稳定7个标签上线不掉线版本

chen

2025-01-10 fa86ebd985aaf06c2257a41f04e131a74a3c79bc

 keil/uwb_app.c

@@ -15,7 +15,11 @@
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);

@@ -61,14 +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 4000U //yuan670 with urt 3000success
#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan550极限

#define RESP_TX_TO_FINAL_RX_DLY_US 500U

@@ -87,7 +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
@@ -123,7 +133,7 @@
//    .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
#ifdef DW1000
static struct mk_uwb_configure config = {
    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
    .phy_cfg.ch_num = 5,                      /* Channel number.                           */
@@ -139,7 +149,7 @@
    .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
#elif defined STS_MODE
static struct mk_uwb_configure config = {
    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
    .phy_cfg.ch_num = 5,                      /* Channel number.                           */
@@ -155,7 +165,6 @@
    .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,
@@ -166,6 +175,28 @@
    .sts_key1 = 0xF86050A8,
    .sts_key2 = 0xD1D336AA,
    .sts_key3 = 0x14148674,
};
#elif defined MK_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.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                       */
};
#endif

static struct anchor_id_car{
 uint16_t anchor_new_id;
 uint16_t change_num;
};
/* Buffer to store received frame */

@@ -248,6 +279,9 @@

/* RX done process handler. */
int8_t rssi;
uint32_t range_timeout_us = 2000000;//yuan5000
uint8_t flag_temp2,flag_temp1;
uint16_t uwb_losttimer;
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{      uint8_t valid_sts=0;
    // Power off radio
@@ -267,6 +301,8 @@
        poll_rx_num++;
        rssi = rx_report->rssi;
        receive_flag=1;
            Anchor_App();
         #ifdef STS_MODE
            valid_sts= sts_valid_check();
      if (valid_sts)
      {
@@ -280,6 +316,7 @@

               sts_rssi = sts_rssi_output_get();
         }
         #endif
    }
    else
    {
@@ -292,8 +329,9 @@
                 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
}

/* TX done process handler. */
@@ -308,11 +346,12 @@
        temp_count= phy_timer_count_get();
        temp_internal=temp_count;
        resp_tx_num++;
      //      OpenUWB();//再次开启UWB接收
        //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];
 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];
@@ -338,27 +377,61 @@
            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
      dist_temp=dist;
//    if(dist>0)
      if(temp_recdist_before_offset!=0&&distance!=0x1ffff)
      {
    distance=dist*0.5+distance*0.5;
      }else{
         distance=dist;
      }
		
//      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;
//    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;
//}yuan
uint16_t CmpTagInList(uint16_t tagid)
{   uint16_t i;
    for(i=0; i<taglist_num; i++)
    {
        if(memcmp(&tagid,&tagid_list[i],2)==0)
            break;
    }
    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++)
    {
        if(memcmp(&tagid,&anchordata_id[i],2)==0)
            break;
    }
    if(i==taglist_num)
        return taglist_num;
    if(i==anchordata_num)
        return anchordata_num;
    //tagofflinetime[i] = 0;
    return i;
}
@@ -374,20 +447,35 @@
    }
}

//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];
            tagofflinetime[j++]=tagofflinetime[i];
        }
    }
    anchordata_num=j;
      }
       taglist_num=j;
}
uint8_t flag_temp2,flag_temp1;

uint8_t 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
{
    temp_count2=poll_rx_en_start_u32;
@@ -409,7 +497,8 @@
//       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 = phy_timer_count_get()+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);
@@ -418,20 +507,39 @@
    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;

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;
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();
@@ -462,68 +570,144 @@
   }
}
uint16_t g_com_receive_id;
int Uwb_One_Shot(void)
void CloseUWB(void)
{
		
      uwb_rx_force_off(1);
      uwb_rx_flag=0;
   //LOG_INFO(TRACE_MODULE_APP,"关闭uwb_rx\r\n");
}
void check_if_in_or_out(uint16_t receive_success_id,int32_t distance_from_tag,float rssi_ant0,float rssi_ant2)
void OpenUWB(void)
{
    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
        {
      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)
{
 TagListUpdate();//更新标签数
 uwb_losttimer++;
 if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
 uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//防止溢出
}
void UWBIdleTask(void)
{

            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)
   if(HIDO_TimerGetTick()-uwbtasktimer >=1)
   {
   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;
    }
      uwbtasktimer = HIDO_TimerGetTick();
      UWBOneSecondTask();
   }
}
int uwb_app_poll(void)
{
   switch(wltag_state)
   {
   case RANGE:
   if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
      {
            wltag_uwbtimer = HIDO_TimerGetTick();
            OpenUWB();
      }
   else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1)
      {
            wltag_uwbtimer = HIDO_TimerGetTick();
            CloseUWB();
      }
      if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
      { 
       wltag_statetimer = HIDO_TimerGetTick();
         if(uwb_rx_flag==0)//若要切换到搜索模式时没有开启则开启UWB
         {
            OpenUWB();
         }
     wltag_state = SEARCH;
      }
      break;
   case SEARCH:
      if(HIDO_TimerGetTick()-wltag_statetimer>1)
      {
      wltag_statetimer = HIDO_TimerGetTick();
    wltag_state = CLOSE;
    CloseUWB();
      }
      break;
   case CLOSE:
      if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
      {
      wltag_statetimer = HIDO_TimerGetTick();
    wltag_state = SEARCH;
    OpenUWB();
      }
      break;
   }
    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+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);
//            }
                        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];
                                    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)
{
@@ -531,7 +715,7 @@
    uint16_t tempid;
    // The following peripherals will be initialized in the uwb_open function
    // phy/mac/aes/lsp/phy timers initialized
    uwb_open();
    //uwb_open();

//    // Set calibration parameters
//    uwb_calibration_params_set(config.phy_cfg.ch_num);
@@ -551,7 +735,7 @@
//    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);
    //mac_register_process_handler(tx_int_callback, rx_int_callback);

    receive_flag = 0;
      flag_recsuccess = 0;
@@ -626,14 +810,15 @@
            }
                  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 信号强度ANT0: %f,信号强度ANT2: %f\r\n",g_com_receive_id,distance,sts_rssi[0],sts_rssi[2]);
                check_if_in_or_out(g_com_receive_id,distance,sts_rssi[0],sts_rssi[2]);
               LOG_INFO(TRACE_MODULE_APP,"车内：%d 人,车外: %d 人\r\n",get_in_num,get_out_num);
           //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);
@@ -641,6 +826,7 @@
      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
@@ -660,36 +846,50 @@
}
void Uwb_init(void)
{
      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);
		
      #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));

    aoa_param_config();
      
      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
}
//主函数绑定接受逻辑
int UwbSearch(void)
@@ -699,36 +899,51 @@
    // 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);