ChinaUWBProject.git

			@@ -155,9 +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;
			@@ -222,7 +219,6 @@
			uint32_t range_timeout_us = 2000000;//yuan5000
			uint8_t flag_temp2,flag_temp1;
			uint16_t uwb_losttimer;
			uint8_t lorarec_usart_send[200]={0x55,0xaa};
			uint16_t lorarec_tagid;
			extern uint8_t send_lora_data[250];
			uint8_t Lora_upanc_time;
			@@ -230,148 +226,10 @@
			extern uint16_t mubiao_anchor_ID;
			uint8_t Lora_qingqiu_flag;
			extern uint16_t Lora_qingqiu_bao;
			static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
			{ uint8_t valid_sts=0;
			uint16_t checksum1 = 0,dest_id;
			// Power off radio
			power_off_radio();
			//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;
			// uart_send(UART_ID0, rx_buf,rx_length, NULL);
			gpio_pin_toggle(IO_PIN_4);
			if(rx_buf[MESSAGE_TYPE_IDX]==MBX_POLL)
			{
			Anchor_App();
			}
			else
			{
			memcpy(&lorarec_tagid,&rx_buf[SOURCE_ID_IDX],2);
			memcpy(&dest_id,&rx_buf[DEST_ID_IDX],2);
			checksum1=Checksum_u16(rx_buf,rx_length-4);
			if(!memcmp(&checksum1,&rx_buf[rx_length-4],2)) //CRC16校验是否通过
			{
			if(!memcmp(&dev_id,&dest_id,2)/\|\|dest_id==0xffff\|\|(dest_id==0xfffe&&get_channel==5)/)
			{
			switch(rx_buf[MSG_TYPE_IDX])
			{
			case LORA_MSGTYPE_UPDATE_CONFIRM:
			memset(&send_lora_data,0,sizeof(send_lora_data));
			// Lora_upanc_flag=1; //升级信号启动
			update_tag_time=20;
			mubiao_anchor_ID=lorarec_tagid;
			LOG_INFO(TRACE_MODULE_APP, "收到基站发送来的升级请求\r\n");
			break;
			case LORA_MSGTYPE_UPDATEFILE_REQUEST:
			Lora_upanc_time=0;//数清零,不清零10次后重启

			memcpy(&Lora_qingqiu_bao,&rx_buf[MUQIAN_BAG],2);
			// Lora_qingqiu_bao=rx_buffer[MUQIAN_BAG];//看基站请求的哪一包
			Lora_qingqiu_flag= 1; //准备发送标志位1
			update_tag_time=20;
			// LOG_INFO(TRACE_MODULE_APP, "标签正在请求第%d包\r\n",Lora_qingqiu_bao);
			Lora_upanc_ing_Poll();
			break;

			case 0x99:
			LOG_INFO(TRACE_MODULE_APP, "收到结束升级请求\r\n",Lora_qingqiu_bao);
			delay_ms(500);
			// Lora_upanc_flag=0;
			Lora_qingqiu_flag=0;
			NVIC_SystemReset();
			break;

			}
			}
			}
			else
			{
			// switch(rx_buf[MSG_TYPE_IDX])
			// {
			// case LORA_MSGTYPE_READPARARESP:
			if(rx_buf[MSG_TYPE_IDX]==LORA_MSGTYPE_READPARARESP)
			{
			memcpy(&lorarec_usart_send[2],rx_buf,rx_length);
			uart_send(UART_ID0, lorarec_usart_send,rx_length+2, NULL);
			for(uint8_t i=0; i<PWTAG_MAXGROUPNUM; i++)
			{
			if(pwtag.groupid[i][0]<=lorarec_tagid&&lorarec_tagid<=pwtag.groupid[i][1])
			{
			pwtag.remain_time[i] = 0;
			}
			}
			// break;
			}

			// }
			}
			}

			#ifdef STS_MODE
			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();
			}
			#endif
			}
			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;
			// OpenUWB();//再次开启UWB接收
			}
			OpenUWB();//再次开启UWB接收
			// LOG_INFO(TRACE_MODULE_APP,"RXdone_uwb_rx打开\r\n");
			}

			/* 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++;
			// if(update_tag_time>0)
			// {
			// OpenUWB();//再次开启UWB接收
			// LOG_INFO(TRACE_MODULE_APP,"TXdone_uwb_rx打开\r\n");
			// }
			//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;
			int16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
			static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
			@@ -581,61 +439,6 @@
			enumwltagstate wltag_state=RANGE;
			uint32_t wltag_statetimer,wltag_uwbtimer;
			uint32_t uwbtasktimer=0,uwbtagsendtimer=0;

			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 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
			}
			}

			void CloseUWB(void)
			{
			uwb_rx_force_off(1);
			uwb_rx_flag=0;
			// LOG_INFO(TRACE_MODULE_APP,"关闭uwb_rx\r\n");
			}
			void OpenUWB(void)
			{
			flag_temp1=uwb_rx(0, 0,range_timeout_us);//提交接收请求
			uwb_rx_flag=1;
			// LOG_INFO(TRACE_MODULE_APP,"打开uwb_rx\r\n");
			}
			void UWBOneSecondTask(void)
			{
			uwb_losttimer++;
			@@ -643,13 +446,40 @@
			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[200];
			uint8_t uwbsend[100];

			void UWBIdleTask(void)
			{

			if(HIDO_TimerGetTick()-uwbtasktimer >=1)
			{

			for(uint16_t i=0;i<taglist_num-1;i++)
			{
			for(uint16_t j=0;j<taglist_num-1-i;j++)
			{
			if(tagdist_list[j]>tagdist_list[j+1])
			{
			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;
			}
			}

			}

			if(taglist_num>6)
			{
			taglist_num=6;
			}
			uwbtasktimer = HIDO_TimerGetTick();
			UWBOneSecondTask();
			uwbsend[0]=0x55;
			@@ -671,210 +501,6 @@
			{
			UWBIdleTask();
			}
			int Anchor_App(void)
			{
			uint8_t i;
			uint16_t tempid;
			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;
			wltag_state=RANGE;//成功后从search切换为range
			memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
			//temp_count2=phy_timer_count_get();
			uwb_losttimer=0;//成功测距清0 lost时间
			frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
			battary = rx_buf[BATTARY_IDX];
			rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX]; //标签传过来的他与基站交互的基站id数目
			memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
			memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
			memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2rec_nearbase_num],2rec_nearbase_num);
			memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
			// for(i=0; i<rec_nearbase_num; i++)
			// {
			// if(rec_ancidlist[i] == dev_id)
			// { temp_recdist_before_offset=rec_ancdistlist[i];
			// rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
			// PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
			// }
			// }
			// 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);
			// }
			taglist_pos=CmpTagInList(tag_id_recv);
			if(taglist_num>=ANC_MAX_NUM)
			return 0;
			for(i=0; i<rec_nearbase_num; i++)
			{
			memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
			if(tempid==dev_id)
			{
			Anchor_RecNearPoll(i);
			tagdist_list[taglist_pos]=rec_ancdistlist[i];
			anchordata_bat[taglist_pos] = battary;//保存该基站电量
			// anchordata_version[taglist_pos] = battary;//保存该基站版本号
			memcpy(& anchordata_version[taglist_pos],&rx_buf[7],2);
			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;

			}
			break;
			}
			}
			if((i==rec_nearbase_num&&taglist_pos==taglist_num)\|\|(rec_nearbase_num==0&&!ExistInTagList(tag_id_recv)))//当基站不在标签列表中，标签也不在基站列表中时，随机找个时间片回复基站。
			{
			Anchor_RecNearPoll(rec_nearbase_num);
			}
			}
			}
			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0.1254100000,默认开启1mss
			end_receive_count=start_receive_count+poll_timeout;
			if(end_receive_count>=UINT32_MAX)
			{end_receive_count-=UINT32_MAX;}
			current_count=phy_timer_count_get();
			while(current_count<end_receive_count\|\|current_count>end_receive_count+HALF_SECOND_TIME)//循环接受包体,若为124.8K则是+62400000
			{
			current_count=phy_timer_count_get();
			while(mac_is_busy())
			{
			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
			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+2rec_nearbase_num],2rec_nearbase_num);
			memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
			for(i=0; i<rec_nearbase_num; i++)
			{
			if(rec_ancidlist[i] == dev_id)
			{ temp_recdist_before_offset=rec_ancdistlist[i];
			rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
			PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
			}
			}
			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);


			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;
			}
			void Uwb_init(void)
			{
			uwb_open();
			@@ -886,7 +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];
			// 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
			@@ -901,7 +527,7 @@
			struct PHY_ADV_CONFIG_T adv_config = {
			.thres_fap_detect = 40,
			.nth_scale_factor = 4,
			.ranging_performance_mode = 3,
			.ranging_performance_mode = 0,
			.skip_weakest_port_en = 0,
			};
			#endif
			@@ -921,220 +547,5 @@

			phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
			#endif
			mac_register_process_handler(tx_int_callback, rx_int_callback);//初始化回调
			// mac_register_process_handler(tx_int_callback, rx_int_callback);//初始化回调
			}
			//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
			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
			// 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0.1254100000,默认开启1mss
			end_receive_count=start_receive_count+poll_timeout;
			if(end_receive_count>=UINT32_MAX)
			{
			end_receive_count-=UINT32_MAX;
			}
			current_count=phy_timer_count_get();
			while(current_count<end_receive_count\|\|current_count>end_receive_count+HALF_SECOND_TIME)//循环接受包体,若为124.8K则是+62400000
			{
			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+2rec_nearbase_num],2rec_nearbase_num);
			memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
			for(i=0; i<rec_nearbase_num; i++)
			{
			if(rec_ancidlist[i] == dev_id)
			{
			temp_recdist_before_offset=rec_ancdistlist[i];
			rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
			PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
			}
			}
			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
			}
			//}

			#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;
			}