
extern uint16_t Lora_qingqiu_bao;
//uint8_t shengji_flag;
extern uint8_t Dtu_shengji_jindu[20];
extern uint8_t shengji_flag;

    /** UWB RX success */
    if (rx_report->err_code == UWB_RX_OK)
    {
        /* 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));
        /* 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++;
        rssi = rx_report->rssi;
        receive_flag=1;
            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
    {
        /* UWB_PLD_ERR     payload error             */
        /* UWB_PHR_ERR     PHR error                 */
        /* UWB_SFD_ERR     Sfd error                 */
        /* 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;

    }
}

/* TX done process handler. */
static void tx_int_callback(struct MAC_HW_REPORT_T *tx_report)
{
    // Power off radio
    power_off_radio();

    /** 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);
    }
}
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];
int16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
static uint16_t anchordata_version[TAG_NUM_IN_SYS];
uint8_t anchordata_num = 0;
static int32_t tagdist_list[TAG_NUM_IN_SYS];
static int16_t tagdist_list[TAG_NUM_IN_SYS];
uint16_t random_time;
//anchor
int32_t hist_dist;
@@ -362,7 +277,7 @@
{   uint16_t i;
    for(i=0; i<taglist_num; i++)
    {
        if(memcmp(&tagid,&anchordata_id[i],2)==0)
        if(memcmp(&tagid,&tagid_list[i],2)==0)
            break;
    }
    if(i==taglist_num)
@@ -371,6 +286,15 @@
    return i;
}

uint16_t ExistInTagList(uint16_t tagid)
{   uint16_t i;
    for(i=0; i<taglist_num; i++)
    {
        if(memcmp(&tagid,&tagid_list[i],2)==0)
            return 1;
    }
    return 0;
}
uint16_t CmpCarInExistList(uint16_t tagid)
{   uint16_t i;
    for(i=0; i<anchordata_num; i++)
@@ -395,24 +319,75 @@
    }
}

//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;
//}
void TagListUpdate(void)
{
    uint8_t i,j=0;
    for(i=0; i<anchordata_num; i++)
uint16_t i,j=0,k=0;
    for(i=0; i<taglist_num; i++)
    {
        if(tagofflinetime[i]++<QUIT_SLOT_TIME)
          if(tagofflinetime[i]++<TAG_KEEPTIMES)
        {
            anchordata_id[j]=anchordata_id[i];
            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_version[j]=anchordata_version[i];
            tagofflinetime[j++]=tagofflinetime[i];
        }
    }
    anchordata_num=j;
      }
       taglist_num=j;
}


uint8_t flag_temp2,flag_temp1;
uint16_t g_com_receive_id;
uint8_t cmd_flag,position;;
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
{
    cmd_flag=0;
    uint16_t checksum1 = 0;
    for(uint8_t i=0; i<PWTAG_MAXGROUPNUM; i++)
    {
        if(pwtag.remain_time[i]!=0)
        {
            lorarec_tagid=g_com_receive_id;
            if(pwtag.groupid[i][0]<=lorarec_tagid&&lorarec_tagid<=pwtag.groupid[i][1])
            {
                send_buffer[MSG_TYPE_IDX] = LORA_MSGTYPE_WGRESPTAG;
                send_buffer[MSG_LENGTH] = 14;
                memcpy(&send_buffer[SOURCE_ID_IDX],&dev_id,2);
                memcpy(&send_buffer[DEST_ID_IDX],&lorarec_tagid,2);
                send_buffer[RW_FLAG_IDX] = pwtag.duorxie[i];
                send_buffer[WRITE_IDX_IDX] = pwtag.index[i];
                memcpy(&send_buffer[WRITE_VALUE_IDX],pwtag.value[i],pwtag.len[i]);

                checksum1=Checksum_u16(send_buffer,pwtag.len[i]+WRITE_VALUE_IDX);
                memcpy(&send_buffer[pwtag.len[i]+WRITE_VALUE_IDX],&checksum1,2);
                resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US);
                flag_temp2=uwb_tx(send_buffer, pwtag.len[i]+WRITE_VALUE_IDX+2,1 ,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);
                cmd_flag=1;
                if(send_buffer[RW_FLAG_IDX]==0x01)
                {
                delay_ms(100);
                NVIC_SystemReset();    
                }
                break;
            }
        }
    }
    if(cmd_flag==0)
    {
    temp_count2=poll_rx_en_start_u32;

    memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//组id
@@ -432,7 +407,8 @@
//       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);
      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
    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);
@@ -441,11 +417,14 @@
    temp_resp_i64=resp_tx_ts_i64;
    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
    temp_count1=phy_timer_count_get();
    while(mac_is_busy());
    gpio_pin_clr(SCL_PIN);
      tagofflinetime[taglist_pos] = 0;//更新标签通信
//    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;
uint8_t flag_recsuccess;

@@ -457,361 +436,74 @@
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)
enumwltagstate wltag_state=RANGE;
uint32_t wltag_statetimer,wltag_uwbtimer;
uint32_t uwbtasktimer=0,uwbtagsendtimer=0;
void UWBOneSecondTask(void)
{
   uint8_t i,j=0;
    for(i=0; i<anchordata_num; i++)
 uwb_losttimer++;
    TagListUpdate();
   if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
      uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//防止溢出
}
uint8_t uwbsend[100];

void UWBIdleTask(void)
{

   if(HIDO_TimerGetTick()-uwbtasktimer >=1)
   {
            
    for(uint16_t i=0;i<taglist_num-1;i++)
    {
        if(tagofflinetime[i]++<QUIT_SLOT_TIME)
        for(uint16_t j=0;j<taglist_num-1-i;j++)
        {
            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++)
            if(tagdist_list[j]>tagdist_list[j+1])
            {
                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;
    uint16_t tempid;
    // The following peripherals will be initialized in the uwb_open function
    // phy/mac/aes/lsp/phy timers initialized
    uwb_open();

//    // 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 = 0,
//        .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_frame_type_set(config.phy_cfg.sts_pkt_cfg);

    // Register rx interrupt callback function
    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);
      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;
                uint16_t id,dist,version;
                uint8_t bat;
                id = tagid_list[j];
                dist = tagdist_list[j];
                version = anchordata_version[j];
                tagid_list[j] = tagid_list[j+1];
                tagdist_list[j] = tagdist_list[j+1];
                anchordata_version[j] = anchordata_version[j+1];
                tagid_list[j+1] = id;
                tagdist_list[j+1] = dist;
                anchordata_version[j+1] = version;
            }
        }
         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
         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
            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)
                {      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);
                }
            }
            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 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)
    
    }
    
        if(taglist_num>6)
        {
        taglist_num=6;
        }
      uwbtasktimer = HIDO_TimerGetTick();
      UWBOneSecondTask();
        uwbsend[0]=0x55;
        uwbsend[1]=0xaa;
        uwbsend[2]=0x40;
        uwbsend[3]=taglist_num;
        memcpy(&uwbsend[4],&tagid_list,taglist_num*2);
        memcpy(&uwbsend[4+taglist_num*2],&tagdist_list,taglist_num*2);
        memcpy(&uwbsend[4+taglist_num*4],&anchordata_version,taglist_num*2);
        uart_send(UART_ID0, uwbsend,taglist_num*6+4, NULL);
        taglist_num=0;
//        for(int i=0;i<anchordata_num;i++)
//        {
//            recev_error_num=0;
//            UWB_work_state=SEARCH_DEV;
//            uwb_searchcount = 0;
//            search_open_flag = 1;
//        LOG_INFO(TRACE_MODULE_APP,"当前测距基站ID:%x,距离:%d.\r\n",tagid_list[0],tagdist_list[0]);
//        }
         //}

   
			
         return 0;
   }
}
int uwb_app_poll(void)
{
    UWBIdleTask();
}
void Uwb_init(void)
{
      uwb_open();
   #ifdef STS_MODE
 // Set STS key and IV
    phy_sts_key_configure(&sts_iv_key);
@@ -820,6 +512,7 @@
    phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
   #endif
    // Set calibration parameters
//    config.phy_cfg.ch_num=g_com_map[NEARBASE_ID1];
    uwb_calibration_params_set(config.phy_cfg.ch_num);
   #ifndef STS_MODE
   // set advanced parameters
@@ -834,72 +527,18 @@
    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
    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);
      #ifdef STS_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);
    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
}
//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();
   #ifdef STS_MODE
  // 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);
   #endif
    // Set calibration parameters
    uwb_calibration_params_set(config.phy_cfg.ch_num);

   #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
    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);
		
      #ifdef STS_MODE
      #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);
    aoa_steering_vector_set((const float *)((uint32_t)((config.phy_cfg.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) | SRAM_BASE));
@@ -908,165 +547,5 @@
      
      phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
      #endif
    // 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);
      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;
    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())
        {
            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
            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
                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)
                    {
                                    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);
                    }
                }
                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
                        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
            }

        }
            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
//      mac_register_process_handler(tx_int_callback, rx_int_callback);//初始化回调
}
//}

#define SEARCH_TIMESTEMP 20
void UWBPoll(void)
{
    switch(UWB_work_state)
    {
    case LINK_SUCCESS:
    {   //连接成功进行轮询测距

        uwb_led_on();
        UwbRange();
        uwb_led_off();

    }
    break;
    case SEARCH_DEV:
    {   
         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;
    case UN_BIND:
    {
        uwb_led_off();//关闭uwb指示灯
    }
    break;
    }
    if(UWB_work_state==LINK_SUCCESS)
    {   //成功时清0错误计数
        uwb_searchcount=0;
    }
    if(UWB_work_state==SEARCH_DEV)
    {
        if(!search_open_flag)
        {
            if(uwb_searchcount++>SEARCH_TIMESTEMP)
            {
                uwb_searchcount=0;
                search_open_flag=1;
            }
        }
        //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
    }
     //LOG_INFO(TRACE_MODULE_APP,"UWB状态：%d\r\n",UWB_work_state);
}

uint8_t GetUWBBindState(void)
{
    if(UWB_work_state == UN_BIND)
    {
        return 0;
    }
    return 1;
}