ChinaUWBProject.git

chen

2024-11-22 830dcfa451dafb98eee1e3b129ed3efc2d9eadf6

初步实现一对多测距并加上车内外人数显示机制

已修改12个文件

	keil/JLinkLog.txt	14054 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/Listings/uwb_simple_example.map	6680 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/Objects/uwb_simple_example.build_log.htm	12 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/Objects/uwb_simple_example.hex	11880 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/Objects/uwb_simple_example.htm	5345 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/Objects/uwb_simple_example.lnp	2 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/Objects/uwb_simple_example_MK8000 Release.dep	36 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/include/main/main.c	8 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/uwb_app.c	207 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/uwb_simple_example.uvguix.xookk	156 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/uwb_simple_example.uvoptx	80 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/uwb_simple_example.uvprojx	10 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史

 keil/JLinkLog.txt

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 keil/Listings/uwb_simple_example.map

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 keil/Objects/uwb_simple_example.build_log.htm

@@ -22,19 +22,13 @@
 
<h2>Project:</h2>
D:\project chen\anbang_Anchor\ChinaUWBProject\keil\uwb_simple_example.uvprojx
Project File Date:  10/30/2024
Project File Date:  11/22/2024

<h2>Output:</h2>
*** Using Compiler 'V6.14', folder: 'd:\Keil_v5\ARM\ARMCLANG\Bin'
Build target 'MK8000 Release'
compiling uwb_app.c...
linking...
.\include\devices\MK800X\Source\ARM\MK800X_ac6_copy.sct(25): warning: L6314W: No section matches pattern *(.XIP_SECTION).
Program Size: Code=79896 RO-data=20540 RW-data=1460 ZI-data=33652  
Finished: 0 information, 1 warning and 0 error messages.
FromELF: creating hex file...
After Build - User command #1: fromelf.exe --bincombined -o "Output\uwb_simple_example.bin" "D:\project chen\anbang_Anchor\ChinaUWBProject\keil\Objects\uwb_simple_example.axf"
".\Objects\uwb_simple_example.axf" - 0 Error(s), 1 Warning(s).
".\Objects\uwb_simple_example.axf" - 0 Error(s), 0 Warning(s).

<h2>Software Packages used:</h2>

@@ -48,7 +42,7 @@
  d:\Users\xookk\AppData\Local\Arm\Packs\MKSEMI\MK800X_DFP\1.0.3\Device\Include

<h2>Collection of Component Files used:</h2>
Build Time Elapsed:  00:00:02
Build Time Elapsed:  00:00:01
</pre>
</body>
</html>

 keil/Objects/uwb_simple_example.hex

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 keil/Objects/uwb_simple_example.htm

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 keil/Objects/uwb_simple_example.lnp

@@ -9,8 +9,8 @@
".\objects\mk_adc.o"
".\objects\mk_aes.o"
".\objects\mk_calib.o"
".\objects\mk_clock.o"
".\objects\mk_dma.o"
".\objects\mk_clock.o"
".\objects\mk_dual_timer.o"
".\objects\mk_flash.o"
".\objects\mk_gpio.o"

 keil/Objects/uwb_simple_example_MK8000 Release.dep

@@ -117,22 +117,6 @@
I (include\board\board.h)(0x673D52E0)

I (include\drivers\mk_gpio.h)(0x67219694)

I (include\drivers\mk_io.h)(0x67219694)

F (.\include\drivers\mk_clock.c)(0x67219693)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/drivers -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-Id:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/mk_clock.o -MD)

I (include\drivers\mk_clock.h)(0x67219693)

I (include\drivers\mk_common.h)(0x67219693)

I (d:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72)

I (d:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x5DDFFD72)

I (d:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x5DDFFD72)

I (d:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x5DDFFD6C)

I (include\devices\MK800X\Include\MK800X.h)(0x67219693)

I (include\CMSIS\Include\core_cm0.h)(0x67219693)

I (include\CMSIS\Include\cmsis_version.h)(0x67219693)

I (include\CMSIS\Include\cmsis_compiler.h)(0x67219693)

I (include\CMSIS\Include\cmsis_armclang.h)(0x67219693)

I (d:\Keil_v5\ARM\ARMCLANG\include\arm_compat.h)(0x5E0CC2EC)

I (d:\Keil_v5\ARM\ARMCLANG\include\arm_acle.h)(0x5E0CC318)

I (include\devices\MK800X\Include\system_MK800X.h)(0x67219693)

I (..\user_config.h)(0x673E9CE1)

F (.\include\drivers\mk_dma.c)(0x67219693)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/drivers -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-Id:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/mk_dma.o -MD)

I (include\drivers\mk_dma.h)(0x67219693)

I (include\drivers\mk_common.h)(0x67219693)

@@ -154,6 +138,22 @@
I (include\drivers\mk_trace.h)(0x67219694)

I (include\drivers\mk_uart.h)(0x67219694)

I (d:\Keil_v5\ARM\ARMCLANG\include\stdarg.h)(0x5DDFFD72)

F (.\include\drivers\mk_clock.c)(0x67219693)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/drivers -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-Id:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/mk_clock.o -MD)

I (include\drivers\mk_clock.h)(0x67219693)

I (include\drivers\mk_common.h)(0x67219693)

I (d:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72)

I (d:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x5DDFFD72)

I (d:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x5DDFFD72)

I (d:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x5DDFFD6C)

I (include\devices\MK800X\Include\MK800X.h)(0x67219693)

I (include\CMSIS\Include\core_cm0.h)(0x67219693)

I (include\CMSIS\Include\cmsis_version.h)(0x67219693)

I (include\CMSIS\Include\cmsis_compiler.h)(0x67219693)

I (include\CMSIS\Include\cmsis_armclang.h)(0x67219693)

I (d:\Keil_v5\ARM\ARMCLANG\include\arm_compat.h)(0x5E0CC2EC)

I (d:\Keil_v5\ARM\ARMCLANG\include\arm_acle.h)(0x5E0CC318)

I (include\devices\MK800X\Include\system_MK800X.h)(0x67219693)

I (..\user_config.h)(0x673E9CE1)

F (.\include\drivers\mk_dual_timer.c)(0x67219693)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/drivers -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-Id:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/mk_dual_timer.o -MD)

I (include\drivers\mk_dual_timer.h)(0x67219693)

I (include\drivers\mk_common.h)(0x67219693)

@@ -694,7 +694,7 @@
I (d:\Keil_v5\ARM\ARMCLANG\include\stdarg.h)(0x5DDFFD72)

I (include\drivers\mk_gpio.h)(0x67219694)

I (include\drivers\Usart.h)(0x67219693)

F (.\include\main\main.c)(0x673D52E0)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-Id:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/main.o -MD)

F (.\include\main\main.c)(0x673FE3BB)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-Id:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/main.o -MD)

I (include\drivers\mk_trace.h)(0x67219694)

I (include\drivers\mk_common.h)(0x67219693)

I (d:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72)

@@ -808,7 +808,7 @@
I (include\components\hido\Include\HIDO_Util.h)(0x673D52E0)

I (include\components\hido\Include\HIDO_TypeDef.h)(0x673D52E0)

I (include\drivers\global_param.h)(0x673D52E0)

F (.\uwb_app.c)(0x673EA15B)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-Id:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/uwb_app.o -MD)

F (.\uwb_app.c)(0x67402DC2)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-Id:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/uwb_app.o -MD)

I (include\drivers\mk_trace.h)(0x67219694)

I (include\drivers\mk_common.h)(0x67219693)

I (d:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72)


 keil/include/main/main.c

@@ -62,7 +62,7 @@
#include "HIDO_Timer.h"
#include "TCPClient.h"

//#define DEBUG_MODE
#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
#define TEST_UART_POLL_MODE 0
@@ -370,7 +370,7 @@
    green_charge_state=0;
    charge_red_on();
    }
     UWBPoll();
	 
    charge_state_change();//åçµç¶æå¤æ
if(secondtask_count++%2==0)
    {
@@ -590,7 +590,7 @@
      //AIR780E_Reset(); //4Gæ¨¡åéå¯ï¼èæ¶1.5ç§,è¿ä¸ªæ¯æ æ³åæ¥çå³é®
    sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
    //sleep_timer_start(__MS_TO_32K_CNT(g_com_map[COM_INTERVAL]));//æµè¯
    sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//æµè¯
//    sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//æµè¯
 //   board_5V_input_init(voltage_input_handler);
         adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adcéæ ·
    board_acceleration_detection_init(move_handler);
@@ -598,7 +598,7 @@
        board_4GUsart_detection_init(_4gUsart_handler);
    while (1)
    { test4=gpio_pin_get_val(SCL_PIN);
		
            UWBPoll();
//            if(!power_low_flag)//ç¡®è®¤æ¯å¦ä¼ç ä¸æå¼å¯åè½
//            {
//        if(flag_TCP_reconnectting||IfTCPConnected())

 keil/uwb_app.c

@@ -15,6 +15,7 @@
extern int temp_main(void);
void Calibration_Time(void);
void TagListUpdate(void);
void Uwb_init(void);
extern void IO_LED_control_change(uint8_t data);
extern void IO_control_init(void);

@@ -51,6 +52,7 @@
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;
@@ -66,7 +68,7 @@
#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 1000U //yuan670 with urt 3000success
#define POLL_RX_TO_RESP_TX_DLY_US 4000U //yuan670 with urt 3000success

#define RESP_TX_TO_FINAL_RX_DLY_US 500U

@@ -85,7 +87,7 @@
/* RX window open in advance */
#define RX_WIN_IN_ADVANCE_US (150)

#define DELAY_BETWEEN_TWO_FRAME_UUS 600 //yuan1400
#define DELAY_BETWEEN_TWO_FRAME_UUS 300 //yuan1400

/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
@@ -385,6 +387,7 @@
    }
    anchordata_num=j;
}
uint8_t flag_temp2,flag_temp1;
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos)//æ ¹æ®èªå·±æ¯å¦ä¸ºæ°åºç«å®å¶æ¶æ¯å»åéï¼æ ¹æ®æ¯å¦æ¢å å¤æ
{
    temp_count2=poll_rx_en_start_u32;
@@ -394,19 +397,19 @@
    memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);//æ¥åèid
    send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;

    if(rec_nearbase_num == ancrec_nearbasepos)//æ¢å æ¨¡å¼èªå·±ä¸ºæ°åºç«
    {
        random_time = (phy_timer_count_get()%100);//å¤åºç«æ¢å ä¸ä¸ªä½ç½®æ¶é¿åä¸ä¸ªä¹æ¶ä¸å°çæåµå°±æ¯ä¸ä¸ªéæºéå¼å åuS
        //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;//è®¡ç®Responseåéæ¶é´T3ã
        // (resp_tx_en_start_u32) is the moment when TX enable
        resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_num*DELAY_BETWEEN_TWO_FRAME_UUS);//åé¢çéè¦æ ¹æ®å·²æåºç«æ°éè¿è¡æ´æ¹ï¼å¦ææ¯æ¢å èªå·±æåä¸ä¸ªåå¤ï¼è¦æåºæ°
				
        } 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;//è®¡ç®Responseåéæ¶é´T3ã
       resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_num*DELAY_BETWEEN_TWO_FRAME_UUS);//åé¢çéè¦æ ¹æ®å·²æåºç«æ°éè¿è¡æ´æ¹ï¼å¦ææ¯æ¢å èªå·±æåä¸ä¸ªåå¤ï¼è¦æåºæ°
                //è¿éåºè¯¥æé®é¢é®ä¸ä¸éå·¥
        }//æ¤å¤è®¾ç½®ç»å¯¹æ¶é´å°poll u32æ¹ä¸ºphy_timer_count_get()

//    if(rec_nearbase_num == ancrec_nearbasepos)//æ¢å æ¨¡å¼èªå·±ä¸ºæ°åºç«
//    {
//        random_time = (phy_timer_count_get()%100);//å¤åºç«æ¢å ä¸ä¸ªä½ç½®æ¶é¿åä¸ä¸ªä¹æ¶ä¸å°çæåµå°±æ¯ä¸ä¸ªéæºéå¼å åuS
//        //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;//è®¡ç®Responseåéæ¶é´T3ã
//        // (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);//åé¢çéè¦æ ¹æ®å·²æåºç«æ°éè¿è¡æ´æ¹ï¼å¦ææ¯æ¢å èªå·±æåä¸ä¸ªåå¤ï¼è¦æåºæ°
//				
//        } 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;//è®¡ç®Responseåéæ¶é´T3ã
//       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);//åé¢çéè¦æ ¹æ®å·²æåºç«æ°éè¿è¡æ´æ¹ï¼å¦ææ¯æ¢å èªå·±æåä¸ä¸ªåå¤ï¼è¦æåºæ°
//                //è¿éåºè¯¥æé®é¢é®ä¸ä¸éå·¥
//        }//æ¤å¤è®¾ç½®ç»å¯¹æ¶é´å°poll u32æ¹ä¸ºphy_timer_count_get()
        resp_tx_en_start_u32 = phy_timer_count_get()+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());//ä¿®æ£æ¶é´æ³
    /* 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);
@@ -414,17 +417,19 @@
    memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&disoffset,2);//å·®ä¸ªä¿®æ£offset,ä¿®æ£æç¬¦å·ä½æ¯è¿ä¸ªcomè¡¨ä¸ºæ ç¬¦å·ç,ä¼ è¿å»ç´æ¥èµç»Int16_tç¸å½äºè¿åäº
    temp_resp_i64=resp_tx_ts_i64;
    temp_count3= phy_timer_count_get();
    uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//ç«å³åéæµè¯sizeå¤§å°
    flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//ç«å³åéæµè¯sizeå¤§å°
    temp_count1=phy_timer_count_get();
    while(mac_is_busy());
    gpio_pin_clr(SCL_PIN);
}
uint32_t range_timeout_us = 1000000;//yuan5000
uint32_t range_timeout_us = 5000;//yuan5000
uint16_t uwb_searchcount;
uint8_t flag_recsuccess;
uint8_t flag_temp2,flag_temp1;

uint32_t start_receive_count_calibration;
uint32_t current_count_calibration;
uint32_t get_in_num,get_out_num;
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;
void Calibration_Time(void)
@@ -456,7 +461,70 @@
//        update_led_power_state();//æ´æ°çç¶æé²æ¢éå¨å¡æ»å¨æç´¢
    }
}
uint16_t g_com_receive_id;
int Uwb_One_Shot(void)
{

}
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)//æ¥è¯¢æ ç¾æ¯å¦å¨èªå·±å·²éè®¯åè¡¨ä¸
        {

            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++)//æ¶é¤è½¦å¤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];//ç¼ºä¸ªæ°é--
                            }
                            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)//æ¥è¯¢æ ç¾æ¯å¦å¨èªå·±å·²éè®¯åè¡¨ä¸
        {

            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++)//æ¶é¤è½¦åid
                {
                    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];//ç¼ºä¸ªæ°é--
                            }
                            get_in_num--;
                    }
                }
                anchor_id_out[get_out_num-1]=receive_success_id;
    }
    }
}
int UwbRange(void)
{
    uint8_t i;
@@ -519,9 +587,11 @@
    if(receive_flag==1)//æåæ¥æ¶
    {

        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))//å¤ææ¯å¦æ¯åèªå·±æ¯åä¸ç»éè®¯çä¸ä¸ºpollå
        //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))//å¤ææ¯å¦æ¯åèªå·±æ¯åä¸ç»éè®¯çä¸ä¸ºpollå
            if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//å¤ææ¯å¦æ¯åèªå·±æ¯åä¸ç»éè®¯çä¸ä¸ºpollå
        {    flag_recsuccess = 1;
                     sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//æµè¯
                    memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
//                     sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//æµè¯
                      temp_count2=phy_timer_count_get();
            frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//è·åååº
            battary = rx_buf[BATTARY_IDX];
@@ -555,37 +625,72 @@
                Anchor_RecNearPoll(i);
            }
                        recev_error_num=0;
               range_timeout_us=5000;//æ¢å¤ä¸º5000è¿å¥rangeå
           LOG_INFO(TRACE_MODULE_APP,"æ ç¾IDï¼%X,è·ç¦»: %d ä¿¡å·å¼ºåº¦ANT0: %f,ä¿¡å·å¼ºåº¦ANT2: %f\r\n",g_com_map[BIND_DEV_ID],distance,sts_rssi[0],sts_rssi[2]);
               //range_timeout_us=5000;//æ¢å¤ä¸º5000è¿å¥rangeå
           LOG_INFO(TRACE_MODULE_APP,"æ ç¾IDï¼%X,è·ç¦»: %d ä¿¡å·å¼ºåº¦ANT0: %f,ä¿¡å·å¼ºåº¦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,"è½¦åï¼%d äºº,è½¦å¤: %d äºº\r\n",get_in_num,get_out_num);
                        gpio_pin_clr(SCL_PIN);
        break;
        //break;å»æbreakåä¸ºä¸å¯¹å¤
                }
    } 
            sts_lsp_store();
            break;
        //å¤±è´¥æèæ¥åè¢«é«åå°æºææé½ä¼åæ¬¡å¼å¯æ¥æ¶
            flag_temp1=uwb_rx(0, 0, range_timeout_us);
            //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));//æµè¯
        LOG_INFO(TRACE_MODULE_APP,"æµè·å¤±è´¥ï¼è®¡æ°ï¼%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;
        }
            }
//        if(!flag_recsuccess)
//        {
//            //sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-3));//æµè¯
//        //LOG_INFO(TRACE_MODULE_APP,"æµè·å¤±è´¥ï¼è®¡æ°ï¼%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)
{
 // 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);
}
//ä¸»å½æ°ç»å®æ¥åé»è¾
int UwbSearch(void)
{
@@ -657,7 +762,8 @@
        temp_count2=phy_timer_count_get();
        if(receive_flag==1)//æåæ¥æ¶
        {
            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))//å¤ææ¯å¦æ¯åèªå·±æ¯åä¸ç»éè®¯çä¸ä¸ºpollå
//            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))//å¤ææ¯å¦æ¯åèªå·±æ¯åä¸ç»éè®¯çä¸ä¸ºpollå
            if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//å¤ææ¯å¦æ¯åèªå·±æ¯åä¸ç»éè®¯çä¸ä¸ºpollå
            {   
                              sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-13));//æµè¯
                                range_timeout_us=20000;//å°ä¸æ¬¡rangeå¼å¯åè¶æ¶æ¶é´è®¾ä¸º20msä¹åårangeéæ¢å¤
@@ -729,19 +835,22 @@
    }
    break;
    case SEARCH_DEV:
    {   //æ¥åä¸æåæèéè®¯å¤±è´¥è¿å¥æç´¢æ¨¡å¼
        if(search_open_flag)
        {
            LOG_INFO(TRACE_MODULE_APP,"å¼å¯æç´¢\r\n");
            search_open_flag=0;
            uwb_led_on();
            link_success_flag=UwbSearch();//ç¬¬ä¸æ¬¡å¼å¯æ¥æ¶2sç»å®å¤±è´¥ååè¿è¡ä¸é¢1åéåéæ°å¼å¯2sç»å®æµç¨
            uwb_led_off();
            if(link_success_flag)
                UWB_work_state=LINK_SUCCESS;
        }else{
            LOG_INFO(TRACE_MODULE_APP,"çå¾è¿å¥æç´¢æ¨¡å¼ï¼%d\r\n",SEARCH_TIMESTEMP-uwb_searchcount);
        }
            Uwb_init();
//            //æ¥åä¸æåæèéè®¯å¤±è´¥è¿å¥æç´¢æ¨¡å¼
//        if(search_open_flag)
//        {
//            LOG_INFO(TRACE_MODULE_APP,"å¼å¯æç´¢\r\n");
//            search_open_flag=0;
//            uwb_led_on();
//            link_success_flag=UwbSearch();//ç¬¬ä¸æ¬¡å¼å¯æ¥æ¶2sç»å®å¤±è´¥ååè¿è¡ä¸é¢1åéåéæ°å¼å¯2sç»å®æµç¨
//            uwb_led_off();
//            if(link_success_flag)
//                UWB_work_state=LINK_SUCCESS;
//        }else{
//            LOG_INFO(TRACE_MODULE_APP,"çå¾è¿å¥æç´¢æ¨¡å¼ï¼%d\r\n",SEARCH_TIMESTEMP-uwb_searchcount);
//        }

    }
    break;
@@ -770,7 +879,7 @@
        //link_error_count=0;
       // update_led_power_state();//æ´æ°ç¯ç¶æ
    }
     LOG_INFO(TRACE_MODULE_APP,"UWBç¶æï¼%d\r\n",UWB_work_state);
     //LOG_INFO(TRACE_MODULE_APP,"UWBç¶æï¼%d\r\n",UWB_work_state);
}

uint8_t GetUWBBindState(void)

 keil/uwb_simple_example.uvguix.xookk

@@ -20,7 +20,7 @@
    <View>
      <WinId>346</WinId>
      <ViewName>Code Coverage</ViewName>
      <TableColWidths>404 740</TableColWidths>
      <TableColWidths>404 895</TableColWidths>
    </View>
    <View>
      <WinId>204</WinId>
@@ -93,18 +93,18 @@
      <flags>2</flags>
      <showCmd>3</showCmd>
      <MinPosition>
        <xPos>-32000</xPos>
        <yPos>-32000</yPos>
        <xPos>-1</xPos>
        <yPos>-1</yPos>
      </MinPosition>
      <MaxPosition>
        <xPos>-1</xPos>
        <yPos>-1</yPos>
      </MaxPosition>
      <NormalPosition>
        <Top>380</Top>
        <Left>2303</Left>
        <Right>3599</Right>
        <Bottom>1286</Bottom>
        <Top>411</Top>
        <Left>2222</Left>
        <Right>3518</Right>
        <Bottom>1317</Bottom>
      </NormalPosition>
    </WindowPosition>
    <MDIClientArea>
@@ -1805,8 +1805,8 @@
        <RegID>59392</RegID>
        <Name>File</Name>
        <Buttons>
          <Len>2848</Len>
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        </Buttons>
        <OriginalItems>
          <Len>1423</Len>
@@ -3606,9 +3606,9 @@
      <ActiveTab>59</ActiveTab>
      <Doc>
        <Name>..\user_config.h</Name>
        <ColumnNumber>19</ColumnNumber>
        <ColumnNumber>24</ColumnNumber>
        <TopLine>124</TopLine>
        <CurrentLine>148</CurrentLine>
        <CurrentLine>151</CurrentLine>
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        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
@@ -3768,9 +3768,9 @@
      </Doc>
      <Doc>
        <Name>include\drivers\global_param.h</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>40</TopLine>
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        <CurrentLine>50</CurrentLine>
        <Folding>1</Folding>
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        <PaneID>0</PaneID>
@@ -3805,17 +3805,17 @@
      <Doc>
        <Name>.\include\drivers\mk_gpio.c</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>92</TopLine>
        <CurrentLine>95</CurrentLine>
        <TopLine>99</TopLine>
        <CurrentLine>104</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>.\include\drivers\mk_uwb.c</Name>
        <ColumnNumber>36</ColumnNumber>
        <TopLine>504</TopLine>
        <CurrentLine>526</CurrentLine>
        <ColumnNumber>92</ColumnNumber>
        <TopLine>460</TopLine>
        <CurrentLine>476</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
@@ -3931,7 +3931,7 @@
      <Doc>
        <Name>.\include\drivers\mk_dma.c</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>97</TopLine>
        <TopLine>98</TopLine>
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        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
@@ -4137,16 +4137,16 @@
      </Doc>
      <Doc>
        <Name>.\uwb_app.c</Name>
        <ColumnNumber>39</ColumnNumber>
        <TopLine>68</TopLine>
        <CurrentLine>71</CurrentLine>
        <ColumnNumber>21</ColumnNumber>
        <TopLine>481</TopLine>
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        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>.\include\src\gps.c</Name>
        <ColumnNumber>6</ColumnNumber>
        <ColumnNumber>26</ColumnNumber>
        <TopLine>55</TopLine>
        <CurrentLine>85</CurrentLine>
        <Folding>1</Folding>
@@ -4327,7 +4327,7 @@
      <Doc>
        <Name>include\components\algo\inc\lib_aoa.h</Name>
        <ColumnNumber>31</ColumnNumber>
        <TopLine>126</TopLine>
        <TopLine>90</TopLine>
        <CurrentLine>91</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
@@ -4400,10 +4400,10 @@
    <ListItem>.\include\drivers\global_param.c 92</ListItem>
    <ListItem>.\include\drivers\global_param.c 93</ListItem>
    <ListItem>.\include\drivers\global_param.c 95</ListItem>
    <ListItem>.\uwb_app.c 537</ListItem>
    <ListItem>.\uwb_app.c 677</ListItem>
    <ListItem>.\uwb_app.c 42</ListItem>
    <ListItem>.\uwb_app.c 321</ListItem>
    <ListItem>.\uwb_app.c 607</ListItem>
    <ListItem>.\uwb_app.c 783</ListItem>
    <ListItem>.\uwb_app.c 43</ListItem>
    <ListItem>.\uwb_app.c 323</ListItem>
  </Bookmarks>

</ProjectGui>

 keil/uwb_simple_example.uvoptx

@@ -484,6 +484,76 @@
          <WinNumber>1</WinNumber>
          <ItemText>resp_tx_en_start_u32,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>67</count>
          <WinNumber>1</WinNumber>
          <ItemText>poll_rx_en_start_u32,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>68</count>
          <WinNumber>1</WinNumber>
          <ItemText>temp_count2,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>69</count>
          <WinNumber>1</WinNumber>
          <ItemText>\\uwb_simple_example\../keil/uwb_app.c\temp_count1,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>70</count>
          <WinNumber>1</WinNumber>
          <ItemText>ancrec_nearbasepos</ItemText>
        </Ww>
        <Ww>
          <count>71</count>
          <WinNumber>1</WinNumber>
          <ItemText>rec_nearbase_num</ItemText>
        </Ww>
        <Ww>
          <count>72</count>
          <WinNumber>1</WinNumber>
          <ItemText>temp_count3,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>73</count>
          <WinNumber>1</WinNumber>
          <ItemText>flag_temp1</ItemText>
        </Ww>
        <Ww>
          <count>74</count>
          <WinNumber>1</WinNumber>
          <ItemText>\\uwb_simple_example\../keil/uwb_app.c\temp_count1,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>75</count>
          <WinNumber>1</WinNumber>
          <ItemText>\\uwb_simple_example\../keil/uwb_app.c\resp_tx_en_start_u32,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>76</count>
          <WinNumber>1</WinNumber>
          <ItemText>flag_temp2</ItemText>
        </Ww>
        <Ww>
          <count>77</count>
          <WinNumber>1</WinNumber>
          <ItemText>anchordata_id</ItemText>
        </Ww>
        <Ww>
          <count>78</count>
          <WinNumber>1</WinNumber>
          <ItemText>anchordata_dist</ItemText>
        </Ww>
        <Ww>
          <count>79</count>
          <WinNumber>1</WinNumber>
          <ItemText>get_in_num</ItemText>
        </Ww>
        <Ww>
          <count>80</count>
          <WinNumber>1</WinNumber>
          <ItemText>anchor_id_in</ItemText>
        </Ww>
      </WatchWindow1>
      <MemoryWindow1>
        <Mm>
@@ -687,8 +757,8 @@
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
      <PathWithFileName>.\include\drivers\mk_clock.c</PathWithFileName>
      <FilenameWithoutPath>mk_clock.c</FilenameWithoutPath>
      <PathWithFileName>.\include\drivers\mk_dma.c</PathWithFileName>
      <FilenameWithoutPath>mk_dma.c</FilenameWithoutPath>
      <RteFlg>0</RteFlg>
      <bShared>0</bShared>
    </File>
@@ -699,8 +769,8 @@
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
      <PathWithFileName>.\include\drivers\mk_dma.c</PathWithFileName>
      <FilenameWithoutPath>mk_dma.c</FilenameWithoutPath>
      <PathWithFileName>.\include\drivers\mk_clock.c</PathWithFileName>
      <FilenameWithoutPath>mk_clock.c</FilenameWithoutPath>
      <RteFlg>0</RteFlg>
      <bShared>0</bShared>
    </File>
@@ -980,7 +1050,7 @@
      <GroupNumber>4</GroupNumber>
      <FileNumber>35</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExp>1</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
      <PathWithFileName>.\include\drivers\global_param.c</PathWithFileName>

 keil/uwb_simple_example.uvprojx

@@ -651,16 +651,16 @@
              <FilePath>.\include\drivers\mk_calib.c</FilePath>
            </File>
            <File>
              <FileName>mk_clock.c</FileName>
              <FileType>1</FileType>
              <FilePath>.\include\drivers\mk_clock.c</FilePath>
            </File>
            <File>
              <FileName>mk_dma.c</FileName>
              <FileType>1</FileType>
              <FilePath>.\include\drivers\mk_dma.c</FilePath>
            </File>
            <File>
              <FileName>mk_clock.c</FileName>
              <FileType>1</FileType>
              <FilePath>.\include\drivers\mk_clock.c</FilePath>
            </File>
            <File>
              <FileName>mk_dual_timer.c</FileName>
              <FileType>1</FileType>
              <FilePath>.\include\drivers\mk_dual_timer.c</FilePath>

			@@ -22,19 +22,13 @@

			<h2>Project:</h2>
			D:\project chen\anbang_Anchor\ChinaUWBProject\keil\uwb_simple_example.uvprojx
			Project File Date: 10/30/2024
			Project File Date: 11/22/2024

			<h2>Output:</h2>
			*** Using Compiler 'V6.14', folder: 'd:\Keil_v5\ARM\ARMCLANG\Bin'
			Build target 'MK8000 Release'
			compiling uwb_app.c...
			linking...
			.\include\devices\MK800X\Source\ARM\MK800X_ac6_copy.sct(25): warning: L6314W: No section matches pattern *(.XIP_SECTION).
			Program Size: Code=79896 RO-data=20540 RW-data=1460 ZI-data=33652
			Finished: 0 information, 1 warning and 0 error messages.
			FromELF: creating hex file...
			After Build - User command #1: fromelf.exe --bincombined -o "Output\uwb_simple_example.bin" "D:\project chen\anbang_Anchor\ChinaUWBProject\keil\Objects\uwb_simple_example.axf"
			".\Objects\uwb_simple_example.axf" - 0 Error(s), 1 Warning(s).
			".\Objects\uwb_simple_example.axf" - 0 Error(s), 0 Warning(s).

			<h2>Software Packages used:</h2>

			@@ -48,7 +42,7 @@
			d:\Users\xookk\AppData\Local\Arm\Packs\MKSEMI\MK800X_DFP\1.0.3\Device\Include

			<h2>Collection of Component Files used:</h2>
			Build Time Elapsed: 00:00:02
			Build Time Elapsed: 00:00:01
			</pre>
			</body>
			</html>

			@@ -9,8 +9,8 @@
			".\objects\mk_adc.o"
			".\objects\mk_aes.o"
			".\objects\mk_calib.o"
			".\objects\mk_clock.o"
			".\objects\mk_dma.o"
			".\objects\mk_clock.o"
			".\objects\mk_dual_timer.o"
			".\objects\mk_flash.o"
			".\objects\mk_gpio.o"

			@@ -117,22 +117,6 @@
			I (include\board\board.h)(0x673D52E0)
			I (include\drivers\mk_gpio.h)(0x67219694)
			I (include\drivers\mk_io.h)(0x67219694)
			F (.\include\drivers\mk_clock.c)(0x67219693)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/drivers -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include -Id:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/mk_clock.o -MD)
			I (include\drivers\mk_clock.h)(0x67219693)
			I (include\drivers\mk_common.h)(0x67219693)
			I (d:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72)
			I (d:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x5DDFFD72)
			I (d:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x5DDFFD72)
			I (d:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x5DDFFD6C)
			I (include\devices\MK800X\Include\MK800X.h)(0x67219693)
			I (include\CMSIS\Include\core_cm0.h)(0x67219693)
			I (include\CMSIS\Include\cmsis_version.h)(0x67219693)
			I (include\CMSIS\Include\cmsis_compiler.h)(0x67219693)
			I (include\CMSIS\Include\cmsis_armclang.h)(0x67219693)
			I (d:\Keil_v5\ARM\ARMCLANG\include\arm_compat.h)(0x5E0CC2EC)
			I (d:\Keil_v5\ARM\ARMCLANG\include\arm_acle.h)(0x5E0CC318)
			I (include\devices\MK800X\Include\system_MK800X.h)(0x67219693)
			I (..\user_config.h)(0x673E9CE1)
			F (.\include\drivers\mk_dma.c)(0x67219693)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/drivers -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include -Id:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/mk_dma.o -MD)
			I (include\drivers\mk_dma.h)(0x67219693)
			I (include\drivers\mk_common.h)(0x67219693)
			@@ -154,6 +138,22 @@
			I (include\drivers\mk_trace.h)(0x67219694)
			I (include\drivers\mk_uart.h)(0x67219694)
			I (d:\Keil_v5\ARM\ARMCLANG\include\stdarg.h)(0x5DDFFD72)
			F (.\include\drivers\mk_clock.c)(0x67219693)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/drivers -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include -Id:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/mk_clock.o -MD)
			I (include\drivers\mk_clock.h)(0x67219693)
			I (include\drivers\mk_common.h)(0x67219693)
			I (d:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72)
			I (d:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x5DDFFD72)
			I (d:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x5DDFFD72)
			I (d:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x5DDFFD6C)
			I (include\devices\MK800X\Include\MK800X.h)(0x67219693)
			I (include\CMSIS\Include\core_cm0.h)(0x67219693)
			I (include\CMSIS\Include\cmsis_version.h)(0x67219693)
			I (include\CMSIS\Include\cmsis_compiler.h)(0x67219693)
			I (include\CMSIS\Include\cmsis_armclang.h)(0x67219693)
			I (d:\Keil_v5\ARM\ARMCLANG\include\arm_compat.h)(0x5E0CC2EC)
			I (d:\Keil_v5\ARM\ARMCLANG\include\arm_acle.h)(0x5E0CC318)
			I (include\devices\MK800X\Include\system_MK800X.h)(0x67219693)
			I (..\user_config.h)(0x673E9CE1)
			F (.\include\drivers\mk_dual_timer.c)(0x67219693)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/drivers -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include -Id:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/mk_dual_timer.o -MD)
			I (include\drivers\mk_dual_timer.h)(0x67219693)
			I (include\drivers\mk_common.h)(0x67219693)
			@@ -694,7 +694,7 @@
			I (d:\Keil_v5\ARM\ARMCLANG\include\stdarg.h)(0x5DDFFD72)
			I (include\drivers\mk_gpio.h)(0x67219694)
			I (include\drivers\Usart.h)(0x67219693)
			F (.\include\main\main.c)(0x673D52E0)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include -Id:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/main.o -MD)
			F (.\include\main\main.c)(0x673FE3BB)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include -Id:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/main.o -MD)
			I (include\drivers\mk_trace.h)(0x67219694)
			I (include\drivers\mk_common.h)(0x67219693)
			I (d:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72)
			@@ -808,7 +808,7 @@
			I (include\components\hido\Include\HIDO_Util.h)(0x673D52E0)
			I (include\components\hido\Include\HIDO_TypeDef.h)(0x673D52E0)
			I (include\drivers\global_param.h)(0x673D52E0)
			F (.\uwb_app.c)(0x673EA15B)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include -Id:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/uwb_app.o -MD)
			F (.\uwb_app.c)(0x67402DC2)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include -Id:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/uwb_app.o -MD)
			I (include\drivers\mk_trace.h)(0x67219694)
			I (include\drivers\mk_common.h)(0x67219693)
			I (d:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72)

			@@ -62,7 +62,7 @@
			#include "HIDO_Timer.h"
			#include "TCPClient.h"

			//#define DEBUG_MODE
			#define DEBUG_MODE
			extern int simple_main(void);
			extern int temp_main(void);
			#define TEST_UART_POLL_MODE 0
			@@ -370,7 +370,7 @@
			green_charge_state=0;
			charge_red_on();
			}
			UWBPoll();

			charge_state_change();//åçµç¶æå¤æ
			if(secondtask_count++%2==0)
			{
			@@ -590,7 +590,7 @@
			//AIR780E_Reset(); //4Gæ¨¡åéå¯ï¼èæ¶1.5ç§,è¿ä¸ªæ¯æ æ³åæ¥çå³é®
			sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
			//sleep_timer_start(__MS_TO_32K_CNT(g_com_map[COM_INTERVAL]));//æµè¯
			sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//æµè¯
			// sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//æµè¯
			// board_5V_input_init(voltage_input_handler);
			adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adcéæ ·
			board_acceleration_detection_init(move_handler);
			@@ -598,7 +598,7 @@
			board_4GUsart_detection_init(_4gUsart_handler);
			while (1)
			{ test4=gpio_pin_get_val(SCL_PIN);

			UWBPoll();
			// if(!power_low_flag)//ç¡®è®¤æ¯å¦ä¼ç ä¸æå¼å¯åè½
			// {
			// if(flag_TCP_reconnectting\|\|IfTCPConnected())

			@@ -15,6 +15,7 @@
			extern int temp_main(void);
			void Calibration_Time(void);
			void TagListUpdate(void);
			void Uwb_init(void);
			extern void IO_LED_control_change(uint8_t data);
			extern void IO_control_init(void);

			@@ -51,6 +52,7 @@
			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;
			@@ -66,7 +68,7 @@
			#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 1000U //yuan670 with urt 3000success
			#define POLL_RX_TO_RESP_TX_DLY_US 4000U //yuan670 with urt 3000success

			#define RESP_TX_TO_FINAL_RX_DLY_US 500U

			@@ -85,7 +87,7 @@
			/* RX window open in advance */
			#define RX_WIN_IN_ADVANCE_US (150)

			#define DELAY_BETWEEN_TWO_FRAME_UUS 600 //yuan1400
			#define DELAY_BETWEEN_TWO_FRAME_UUS 300 //yuan1400

			/* Field index in frame */
			#define MSG_SEQ_NUM_IDX 2
			@@ -385,6 +387,7 @@
			}
			anchordata_num=j;
			}
			uint8_t flag_temp2,flag_temp1;
			uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos)//æ ¹æ®èªå·±æ¯å¦ä¸ºæ°åºç«å®å¶æ¶æ¯å»åéï¼æ ¹æ®æ¯å¦æ¢å å¤æ
			{
			temp_count2=poll_rx_en_start_u32;
			@@ -394,19 +397,19 @@
			memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);//æ¥åèid
			send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;

			if(rec_nearbase_num == ancrec_nearbasepos)//æ¢å æ¨¡å¼èªå·±ä¸ºæ°åºç«
			{
			random_time = (phy_timer_count_get()%100);//å¤åºç«æ¢å ä¸ä¸ªä½ç½®æ¶é¿åä¸ä¸ªä¹æ¶ä¸å°çæåµå°±æ¯ä¸ä¸ªéæºéå¼å åuS
			//resp_tx_time = (poll_rx_ts+((random_time+rec_nearbase_num20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbaseposDELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//è®¡ç®Responseåéæ¶é´T3ã
			// (resp_tx_en_start_u32) is the moment when TX enable
			resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(20rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_numDELAY_BETWEEN_TWO_FRAME_UUS);//åé¢çéè¦æ ¹æ®å·²æåºç«æ°éè¿è¡æ´æ¹ï¼å¦ææ¯æ¢å èªå·±æåä¸ä¸ªåå¤ï¼è¦æåºæ°

			} else {
			//resp_tx_time = (poll_rx_ts + ((rec_nearbase_num20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbaseposDELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//è®¡ç®Responseåéæ¶é´T3ã
			resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(20rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_numDELAY_BETWEEN_TWO_FRAME_UUS);//åé¢çéè¦æ ¹æ®å·²æåºç«æ°éè¿è¡æ´æ¹ï¼å¦ææ¯æ¢å èªå·±æåä¸ä¸ªåå¤ï¼è¦æåºæ°
			//è¿éåºè¯¥æé®é¢é®ä¸ä¸éå·¥
			}//æ¤å¤è®¾ç½®ç»å¯¹æ¶é´å°poll u32æ¹ä¸ºphy_timer_count_get()

			// if(rec_nearbase_num == ancrec_nearbasepos)//æ¢å æ¨¡å¼èªå·±ä¸ºæ°åºç«
			// {
			// random_time = (phy_timer_count_get()%100);//å¤åºç«æ¢å ä¸ä¸ªä½ç½®æ¶é¿åä¸ä¸ªä¹æ¶ä¸å°çæåµå°±æ¯ä¸ä¸ªéæºéå¼å åuS
			// //resp_tx_time = (poll_rx_ts+((random_time+rec_nearbase_num20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbaseposDELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//è®¡ç®Responseåéæ¶é´T3ã
			// // (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(20rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_numDELAY_BETWEEN_TWO_FRAME_UUS);//åé¢çéè¦æ ¹æ®å·²æåºç«æ°éè¿è¡æ´æ¹ï¼å¦ææ¯æ¢å èªå·±æåä¸ä¸ªåå¤ï¼è¦æåºæ°
			//
			// } else {
			// //resp_tx_time = (poll_rx_ts + ((rec_nearbase_num20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbaseposDELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//è®¡ç®Responseåéæ¶é´T3ã
			// resp_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(20rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+ancrec_nearbaseposDELAY_BETWEEN_TWO_FRAME_UUS);//åé¢çéè¦æ ¹æ®å·²æåºç«æ°éè¿è¡æ´æ¹ï¼å¦ææ¯æ¢å èªå·±æåä¸ä¸ªåå¤ï¼è¦æåºæ°
			// //è¿éåºè¯¥æé®é¢é®ä¸ä¸éå·¥
			// }//æ¤å¤è®¾ç½®ç»å¯¹æ¶é´å°poll u32æ¹ä¸ºphy_timer_count_get()
			resp_tx_en_start_u32 = phy_timer_count_get()+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());//ä¿®æ£æ¶é´æ³
			/* 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);
			@@ -414,17 +417,19 @@
			memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&disoffset,2);//å·®ä¸ªä¿®æ£offset,ä¿®æ£æç¬¦å·ä½æ¯è¿ä¸ªcomè¡¨ä¸ºæ ç¬¦å·ç,ä¼ è¿å»ç´æ¥èµç»Int16_tç¸å½äºè¿åäº
			temp_resp_i64=resp_tx_ts_i64;
			temp_count3= phy_timer_count_get();
			uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//ç«å³åéæµè¯sizeå¤§å°
			flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//ç«å³åéæµè¯sizeå¤§å°
			temp_count1=phy_timer_count_get();
			while(mac_is_busy());
			gpio_pin_clr(SCL_PIN);
			}
			uint32_t range_timeout_us = 1000000;//yuan5000
			uint32_t range_timeout_us = 5000;//yuan5000
			uint16_t uwb_searchcount;
			uint8_t flag_recsuccess;
			uint8_t flag_temp2,flag_temp1;

			uint32_t start_receive_count_calibration;
			uint32_t current_count_calibration;
			uint32_t get_in_num,get_out_num;
			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;
			void Calibration_Time(void)
			@@ -456,7 +461,70 @@
			// update_led_power_state();//æ´æ°çç¶æé²æ¢éå¨å¡æ»å¨æç´¢
			}
			}
			uint16_t g_com_receive_id;
			int Uwb_One_Shot(void)
			{

			}
			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)//æ¥è¯¢æ ç¾æ¯å¦å¨èªå·±å·²éè®¯åè¡¨ä¸
			{

			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++)//æ¶é¤è½¦å¤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];//ç¼ºä¸ªæ°é--
			}
			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)//æ¥è¯¢æ ç¾æ¯å¦å¨èªå·±å·²éè®¯åè¡¨ä¸
			{

			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++)//æ¶é¤è½¦åid
			{
			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];//ç¼ºä¸ªæ°é--
			}
			get_in_num--;
			}
			}
			anchor_id_out[get_out_num-1]=receive_success_id;
			}
			}
			}
			int UwbRange(void)
			{
			uint8_t i;
			@@ -519,9 +587,11 @@
			if(receive_flag==1)//æåæ¥æ¶
			{

			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))//å¤ææ¯å¦æ¯åèªå·±æ¯åä¸ç»éè®¯çä¸ä¸ºpollå
			//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))//å¤ææ¯å¦æ¯åèªå·±æ¯åä¸ç»éè®¯çä¸ä¸ºpollå
			if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//å¤ææ¯å¦æ¯åèªå·±æ¯åä¸ç»éè®¯çä¸ä¸ºpollå
			{ flag_recsuccess = 1;
			sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//æµè¯
			memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
			// sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//æµè¯
			temp_count2=phy_timer_count_get();
			frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//è·åååº
			battary = rx_buf[BATTARY_IDX];
			@@ -555,37 +625,72 @@
			Anchor_RecNearPoll(i);
			}
			recev_error_num=0;
			range_timeout_us=5000;//æ¢å¤ä¸º5000è¿å¥rangeå
			LOG_INFO(TRACE_MODULE_APP,"æ ç¾IDï¼%X,è·ç¦»: %d ä¿¡å·å¼ºåº¦ANT0: %f,ä¿¡å·å¼ºåº¦ANT2: %f\r\n",g_com_map[BIND_DEV_ID],distance,sts_rssi[0],sts_rssi[2]);
			//range_timeout_us=5000;//æ¢å¤ä¸º5000è¿å¥rangeå
			LOG_INFO(TRACE_MODULE_APP,"æ ç¾IDï¼%X,è·ç¦»: %d ä¿¡å·å¼ºåº¦ANT0: %f,ä¿¡å·å¼ºåº¦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,"è½¦åï¼%d äºº,è½¦å¤: %d äºº\r\n",get_in_num,get_out_num);
			gpio_pin_clr(SCL_PIN);
			break;
			//break;å»æbreakåä¸ºä¸å¯¹å¤
			}
			}
			sts_lsp_store();
			break;
			//å¤±è´¥æèæ¥åè¢«é«åå°æºææé½ä¼åæ¬¡å¼å¯æ¥æ¶
			flag_temp1=uwb_rx(0, 0, range_timeout_us);
			//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));//æµè¯
			LOG_INFO(TRACE_MODULE_APP,"æµè·å¤±è´¥ï¼è®¡æ°ï¼%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;
			}
			}
			// if(!flag_recsuccess)
			// {
			// //sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-3));//æµè¯
			// //LOG_INFO(TRACE_MODULE_APP,"æµè·å¤±è´¥ï¼è®¡æ°ï¼%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)
			{
			// 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);
			}
			//ä¸»å½æ°ç»å®æ¥åé»è¾
			int UwbSearch(void)
			{
			@@ -657,7 +762,8 @@
			temp_count2=phy_timer_count_get();
			if(receive_flag==1)//æåæ¥æ¶
			{
			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))//å¤ææ¯å¦æ¯åèªå·±æ¯åä¸ç»éè®¯çä¸ä¸ºpollå
			// 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))//å¤ææ¯å¦æ¯åèªå·±æ¯åä¸ç»éè®¯çä¸ä¸ºpollå
			if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//å¤ææ¯å¦æ¯åèªå·±æ¯åä¸ç»éè®¯çä¸ä¸ºpollå
			{
			sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-13));//æµè¯
			range_timeout_us=20000;//å°ä¸æ¬¡rangeå¼å¯åè¶æ¶æ¶é´è®¾ä¸º20msä¹åårangeéæ¢å¤
			@@ -729,19 +835,22 @@
			}
			break;
			case SEARCH_DEV:
			{ //æ¥åä¸æåæèéè®¯å¤±è´¥è¿å¥æç´¢æ¨¡å¼
			if(search_open_flag)
			{
			LOG_INFO(TRACE_MODULE_APP,"å¼å¯æç´¢\r\n");
			search_open_flag=0;
			uwb_led_on();
			link_success_flag=UwbSearch();//ç¬¬ä¸æ¬¡å¼å¯æ¥æ¶2sç»å®å¤±è´¥ååè¿è¡ä¸é¢1åéåéæ°å¼å¯2sç»å®æµç¨
			uwb_led_off();
			if(link_success_flag)
			UWB_work_state=LINK_SUCCESS;
			}else{
			LOG_INFO(TRACE_MODULE_APP,"çå¾è¿å¥æç´¢æ¨¡å¼ï¼%d\r\n",SEARCH_TIMESTEMP-uwb_searchcount);
			}
			Uwb_init();
			// //æ¥åä¸æåæèéè®¯å¤±è´¥è¿å¥æç´¢æ¨¡å¼
			// if(search_open_flag)
			// {
			// LOG_INFO(TRACE_MODULE_APP,"å¼å¯æç´¢\r\n");
			// search_open_flag=0;
			// uwb_led_on();
			// link_success_flag=UwbSearch();//ç¬¬ä¸æ¬¡å¼å¯æ¥æ¶2sç»å®å¤±è´¥ååè¿è¡ä¸é¢1åéåéæ°å¼å¯2sç»å®æµç¨
			// uwb_led_off();
			// if(link_success_flag)
			// UWB_work_state=LINK_SUCCESS;
			// }else{
			// LOG_INFO(TRACE_MODULE_APP,"çå¾è¿å¥æç´¢æ¨¡å¼ï¼%d\r\n",SEARCH_TIMESTEMP-uwb_searchcount);
			// }

			}
			break;
			@@ -770,7 +879,7 @@
			//link_error_count=0;
			// update_led_power_state();//æ´æ°ç¯ç¶æ
			}
			LOG_INFO(TRACE_MODULE_APP,"UWBç¶æï¼%d\r\n",UWB_work_state);
			//LOG_INFO(TRACE_MODULE_APP,"UWBç¶æï¼%d\r\n",UWB_work_state);
			}

			uint8_t GetUWBBindState(void)

			@@ -484,6 +484,76 @@
			<WinNumber>1</WinNumber>
			<ItemText>resp_tx_en_start_u32,0x0A</ItemText>
			</Ww>
			<Ww>
			<count>67</count>
			<WinNumber>1</WinNumber>
			<ItemText>poll_rx_en_start_u32,0x0A</ItemText>
			</Ww>
			<Ww>
			<count>68</count>
			<WinNumber>1</WinNumber>
			<ItemText>temp_count2,0x0A</ItemText>
			</Ww>
			<Ww>
			<count>69</count>
			<WinNumber>1</WinNumber>
			<ItemText>\\uwb_simple_example\../keil/uwb_app.c\temp_count1,0x0A</ItemText>
			</Ww>
			<Ww>
			<count>70</count>
			<WinNumber>1</WinNumber>
			<ItemText>ancrec_nearbasepos</ItemText>
			</Ww>
			<Ww>
			<count>71</count>
			<WinNumber>1</WinNumber>
			<ItemText>rec_nearbase_num</ItemText>
			</Ww>
			<Ww>
			<count>72</count>
			<WinNumber>1</WinNumber>
			<ItemText>temp_count3,0x0A</ItemText>
			</Ww>
			<Ww>
			<count>73</count>
			<WinNumber>1</WinNumber>
			<ItemText>flag_temp1</ItemText>
			</Ww>
			<Ww>
			<count>74</count>
			<WinNumber>1</WinNumber>
			<ItemText>\\uwb_simple_example\../keil/uwb_app.c\temp_count1,0x0A</ItemText>
			</Ww>
			<Ww>
			<count>75</count>
			<WinNumber>1</WinNumber>
			<ItemText>\\uwb_simple_example\../keil/uwb_app.c\resp_tx_en_start_u32,0x0A</ItemText>
			</Ww>
			<Ww>
			<count>76</count>
			<WinNumber>1</WinNumber>
			<ItemText>flag_temp2</ItemText>
			</Ww>
			<Ww>
			<count>77</count>
			<WinNumber>1</WinNumber>
			<ItemText>anchordata_id</ItemText>
			</Ww>
			<Ww>
			<count>78</count>
			<WinNumber>1</WinNumber>
			<ItemText>anchordata_dist</ItemText>
			</Ww>
			<Ww>
			<count>79</count>
			<WinNumber>1</WinNumber>
			<ItemText>get_in_num</ItemText>
			</Ww>
			<Ww>
			<count>80</count>
			<WinNumber>1</WinNumber>
			<ItemText>anchor_id_in</ItemText>
			</Ww>
			</WatchWindow1>
			<MemoryWindow1>
			<Mm>
			@@ -687,8 +757,8 @@
			<tvExp>0</tvExp>
			<tvExpOptDlg>0</tvExpOptDlg>
			<bDave2>0</bDave2>
			<PathWithFileName>.\include\drivers\mk_clock.c</PathWithFileName>
			<FilenameWithoutPath>mk_clock.c</FilenameWithoutPath>
			<PathWithFileName>.\include\drivers\mk_dma.c</PathWithFileName>
			<FilenameWithoutPath>mk_dma.c</FilenameWithoutPath>
			<RteFlg>0</RteFlg>
			<bShared>0</bShared>
			</File>
			@@ -699,8 +769,8 @@
			<tvExp>0</tvExp>
			<tvExpOptDlg>0</tvExpOptDlg>
			<bDave2>0</bDave2>
			<PathWithFileName>.\include\drivers\mk_dma.c</PathWithFileName>
			<FilenameWithoutPath>mk_dma.c</FilenameWithoutPath>
			<PathWithFileName>.\include\drivers\mk_clock.c</PathWithFileName>
			<FilenameWithoutPath>mk_clock.c</FilenameWithoutPath>
			<RteFlg>0</RteFlg>
			<bShared>0</bShared>
			</File>
			@@ -980,7 +1050,7 @@
			<GroupNumber>4</GroupNumber>
			<FileNumber>35</FileNumber>
			<FileType>1</FileType>
			<tvExp>0</tvExp>
			<tvExp>1</tvExp>
			<tvExpOptDlg>0</tvExpOptDlg>
			<bDave2>0</bDave2>
			<PathWithFileName>.\include\drivers\global_param.c</PathWithFileName>

			@@ -651,16 +651,16 @@
			<FilePath>.\include\drivers\mk_calib.c</FilePath>
			</File>
			<File>
			<FileName>mk_clock.c</FileName>
			<FileType>1</FileType>
			<FilePath>.\include\drivers\mk_clock.c</FilePath>
			</File>
			<File>
			<FileName>mk_dma.c</FileName>
			<FileType>1</FileType>
			<FilePath>.\include\drivers\mk_dma.c</FilePath>
			</File>
			<File>
			<FileName>mk_clock.c</FileName>
			<FileType>1</FileType>
			<FilePath>.\include\drivers\mk_clock.c</FilePath>
			</File>
			<File>
			<FileName>mk_dual_timer.c</FileName>
			<FileType>1</FileType>
			<FilePath>.\include\drivers\mk_dual_timer.c</FilePath>