#include "mk_trace.h" #include "mk_uwb.h" #include "mk_phy.h" #include "mk_misc.h" #include "mk_power.h" #include "mk_sleep_timer.h" #include "lib_ranging.h" #include "lib_aoa.h" #include "dw_app_anchor.h" #include "global_param.h" #include "board.h" #include "lib_aoa.h" #include "WS2812.h" extern int simple_main(void); extern int temp_main(void); void Calibration_Time(void); void TagListUpdate(void); void TagListUpdate_person_num(void); void Uwb_init(void); void OpenUWB(void); void CloseUWB(void); int Anchor_App(void); extern void IO_LED_control_change(uint8_t data); extern void IO_control_init(void); extern void updata_led_power_state(void); /*receive buffer*/ static uint8_t rx_buf[150]; static uint8_t uwb_sendbuffer[150]; static volatile uint16_t rx_state; static volatile uint16_t rx_length; //resp±äÁ¿ static uint8_t frame_seq_nb2,battary,button,rec_nearbase_num,ancidlist_num; static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS]; static int16_t rec_ancdistlist[TAG_NUM_IN_SYS]; extern uint8_t group_id; static uint16_t anc_id_recv,tag_id_recv; static int16_t rec_antdelay; extern uint16_t dev_id; static uint16_t taglist_pos,tmp_time; extern uint16_t tag_frequency; extern uint16_t disoffset; static uint8_t frame_len,recpoll_len,current_syncid,new_tagid,seize_anchor,result,g_start_sync_flag; extern uint8_t gps_power_state,motor_power_state,uwb_state,air780_power_state,gps_success_state,red_charge_state,green_charge_state,air780_success_state; int poll_rx_num,resp_tx_num; //respº¯Êý void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary);//ÕÒµ½×Ô¼ºµÄidÐÅÏ¢¶ÔӦλÖøüÐÂ×Ô¼ºµÄ½»»¥ÐÅÏ¢ static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts);//ÓÃÀ´¶ÔӦλÖ÷ÅÈëʱ¼ä´Á static uint16_t tagid_list[TAG_NUM_IN_SYS]; uint16_t CmpTagInList(uint16_t tagid); uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos); static uint8_t send_buffer[100]; static uint8_t tagofflinetime[TAG_NUM_IN_SYS]; uint32_t temp_count=0; uint32_t temp_count1=0; uint32_t temp_endcount1=0; uint32_t temp_count2=0; uint32_t temp_count3=0; uint32_t temp_count7=0; uint32_t temp_internal=0; int16_t elevation = 0; int16_t azimuth = 0; uint8_t fom = 0; int32_t distance; uint8_t taglist_num; float *sts_rssi=NULL; extern uint8_t recev_error_num; 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 550U //yuan550¼«ÏÞ #define RESP_TX_TO_FINAL_RX_DLY_US 500U /* RX sync window size 50 ms*/ #define RX_SYNC_WIN_US 5000U //yuan1000 7000success /* RX sync window size 50 ms*/ #define RX_SYNC_WIN_US_TEMP 2000000U //yuan1000 7000success /* Receive poll timeout 500us*/ #define POLL_RX_TIMEOUT_US 500 /* Receive final timeout 500us */ #define FINAL_RX_TIMEOUT_US 500 /* RX window open in advance */ #define RX_WIN_IN_ADVANCE_US (150) #define DELAY_BETWEEN_TWO_FRAME_UUS 500 //yuan1400 /* Field index in frame */ #define MSG_SEQ_NUM_IDX 2 #define FINAL_MSG_POLL_TX_TS_IDX 10 #define FINAL_MSG_RESP_RX_TS_IDX 14 #define FINAL_MSG_FINAL_TX_TS_IDX 18 #define DELAY_DEFAULT 1000 #define HALF_SECOND_TIME 624000000 /* Length of the common part of the message */ #define MSG_COMMON_LEN 10 #define UWB_DELAY_TIME_US 496 uint8_t receive_flag=0; struct mk_uwb_configure { uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */ struct UWB_CONFIG_T phy_cfg; }; ///* Default communication configuration. */ //static struct mk_uwb_configure config = {//Ô­À´µÄ»ùÕ¾·Ç110k´úÂë // .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX), // .phy_cfg.ch_num = 5, /* Channel number. */ // .phy_cfg.code_index = 9, /* TX preamble code. */ // .phy_cfg.mean_prf = MEAN_PRF_64M, /* Data rate 6.8M */ // .phy_cfg.data_bit_rate = DATA_BR_6M8, /* data rate 6.8M. */ // .phy_cfg.sync_sym = PREAM_LEN_128, /* Preamble duration, length of preamble 128 */ // .phy_cfg.sfd_sym = BPRF_NSFD2_8, /* Identifier for SFD sequence */ // .phy_cfg.ranging_bit = 1, /* ranging bit set. */ // .phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF, /* IEEE802.15.4z - BPRF mode */ // .phy_cfg.sts_pkt_cfg = STS_PKT_CFG_0, /* SP0 Frame */ // .phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1, /* Number of STS segments in the frame */ // .phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */ // .phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */ //}; #ifdef DW1000 static struct mk_uwb_configure config = { .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX), .phy_cfg.ch_num = 5, /* Channel number. */ .phy_cfg.code_index = 9, /* TRX preamble code */ .phy_cfg.mean_prf = MEAN_PRF_64M, /* Mean prf 64/128/256M */ .phy_cfg.data_bit_rate = DATA_BR_6M8, /* Data rate 6.8M */ .phy_cfg.sync_sym = PREAM_LEN_64, /* Preamble duration, length of preamble 128 */ .phy_cfg.sfd_sym = NON_STD_NSFD5_8, /* Identifier for SFD sequence */ .phy_cfg.ranging_bit = 1, /* ranging bit set 1 */ .phy_cfg.trx_mode = TRX_MODE_15_4A, /* IEEE802.15.4z - BPRF mode */ .phy_cfg.sts_pkt_cfg = STS_PKT_CFG_0, /* SP0 Frame */ .phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1, /* Number of STS segments in the frame */ .phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */ .phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */ }; #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. */ .phy_cfg.code_index = 9, /* TRX preamble code */ .phy_cfg.mean_prf = MEAN_PRF_64M, /* Mean prf 64/128/256M */ .phy_cfg.data_bit_rate = DATA_BR_6M8, /* Data rate 6.8M */ .phy_cfg.sync_sym = PREAM_LEN_128, /* Preamble duration, length of preamble 128 */ .phy_cfg.sfd_sym = BPRF_NSFD2_8, /* Identifier for SFD sequence */ .phy_cfg.ranging_bit = 1, /* ranging bit set 1 */ .phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF, /* IEEE802.15.4z - BPRF mode */ .phy_cfg.sts_pkt_cfg = STS_PKT_CFG_1, /* SP1 Frame */ .phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1, /* Number of STS segments in the frame */ .phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */ .phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */ }; /* Use the default key and IV specified in the IEEE 802.15.4z attachment */ static struct UWB_STS_KEY_CONFIG_T sts_iv_key = { .sts_vcounter = 0x1F9A3DE4, .sts_vupper0 = 0xD37EC3CA, .sts_vupper1 = 0xC44FA8FB, .sts_vupper2 = 0x362EEB34, .sts_key0 = 0x14EB220F, .sts_key1 = 0xF86050A8, .sts_key2 = 0xD1D336AA, .sts_key3 = 0x14148674, }; #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 */ /* Frames used in the ranging process * Poll message: * - byte 0 - 1: 0x8841 to indicate a data frame using 16-bit addressing. * - byte 2: sequence number, incremented for each new frame. * - byte 3 - 4: PAN Id 0x4B4d * - byte 5 - 6: Destination address * - byte 7 - 8: Source address * - byte 9: Message type (0x02 RANGING_POLL / 0x03 RANGING_RESPONSE / 0x04 RANGING_FINAL) * Response message: * - byte 10: activity code (0x07 to tell the initiator to go on with the ranging exchange) * Final message: * - byte 10 - 13: poll message transmission timestamp. * - 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; static uint32_t resp_tx_en_start_u32; static uint32_t resp_tx_timeout; int64_t temp_resp_i64; /* 41 bits timestamps of frames transmission/reception. */ int64_t poll_rx_ts_i64; int64_t resp_tx_ts_i64; int64_t final_rx_ts_i64; /* Frame sequence number, incremented after each transmission. */ static uint8_t frame_seq_nb = 0; /* MAC report data structure */ static struct MAC_HW_REPORT_T rx_rpt; enum SIMPLE_FSM_T { SIMPLE_IDLE = 0, SIMPLE_POLL = 1, SIMPLE_RESPONSE = 2, SIMPLE_FINAL = 3, }; static enum SIMPLE_FSM_T state = SIMPLE_IDLE; /** * @brief Correct TX timestamp of the ranging frame. * * @param[in] timestamp PHY timer count of TX * @return TX timestamp (unit: 15.65ps) */ static int64_t ranging_tx_time_correct(uint32_t timestamp) { int64_t tx_timestamp = ranging_tx_time(timestamp); // correct antenna delay (TX using the same antenna as RX) tx_timestamp += ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2; return tx_timestamp; } /** * @brief Correct RX timestamp of the ranging frame. * * @param[in] ind MAC RX report * @return RX timestamp (unit: 15.65ps) */ static int64_t ranging_rx_time_correct(const struct MAC_HW_REPORT_T *ind) { int64_t rx_timestamp = ranging_rx_time(ind); // correct antenna delay rx_timestamp -= ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2; return rx_timestamp; } /* RX done process handler. */ int8_t rssi; uint32_t range_timeout_us = 1000000;//yuan5000 uint8_t flag_temp2,flag_temp1; uint16_t uwb_losttimer; uint8_t rxnum; uint8_t receive_error_flag; uint8_t rxnumoknum,rxnumerrornum; uint8_t resp_tx_flag; static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report) { uint8_t valid_sts=0; // Power off radio power_off_radio(); rxnum++; /** UWB RX success */ if (rx_report->err_code == UWB_RX_OK) { resp_tx_flag=0; rxnumoknum++; /* 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; Anchor_App(); if(resp_tx_flag==0) { OpenUWB(); } // #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 */ rxnumerrornum++; temp_count= phy_timer_count_get(); memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T)); rx_length = 0; receive_error_flag=1; OpenUWB();//ÔٴοªÆôUWB½ÓÊÕ } // CloseUWB(); // OpenUWB();//ÔٴοªÆôUWB½ÓÊÕ // Uwb_init(); // OpenUWB(); } /* 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++; // OpenUWB();//ÔٴοªÆôUWB½ÓÊÕ //LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num); } OpenUWB();//ÔٴοªÆôUWB½ÓÊÕ } uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp; uint16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS]; static uint8_t anchordata_bat[TAG_NUM_IN_SYS]; static int8_t anchor_rssi[TAG_NUM_IN_SYS]; uint8_t anchordata_num = 0; static int16_t tagdist_list[TAG_NUM_IN_SYS]; uint16_t random_time; //anchor int32_t hist_dist; int16_t temp_recdist_before_offset; int16_t dist_temp; void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary) { uint8_t i; for(i=0; i0) // 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>= 8; } } //void TagListUpdate(void) //{ // uint8_t i,j=0; // for(i=0; itemp_endcount1) // { // resp_tx_error++; // break; // } // } //gpio_pin_clr(SCL_PIN); } 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=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;//¸üпªÊ¼Ê±¼ä if(secondtask_search_count++%2==0) { secondtask_search_flag = 1; }else{ secondtask_search_flag = 0; } if(secondtask_search_flag)//¸üÐÂSʱ¼äTICK { HIDO_TimerTick(); TagListUpdate(); // GPS_Poll(); // if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//·ÀÖ¹Òç³ö // nomove_count++; // else{ // nomove_count=g_com_map[NOMOVESLEEP_TIME]+1; // } } // update_led_power_state();//¸üеÈ״̬·ÀÖ¹Õ𶯿¨ËÀÔÚËÑË÷ } } uint16_t g_com_receive_id; uint8_t usart_send[400]; extern uint8_t userkey_state; extern uint8_t bat_percent; uint16_t tagseq; void CloseUWB(void) { uwb_rx_force_off(1); uwb_rx_flag=0; //LOG_INFO(TRACE_MODULE_APP,"¹Ø±Õuwb_rx\r\n"); } void OpenUWB(void) { // while(!mac_is_busy()) // { flag_temp1=uwb_rx(0, 0,range_timeout_us);//Ìá½»½ÓÊÕÇëÇó uwb_rx_flag=1; // } //LOG_INFO(TRACE_MODULE_APP,"´ò¿ªuwb_rx\r\n"); } void UWBOneSecondTask(void) { TagListUpdate();//¸üбêÇ©Êý uwb_losttimer++; if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME]) uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//·ÀÖ¹Òç³ö } void UWBSendUDPTask(void) { uint16_t checksum,tempdistarray[20]; // UDP_TEST(); for(uint16_t i=0;itagdist_list[j+1]) { uint16_t id,dist; uint8_t bat; int8_t rssi1; id = tagid_list[j]; dist = tagdist_list[j]; bat = anchordata_bat[j]; rssi1=anchor_rssi[j]; tagid_list[j] = tagid_list[j+1]; tagdist_list[j] = tagdist_list[j+1]; anchordata_bat[j] = anchordata_bat[j+1]; anchor_rssi[j] = anchor_rssi[j+1]; tagid_list[j+1] = id; tagdist_list[j+1] = dist; anchordata_bat[j+1] = bat; anchor_rssi[j+1] = rssi1; } } } // if(taglist_num>0) // { // if(uwbled==LEDOFF) // { // uwbled = BLUE; // }else{ // uwbled = LEDOFF; // } // } // Set4LEDColor(uwbled,rtkled,led4g,powerled); if(taglist_num>20) //×î¶àÉÏ´«20¸ö»ùÕ¾Êý¾Ý£¬¾àÀë×î½üµÄ20¸ö taglist_num = 20; usart_send[0]= 0x55; usart_send[1]= 0xaa; usart_send[2] = 0x12;//Õý³£Ä£Ê½ usart_send[3] = 15+5*(taglist_num);//Êý¾Ý¶Î³¤¶È memcpy(&usart_send[4],&dev_id,2); usart_send[6] = tagseq; usart_send[7] = (tagseq++)>>8; usart_send[8] = bat_percent; // usart_send[8] = rxnum; usart_send[9] = userkey_state|0<<1|0<<2|0<<5|uwb_state<<6; // memcpy(&usart_send[10],&rec_tagheight,2); usart_send[12] = 0; usart_send[13] = 0; usart_send[14] = 0; usart_send[15] = 0; usart_send[16] = taglist_num; memcpy(&usart_send[17],&tagid_list,2*taglist_num); memcpy(&usart_send[17+taglist_num*2],&tagdist_list,2*taglist_num); memcpy(&usart_send[17+taglist_num*4],&anchordata_bat,taglist_num); checksum = Checksum_u16(&usart_send[2],15+5*taglist_num); memcpy(&usart_send[17+5*taglist_num],&checksum,2); HexToAsciiSendUDP(usart_send,19+5*taglist_num); taglist_num = 0; // rxnum=0; } void UWBIdleTask(void) { // if(receive_flag) // { // receive_flag=0; // Anchor_App(); // OpenUWB(); // } // if(receive_error_flag) // { // receive_error_flag=0; // OpenUWB(); // } if(HIDO_TimerGetTick()-uwbtasktimer >=1) { uwbtasktimer = HIDO_TimerGetTick(); UWBOneSecondTask(); UWBSendUDPTask(); } } int uwb_app_poll(void) { 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)//ÅжÏÊÇ·ñÊǺÍ×Ô¼ºÊÇͬһ×éͨѶµÄÇÒΪpoll°ü { flag_recsuccess = 1; wltag_state=RANGE;//³É¹¦ºó´ÓsearchÇл»Îªrange memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2); //temp_count2=phy_timer_count_get(); uwb_losttimer=0;//³É¹¦²â¾àÇå0 lostʱ¼ä frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//»ñÈ¡°üÐò battary = rx_buf[BATTARY_IDX]; rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX]; //±êÇ©´«¹ýÀ´µÄËûÓë»ùÕ¾½»»¥µÄ»ùÕ¾idÊýÄ¿ 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); uwbled=BLUE; // for(i=0; i=ANC_MAX_NUM) return 0; for(i=0; i