zhyinch
2022-04-19 e1cb73d3e104a4dd0e52407cad1db5c177384f3a
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#include "dw_app.h"
#include "ADC.h"
enum enumtagstate
{
    DISCPOLL,
    GETNEARMSG,
    NEARPOLL,
}tag_state=GETNEARMSG;
static dwt_config_t config = {
    2,               /* Channel number. */
    DWT_PRF_64M,     /* Pulse repetition frequency. */
    DWT_PLEN_64,    /* Preamble length. */
    DWT_PAC8,        /* Preamble acquisition chunk size. Used in RX only. */
    9,               /* TX preamble code. Used in TX only. */
    9,               /* RX preamble code. Used in RX only. */
    1,               /* Use non-standard SFD (Boolean) */
    DWT_BR_6M8,      /* Data rate. */
    DWT_PHRMODE_STD, /* PHY header mode. */
    (129 + 8 - 8)    /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};
static uint8_t tx_poll_msg[20] = {0};
static uint8_t tx_sync_msg[14] = {0};
static uint8_t tx_final_msg[60] = {0};
static uint8_t tx_resp_msg[22] = {0};
static uint8_t tx_nearpoll_msg[80] = {0};
static uint8_t tx_nearresp_msg[80] = {0};
static uint8_t tx_nearfinal_msg[80] = {0};
 
static uint8_t tx_near_msg[80] = {0};
 
 uint32_t frame_seq_nb = 0, frame_seq_nb2 = 0;    
static uint32_t status_reg = 0;
static uint8_t rx_buffer[100];
static uint64_t poll_rx_ts;
static uint64_t resp_tx_ts;
static uint64_t final_rx_ts;
static double tof;
int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS];
uint32_t tag_id = 0;
uint32_t tag_id_recv = 0;
uint32_t anc_id_recv = 0;
uint8_t random_delay_tim = 0;
double distance, dist_no_bias, dist_cm;
uint32_t g_UWB_com_interval = 0; 
float dis_after_filter;                //µ±Ç°¾àÀëÖµ
LPFilter_Frac* p_Dis_Filter;        //²â¾àÓõĵÍͨÂ˲¨Æ÷
int32_t g_Tagdist[TAG_NUM_IN_SYS];
uint8_t g_flag_Taggetdist[256];
 
static uint64_t get_tx_timestamp_u64(void)
{
    uint8_t ts_tab[5];
    uint64_t ts = 0;
    int i;
    dwt_readtxtimestamp(ts_tab);
    for (i = 4; i >= 0; i--)
    {
        ts <<= 8;
        ts |= ts_tab[i];
    }
    return ts;
}
 
static uint64_t get_rx_timestamp_u64(void)
{
    uint8_t ts_tab[5];
    uint64_t ts = 0;
    int i;
    dwt_readrxtimestamp(ts_tab);
    for (i = 4; i >= 0; i--)
    {
        ts <<= 8;
        ts |= ts_tab[i];
    }
    return ts;
}
 
static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
{
    int i;
    for (i = 0; i < FINAL_MSG_TS_LEN; i++)
    {
        ts_field[i] = (uint8_t) ts;
        ts >>= 8;
    }
}
 
static void final_msg_get_ts(const uint8_t *ts_field, uint32_t *ts)
{
    int i;
    *ts = 0;
    for (i = 0; i < FINAL_MSG_TS_LEN; i++)
    {
        *ts += ts_field[i] << (i * 8);
    }
}
extern int32_t tagdist_list[TAG_NUM_IN_SYS];
void TagDistClear(void)
{
    static uint16_t clear_judge_cnt;
    uint16_t i;    
        for(i=0;i<255;i++)
        {
            g_flag_Taggetdist[i]++;
            if(g_flag_Taggetdist[i]>=2)
            {
                tagdist_list[i]=0x1ffff;
            }
        }
}
void Dw1000_Init(void)
{
    /* Reset and initialise DW1000.
     * For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
     * performance. */
    Reset_DW1000();//ÖØÆôDW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
    status_reg = dwt_read32bitreg(SYS_STATUS_ID);
    dwt_initialise(DWT_LOADUCODE);//³õʼ»¯DW1000
    status_reg = dwt_read32bitreg(SYS_STATUS_ID);
    Spi_ChangePrescaler(SPIx_PRESCALER_FAST);    //ÉèÖÃΪ¿ìËÙģʽ
 
    /* Configure DW1000. See NOTE 6 below. */
    dwt_configure(&config);//ÅäÖÃDW1000
    
dwt_setinterrupt(  DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
    
    /* Apply default antenna delay value. See NOTE 1 below. */
    dwt_setrxantennadelay(RX_ANT_DLY);        //ÉèÖýÓÊÕÌìÏßÑÓ³Ù
    dwt_settxantennadelay(TX_ANT_DLY);        //ÉèÖ÷¢ÉäÌìÏßÑÓ³Ù
 
    /* Set expected response's delay and timeout. See NOTE 4 and 5 below.
     * As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
                //ÉèÖýÓÊÕ³¬Ê±Ê±¼ä
}
void Dw1000_App_Init(void)
{
//g_com_map[DEV_ID] = 0x0b;
    tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
    tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
    tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
    tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
    
    memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 2);
    memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
    memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
    memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 2);
    memcpy(&tx_nearresp_msg[ANCHOR_ID_IDX], &dev_id, 2);
    memcpy(&tx_nearpoll_msg[TAG_ID_IDX], &dev_id, 2);
    memcpy(&tx_nearfinal_msg[TAG_ID_IDX], &dev_id, 2);
}    
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len) 
{
    uint16_t sum = 0;
    uint32_t i;
    for(i=0; i<len; i++)
        sum += pdata[i];
    sum = ~sum;
    return sum;
}
 
u16 tag_time_recv[TAG_NUM_IN_SYS];
u8 usart_send[150],usart_send_anc[100];
u8 battary,button,tag_frequency,tag_slotpos;
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
{
    dwt_configuresleep(0x940, 0x7);
    dwt_entersleep();
}
 
extern uint8_t g_start_send_flag;
u8 g_start_sync_flag;
void SyncPoll(u8 sync_seq)
{u8 result;
//    g_start_sync_flag=1;   //ÖжÏģʽ£¬Í˳öÖն˺ó£¬ÐèÒªÖØÐÂÀ´¹ý
    dwt_forcetrxoff();       //¹Ø±Õ½ÓÊÕ£¬ÒÔ·ÀÔÚRX ON ×´Ì¬
    
    
    tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
    memcpy(&tx_sync_msg[ANCHOR_ID_IDX],&dev_id,4);
    dwt_writetxdata(sizeof(tx_sync_msg), tx_sync_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
    dwt_writetxfctrl(sizeof(tx_sync_msg), 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
    dwt_starttx(DWT_START_TX_IMMEDIATE);
    if(result==0)
            {
             while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//²»¶Ï²éѯоƬ״ֱ̬µ½·¢ËÍÍê³É
                { };
        }
    dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//Çå³þ±ê־λ
        
    dwt_setrxtimeout(0);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
    dwt_rxenable(0);//´ò¿ª½ÓÊÕ
}
uint16_t g_Resttimer;
uint8_t result;
u8 tag_succ_times=0;
int32_t hex_dist;
u16 checksum;
int8_t tag_delaytime;
extern uint16_t sync_timer;
u16 tmp_time;
int32_t temp_dist;
u16 tagslotpos;
 
u16 anclist_num=0,anclist_pos; //list ×ÜÊýÁ¿ºÍµ±Ç°Î»ÖÃ
u16 ancid_list[TAG_NUM_IN_SYS];
u8 nearbase_num=0,last_nearbase_num,next_nearbase_num;
u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM];
uint8_t trygetnearmsg_times;
u16 current_slotnum,total_slotnum,target_time,last_time;
u32 rec_tagpos_binary;
extern uint32_t tagpos_binary;
void SetNextPollTime(u16 time)
{
    current_slotnum++;
    if(current_slotnum==total_slotnum)
        current_slotnum-=total_slotnum;
    //time=5;
    target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time);
 
    last_time=target_time;
    if(target_time>=990&&target_time<992)
    {
        current_slotnum++;
    target_time+=g_com_map[COM_INTERVAL];
    tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
    tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;    
    }    
    if(target_time>=1000)
    {target_time-=1000;}
    if(target_time<0)
    {target_time+=1000;}
 
}
u8 FindNearBasePos(u16 baseid)
{
    u8 i;
    for(i=0;i<last_nearbase_num;i++)
    {
        if(baseid==nearbaseid_list[i])
            return i;
    }
    return i;
}
u8 recbase_num=0;
#define CHANGE_BASE_THRESHOLD  5
//void NearAncSelect(void)
//{static u16 last_mainbase_id,change_base_count;
//    int32_t nearbase_mindist=99999, nearbase_minpos;
//    u8 i;
//    for(i=0;i<recbase_num-1;i++)
//    {
//        if(nearbase_mindist>nearbase_distlist[i])
//        {
//            nearbase_mindist=nearbase_distlist[i];
//            nearbase_minpos=i;
//        }
//    }
//    if(nearbase_mindist<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST)
//    {
//        if(last_mainbase_id==nearbaseid_list[nearbase_minpos])
//        {
//            change_base_count++;
//            if(change_base_count>CHANGE_BASE_THRESHOLD)
//            {
//                mainbase_id=last_mainbase_id;
//                tag_state=GETNEARMSG;
//            }
//        }else{
//            change_base_count=0;
//        }
//        last_mainbase_id=nearbaseid_list[nearbase_minpos];        
//    }else{
//        change_base_count=0;
//    }
//}
uint8_t GetRandomValue(void)
{
    uint8_t random_value=0,temp_adc,i;
    for(i=0;i<8;i++)
    {
        temp_adc=Get_ADC_Value();
        random_value=random_value|((temp_adc&0x01)<<i);
    }
    return random_value;
}
u8 GetRandomSlotPos(uint32_t emptyslot)
{
    u8 i,temp_value;
    temp_value = GetRandomValue();
    for(i=temp_value%max_slotpos;i<max_slotpos;i++)
    {
        if(((emptyslot>>i)&0x1)==0)
        {
            return i;
        }
    }
    
        for(i=1;i<max_slotpos;i++)
    {
        if(((emptyslot>>i)&0x1)==0)
        {
            return i;
        }
    }
return max_slotpos-1;
}
dwt_rxdiag_t d1;
u8 test=0;
u8 anclost_times=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
u16 temp_sync_timer1,temp_sync_timer2;
 double firstpath_power, rx_power;
  double f1, f2, r1, r2;
uint16_t F1,F2,F3,N,C;
double B = 131072;
double A = 121.74;
double min_power;
double LOS(dwt_rxdiag_t *dia) {
     F1 = dia->firstPathAmp1;
     F2 = dia->firstPathAmp2;
     F3 = dia->firstPathAmp3;
     N = dia->rxPreamCount;
     C = dia->maxGrowthCIR;
    
    firstpath_power=10* log10((F1*F1+F2*F2+F3*F3)/(N*N))-A;
    rx_power=10*log10(C*B/(N*N))-A;
 
   // min_power =  - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
    return min_power;
  }
 
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
 
int8_t correction_time,new_tagid=0;
extern uint8_t sync_seq;
u16 taglist_num=0,taglist_pos;
u16 tagid_list[TAG_NUM_IN_SYS];
u8 tagofflinetime[TAG_NUM_IN_SYS];
int32_t tagdist_list[TAG_NUM_IN_SYS];
void TagListUpdate(void)
{
    u16 i,j=0,temp[TAG_NUM_IN_SYS];
    for(i=0;i<taglist_num;i++)
    {
        if(tagofflinetime[i]++<QUIT_SLOT_TIME)
        {
            tagid_list[j]=tagid_list[i];
            tagofflinetime[j++]=tagofflinetime[i];
        }
    }
    taglist_num=j;
}
u16 CmpTagInList(u16 tagid)
{u16 i;
    for(i=0;i<taglist_num;i++)
    {
        if(memcmp(&tagid,&tagid_list[i],2)==0)
            break;
    }
    return i;
}
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse,motorstate=0;
uint32_t frame_len;
uint32_t resp_tx_time;
uint8_t rec_nearbase_num,anc_report_num;
void Anchor_RecPoll(void)
{
            tmp_time=TIM3->CNT;
            memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2);
            memcpy(&tx_resp_msg[ANCTIMEUS],&tmp_time,2);
            memcpy(&tx_resp_msg[TAGSLOTPOS],&taglist_pos,1);
            
            poll_rx_ts = get_rx_timestamp_u64();//»ñµÃPoll°ü½ÓÊÕʱ¼äT2
 
            resp_tx_time = (poll_rx_ts + (POLL_RX_TO_RESP_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//¼ÆËãResponse·¢ËÍʱ¼äT3¡£
            dwt_setdelayedtrxtime(resp_tx_time);//ÉèÖÃResponse·¢ËÍʱ¼äT3
            dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS);//ÉèÖ÷¢ËÍÍê³Éºó¿ªÆô½ÓÊÕÑÓ³Ùʱ¼ä
            dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//½ÓÊÕ³¬Ê±Ê±¼ä
            
            memcpy(&tx_resp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);            
            memcpy(&tx_resp_msg[TAG_ID_IDX],&tag_id_recv,2);
            
            dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//дÈë·¢ËÍÊý¾Ý
            dwt_writetxfctrl(sizeof(tx_resp_msg), 0);//É趨·¢Ëͳ¤¶È
            result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//ÑÓ³Ù·¢ËÍ£¬µÈ´ý½ÓÊÕ
 
            
            frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
            if(result==0)
            {
                while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))///²»¶Ï²éѯоƬ״ֱ̬µ½½ÓÊճɹ¦»òÕß³öÏÖ´íÎó
            { };
        }
            if (status_reg & SYS_STATUS_RXFCG)//½ÓÊճɹ¦
            {
                dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ±ê־λ
                frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//Êý¾Ý³¤¶È
                dwt_readrxdata(rx_buffer, frame_len, 0);//¶ÁÈ¡½ÓÊÕÊý¾Ý
            if (rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //ÅжÏÊÇ·ñΪFinal°ü
                {
                    uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
                    uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
                    double Ra, Rb, Da, Db;
                    int64_t tof_dtu;
                    resp_tx_ts = get_tx_timestamp_u64();//»ñµÃresponse·¢ËÍʱ¼äT3
                    final_rx_ts = get_rx_timestamp_u64();//»ñµÃfinal½ÓÊÕʱ¼äT6
                    final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//´Ó½ÓÊÕÊý¾ÝÖжÁÈ¡T1£¬T4£¬T5
                    final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_TS_IDX], &resp_rx_ts);
                    final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
                    poll_rx_ts_32 = (uint32_t)poll_rx_ts;//ʹÓÃ32λÊý¾Ý¼ÆËã
                    resp_tx_ts_32 = (uint32_t)resp_tx_ts;
                    final_rx_ts_32 = (uint32_t)final_rx_ts;
                    Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
                    Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
                    Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
                    Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
                    tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//¼ÆË㹫ʽ
                    tof = tof_dtu * DWT_TIME_UNITS;
                    distance = tof * SPEED_OF_LIGHT;//¾àÀë=¹âËÙ*·ÉÐÐʱ¼ä
                    dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //¾àÀë¼õÈ¥½ÃÕýϵÊý
                    dist_cm = dist_no_bias * 100; //dis Îªµ¥Î»ÎªcmµÄ¾àÀë                
                    /*--------------------------ÒÔÏÂΪ·Ç²â¾àÂß¼­------------------------*/
                    //dist_cm=33000;
                    
                    LED0_BLINK; //ÿ³É¹¦Ò»´ÎͨѶÔòÉÁ˸һ´Î
                    dis_after_filter=dist_cm;
                    hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
if(hex_dist>-1000&&hex_dist<200000)
                    {
                        g_flag_Taggetdist[taglist_pos]=0;
                    if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
                    {
                        misdist_num[taglist_pos]=0;
                    tagdist_list[taglist_pos] = hex_dist;    
                    his_dist[taglist_pos]=hex_dist;    
                        g_Tagdist[taglist_pos]=hex_dist;    
                #ifndef USART_INTEGRATE_OUTPUT
                    usart_send[2] = 1;//Õý³£Ä£Ê½ 
                    usart_send[3] = 17;//Êý¾Ý¶Î³¤¶È
                    usart_send[4] = frame_seq_nb2;//Êý¾Ý¶Î³¤¶È
                    memcpy(&usart_send[5],&tag_id_recv,2);
                    memcpy(&usart_send[7],&dev_id,2);                
                    memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
                    usart_send[13] = battary;
                    usart_send[14] = button;
                    usart_send[15] = firstpath_power;
                    usart_send[16] = (rx_power-firstpath_power)*10;
                    usart_send[17] = tag_frequency;
                    usart_send[18] = tag_slotpos;
                    checksum = Checksum_u16(&usart_send[2],17);
                    memcpy(&usart_send[19],&checksum,2);
                    UART_PushFrame(usart_send,21);
                #else        
                    memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
                    memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
                    anc_report_num++;
                #endif
                 #ifdef DEBUG_INF
                 printf("ÐòºÅ£º%d\r\n",frame_seq_nb2);
                 #endif
                    }else{
                    //    printf("%d",hex_dist);
                        misdist_num[taglist_pos]++;
                    }
                }                        
                }
            }else{
                dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
            }
}
uint32_t time_monitor[10];
extern uint16_t configremotetagID;
extern u8 remotetag_paralen;
u8 finalsend=0;
u16 signalpower_list[TAG_NUM_IN_SYS];
uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
double Ra, Rb, Da, Db;
int64_t tof_dtu;
u32 errortimes,goodtimes;
u8 tagpossend_flag;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
{
    
            tmp_time=TIM3->CNT;
            memcpy(&tx_nearresp_msg[NR_NEARSWITCH_DISTANCE],&g_com_map[NEARSWITCH_DISTANCE_INDEX],2);
            memcpy(&tx_nearresp_msg[ANCTIMEMS],&sync_timer,2);
            memcpy(&tx_nearresp_msg[ANCTIMEUS],&tmp_time,2);
            memcpy(&tx_nearresp_msg[TAGSLOTPOS],&taglist_pos,2);
            memcpy(&tx_nearresp_msg[TAG_ID_IDX],&tag_id_recv,2);
            poll_rx_ts = get_rx_timestamp_u64();//»ñµÃPoll°ü½ÓÊÕʱ¼äT2
 
            resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+(ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//¼ÆËãResponse·¢ËÍʱ¼äT3¡£
            dwt_setdelayedtrxtime(resp_tx_time);//ÉèÖÃResponse·¢ËÍʱ¼äT3
            dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//ÉèÖ÷¢ËÍÍê³Éºó¿ªÆô½ÓÊÕÑÓ³Ùʱ¼ä
            dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//½ÓÊÕ³¬Ê±Ê±¼ä
            //dwt_readdiagnostics(&d1);
            if(tagpos[taglist_pos].tagid==tag_id_recv)
            {
                memcpy(&tx_nearresp_msg[TAGPOS_INDEX],&tagpos[taglist_pos],tagpos[taglist_pos].datalen+3);
                tagpossend_flag = 1;
            }else{
                tagpossend_flag = 0;
            }
            if(new_tagid)
            {
                tagdist_list[taglist_pos]=0x1ffff;    
            }
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
            memcpy(&tx_nearresp_msg[ANC_SIGNALPOWER],&signalpower_list[taglist_pos],2);
            tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
            tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
            tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
            waittagconfig_reponse=0;
            finalsend = 0;
            if(pwtag.remain_time>0)
                {uint8_t i;
                    for(i=0;i<pwtag.groupnum;i++)
                    {
                        if(pwtag.groupid[i][0]<=tag_id_recv&&tag_id_recv<=pwtag.groupid[i][1])
                        {
                            remotesend_state=1;
                            tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
                            remotetag_paralen = 2+3;
                            remotetag_para[0] = 2;
                            remotetag_para[1] = pwtag.index;
                            remotetag_para[2] = 2;
                            memcpy(&remotetag_para[3],&pwtag.group_interval[i],2);
                            memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,remotetag_paralen);
                            dwt_writetxdata(24+remotetag_paralen, tx_nearresp_msg, 0);//дÈë·¢ËÍÊý¾Ý
                            dwt_writetxfctrl(24+remotetag_paralen, 0);//É趨·¢Ëͳ¤¶È        
                            remotesend_state=0;
                            finalsend = 1;
                            break;
                        }                
                    }
                }else{
                    
                }
                    
                if(finalsend == 0)
                {
                    memcpy(&tx_nearresp_msg[MAXRANGE_DISTANCE],&g_com_map[MAXRANGDIST_INDEX],2);
                        dwt_writetxdata(28+tagpossend_flag*(tagpos[taglist_pos].datalen+3), tx_nearresp_msg, 0);//§Õ????????
                        dwt_writetxfctrl(28+tagpossend_flag*(tagpos[taglist_pos].datalen+3), 0);//?څ???????
                }
                    
//             if(remotesend_state&&tag_id_recv==configremotetagID)
//            {
//                 memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,remotetag_paralen);
//                dwt_writetxdata(22+remotetag_paralen, tx_nearresp_msg, 0);//дÈë·¢ËÍÊý¾Ý
//                dwt_writetxfctrl(22+remotetag_paralen, 0);//É趨·¢Ëͳ¤¶È        
//                waittagconfig_reponse=1;
//            }else{
 
            result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//ÑÓ³Ù·¢ËÍ£¬µÈ´ý½ÓÊÕ
 
            if(result==0)
            {
                while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))///²»¶Ï²éѯоƬ״ֱ̬µ½½ÓÊճɹ¦»òÕß³öÏÖ´íÎó
            { };
        }else{
            result++;
        }
    
            if (status_reg & SYS_STATUS_RXFCG)//½ÓÊճɹ¦
            {
                
                dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ±ê־λ
                frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//Êý¾Ý³¤¶È
                dwt_readrxdata(rx_buffer, frame_len, 0);//¶ÁÈ¡½ÓÊÕÊý¾Ý
            if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2)) //ÇÀÕ¼anchor Ê§°Ü
            {
                return 1;
            }
            if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //ÅжÏÊÇ·ñΪFinal°ü
                {
                    
                    resp_tx_ts = get_tx_timestamp_u64();//»ñµÃresponse·¢ËÍʱ¼äT3
                    final_rx_ts = get_rx_timestamp_u64();//»ñµÃfinal½ÓÊÕʱ¼äT6
 
//                    dwt_setrxtimeout(0);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
//                    dwt_rxenable(0);//´ò¿ª½ÓÊÕ
                    
                    final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//´Ó½ÓÊÕÊý¾ÝÖжÁÈ¡T1£¬T4£¬T5
                    final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+ancrec_nearbasepos*4], &resp_rx_ts);
                    final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
 
                    poll_rx_ts_32 = (uint32_t)poll_rx_ts;//ʹÓÃ32λÊý¾Ý¼ÆËã
                    resp_tx_ts_32 = (uint32_t)resp_tx_ts;
                    final_rx_ts_32 = (uint32_t)final_rx_ts;
//                    time_monitor[1] = sync_timer*1000+TIM3->CNT;    
                    Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
                    Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
                    Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
                    Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
                    tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//¼ÆË㹫ʽ
                    tof = tof_dtu * DWT_TIME_UNITS;
                    distance = tof * SPEED_OF_LIGHT;//¾àÀë=¹âËÙ*·ÉÐÐʱ¼ä
                    dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //¾àÀë¼õÈ¥½ÃÕýϵÊý
                    dist_cm = dist_no_bias * 100; //dis Îªµ¥Î»ÎªcmµÄ¾àÀë        
                    dwt_readdiagnostics(&d1);
//                    time_monitor[2] = sync_timer*1000+TIM3->CNT;    
                    LOS(&d1);        
                //    time_monitor[3] = sync_timer*1000+TIM3->CNT;                    
                    /*--------------------------ÒÔÏÂΪ·Ç²â¾àÂß¼­------------------------*/
                    //dist_cm=33000;
                    //GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_RESET);        
                    LED0_BLINK; //ÿ³É¹¦Ò»´ÎͨѶÔòÉÁ˸һ´Î
                    dis_after_filter=dist_cm;
                    hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
                    
                    if(hex_dist>-1000&&hex_dist<200000)
                    {
                        g_flag_Taggetdist[taglist_pos]=0;
                    if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
                    {
                        goodtimes++;
                        misdist_num[taglist_pos]=0;
                    tagdist_list[taglist_pos] = hex_dist;    
                    his_dist[taglist_pos]=hex_dist;    
                    g_Tagdist[taglist_pos]=hex_dist;    
                    signalpower_list[taglist_pos] = ((uint8_t)firstpath_power<<8)|(uint8_t)((rx_power-firstpath_power)*10);
//                #ifndef USART_INTEGRATE_OUTPUT
                    usart_send[2] = 1;//Õý³£Ä£Ê½ 
                    usart_send[3] = 17;//Êý¾Ý¶Î³¤¶È
                    usart_send[4] = frame_seq_nb2;//Êý¾Ý¶Î³¤¶È
                    memcpy(&usart_send[5],&tag_id_recv,2);
                    memcpy(&usart_send[7],&dev_id,2);                
                    memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
                    usart_send[13] = battary;
                    usart_send[14] = button;
                    usart_send[15] = firstpath_power;
                    usart_send[16] = (rx_power-firstpath_power)*10;
                    usart_send[17] = tag_frequency;
                    usart_send[18] = tag_slotpos;
                    checksum = Checksum_u16(&usart_send[2],17);
                    memcpy(&usart_send[19],&checksum,2);
                    //UART_PushFrame(usart_send,21);
//                #else        
//                    memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
//                    memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
//                    anc_report_num++;
//                #endif
//                 #ifdef DEBUG_INF
//                 printf("ÐòºÅ£º%d\r\n",frame_seq_nb2);
//                 #endif
                    }else{
                    //    printf("%d",hex_dist);
                        misdist_num[taglist_pos]++;
                    }
                }else{
                    errortimes++;
                     usart_send[13] = battary;
                    }
                    if(rx_buffer[TAGCONFIGSUCCESS_INDEX]==1)
                    {
                    
                        remotesend_state = 0;
                        usart_send[2] = 7;//Õý³£Ä£Ê½ 
                        usart_send[3] = 5;//Êý¾Ý¶Î³¤¶È
                        memcpy(&usart_send[4],&tag_id_recv,2);
                        usart_send[6] = 1;//Êý¾Ý¶Î³¤¶È
                        checksum = Checksum_u16(&usart_send[2],5);
                        memcpy(&usart_send[7],&checksum,2);
                        UART_PushFrame(usart_send,9);
                    }
            }
            }else{
                 #ifdef DEBUG_INF
                    printf("final°üʧ°Ü£º%x/n",status_reg);
                #endif
                dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
            }
}
void Anchor_Start(void)
{
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
    g_start_sync_flag=0;
 
    dwt_setrxtimeout(1000);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
    dwt_rxenable(0);//´ò¿ª½ÓÊÕ
//    while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//²»¶Ï²éѯоƬ״ֱ̬µ½½ÓÊճɹ¦»òÕß³öÏÖ´íÎó
//    { 
//        //IdleTask();
//    };
}
extern int32_t intheight;
extern u16 synclost_count;
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase,waitsync_flag;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num,zero_matrix[100]={0};
u16 ancidlist_rec[20],ancidlist_send[20];
u16 recnearbaselist_id[30],rec_taganc_signalpower_list[11];
int32_t recnearbaselist_dist[30];
int16_t rec_tagheight;
u16 timm = 0;
void Anchor_App(void)
{
    
    u8 send_len,i;
    u16 tempid;
    uint32_t rec_syncid;
    
//    dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
//    g_start_sync_flag=0;
 
//    dwt_setrxtimeout(0);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
//    dwt_rxenable(0);//´ò¿ª½ÓÊÕ
//    GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);    
//    while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//²»¶Ï²éѯоƬ״ֱ̬µ½½ÓÊճɹ¦»òÕß³öÏÖ´íÎó
//    { 
//        //IdleTask();
//    };
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);    
    dwt_setinterrupt(  DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0);
    status_reg  = dwt_read32bitreg(SYS_STATUS_ID);
    if (status_reg & SYS_STATUS_RXFCG)//³É¹¦½ÓÊÕ
    { u16 tag_recv_interval;
        float temp_tagpos;
//    time_monitor[0] = sync_timer*1000+TIM3->CNT;
        g_Resttimer=0;
        dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//Çå³ý±ê־λ
        frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//»ñµÃ½ÓÊÕÊý¾Ý³¤¶È
        dwt_readrxdata(rx_buffer, frame_len, 0);//¶ÁÈ¡½ÓÊÕÊý¾Ý
        memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
        //½«ÊÕµ½µÄtag_id·Ö±ðдÈë¸÷´ÎͨѶµÄ°üÖУ¬Îª¶à±êǩͨѶ·þÎñ£¬·ÀÖ¹Ò»´ÎͨѶÖнÓÊÕµ½²»Í¬ID±êÇ©µÄÊý¾Ý
        memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
        switch(rx_buffer[MESSAGE_TYPE_IDX])
        {
            uint16_t checksum;
            case DISCOVERPOLL:
                if (anchor_type == rx_buffer[ANCHOR_ID_IDX])
                {
                taglist_pos=CmpTagInList(tag_id_recv);
                if(taglist_pos==taglist_num)
                {
                    taglist_pos=taglist_num;
                    tagid_list[taglist_num++]=tag_id_recv;
                    
                    new_tagid=1;
                }else{
                    new_tagid=0;
                }
                tagofflinetime[taglist_pos]=0;
                
                rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
                if(rec_nearbase_num>=30)
                {
                    break;
                }
                battary = rx_buffer[BATTARY_IDX];
                button = rx_buffer[BUTTON_IDX];
                frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
            tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
            tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
               
      ////////////////»ùÕ¾»ã×ÜģʽÊý¾Ý          
               memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6],2);
                memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
                memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4);
                Anchor_RecPoll();
                }
                break;
            case SPOLL:
                //if (anchor_type == rx_buffer[ANC_TYPE_IDX])
            if(dev_id==anc_id_recv)
            {
                taglist_pos=CmpTagInList(tag_id_recv);
                if(taglist_pos==taglist_num)
                {
                    taglist_pos=taglist_num;
                    tagid_list[taglist_num++]=tag_id_recv;
                    
                    new_tagid=1;
                }else{
                    new_tagid=0;
                }
                tagofflinetime[taglist_pos]=0;
                
                rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
                if(rec_nearbase_num>=30)
                {
                    break;
                }
                battary = rx_buffer[BATTARY_IDX];
                button = rx_buffer[BUTTON_IDX];
                frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
            tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
            tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
               
      ////////////////»ùÕ¾»ã×ÜģʽÊý¾Ý          
               memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6],2);
                memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
                memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4);
                usart_send[2] = 0x0c;//Õý³£Ä£Ê½ 
                    usart_send[3] = 15+8*(rec_nearbase_num);//Êý¾Ý¶Î³¤¶È
                    memcpy(&usart_send[4],&tag_id_recv,2);
                    usart_send[6] = rx_buffer[SEQUENCE_IDX];
                    usart_send[7] = rx_buffer[SEQUENCEH_IDX];
                    usart_send[8] = battary;
                    usart_send[9] = button;
                    memcpy(&usart_send[10],&rec_tagheight,2);
                    usart_send[12] = tag_frequency;
                    usart_send[13] = tag_slotpos;
                    usart_send[14] = 0;
                    usart_send[15] = 0;
                    usart_send[16] = rec_nearbase_num;
                   
                    memcpy(&usart_send[17],&recnearbaselist_id,2*rec_nearbase_num);
                    memcpy(&usart_send[17+rec_nearbase_num*2],&recnearbaselist_dist,4*rec_nearbase_num);
                    memcpy(&usart_send[17+rec_nearbase_num*6],zero_matrix,2*rec_nearbase_num);
                    
                    checksum = Checksum_u16(&usart_send[2],15+8*rec_nearbase_num);
                    memcpy(&usart_send[17+8*rec_nearbase_num],&checksum,2);
                    UART_PushFrame(usart_send,19+8*rec_nearbase_num);
                Anchor_RecPoll();
            }
                break;
            case SYNC:            
                memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
            if(anc_id_recv==g_com_map[SYNCBASEID])
            {
                    synclost_count = 0;
                    flag_syncbase=0;
                    sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
                    TIM3->CNT = (sync_seq*325%1000)-27;
                    sync_timer = (sync_seq*325/1000);
                    synclost_timer=0;
                if(g_com_map[BASESYNCSEQ]==2)
                    SyncPoll(sync_seq);
            }
                break;
            case NEAR_MSG:
                if(anc_id_recv==dev_id)
                {
                    rx_buffer[TAGSLOTPOS]=taglist_pos;
                    tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
                    memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
                    memcpy(&tx_near_msg[NEARMSG_EMPTYSLOTPOS_INDEX],&tagpos_binary,4);
                    ancidlist_num=g_com_map[NEARBASE_NUM];
                    tx_near_msg[NEARBASENUM_INDEX]=g_com_map[NEARBASE_NUM];
                    memcpy(&tx_near_msg[NEARBASEID_INDEX],&g_com_map[NEARBASE_ID1],g_com_map[NEARBASE_NUM]*2);
                    send_len=21+ancidlist_num*2;
                    dwt_writetxdata(send_len, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
                    dwt_writetxfctrl(send_len, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
                    dwt_starttx(DWT_START_TX_IMMEDIATE);
                }
                break;
        case REG_POLL:    
            for(i=0;i<MAX_REGTAGNUM;i++)
        {
            if(tag_id_recv==regtag_map.tagid[i]&&regtag_map.remain_time[i]>0)
            {
                    tx_near_msg[REGR_TAGSLOTPOS_INDEX]=regtag_map.tag_slotpos[i];
                    tx_near_msg[REGR_TAGFREQ_INDEX] = regtag_map.tag_frequency[i];
                    memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
                    memcpy(&tx_near_msg[ANCHOR_ID_IDX],&dev_id,2);
                    tx_near_msg[MESSAGE_TYPE_IDX] = REG_RESPONSE;
                    ancidlist_num=g_com_map[NEARBASE_NUM];
                    tx_near_msg[NEARBASENUM_INDEX]=g_com_map[NEARBASE_NUM];
                    memcpy(&tx_near_msg[NEARBASEID_INDEX],&g_com_map[NEARBASE_ID1],g_com_map[NEARBASE_NUM]*2);
                    send_len=21+ancidlist_num*2;
                    dwt_writetxdata(send_len, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
                    dwt_writetxfctrl(send_len, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
                    dwt_starttx(DWT_START_TX_IMMEDIATE);
                    regtag_map.tagid[i] = 0;
                break;
            }
        
        }
        if(i==MAX_REGTAGNUM&&g_com_map[NEARSWITCH_DISTANCE_INDEX] != 0)
        {
            dwt_readdiagnostics(&d1);
            LOS(&d1);    
            usart_send[2]=0x0a;
            usart_send[3]=20;
            memcpy(&usart_send[4],&dev_id,2);
            memcpy(&usart_send[6],&tag_id_recv,2);
            memcpy(&usart_send[8],&rx_buffer[10],9);
            usart_send[17] = firstpath_power;
            memcpy(&usart_send[18],&rx_buffer[19],2);
            checksum = Checksum_u16(&usart_send[2],20);
            memcpy(&usart_send[22],&checksum,2);
            UART_PushFrame(usart_send,24);
        }
        break;
            case NEAR_POLL:        
        //    GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);    
               
                memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
                taglist_pos=CmpTagInList(tag_id_recv);
                if(taglist_pos==taglist_num)
                {
                    taglist_pos=taglist_num;
                    tagid_list[taglist_num++]=tag_id_recv;
                    
                    new_tagid=1;
                }else{
                    new_tagid=0;
                }
                tagofflinetime[taglist_pos]=0;
                temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
                tagpos_rec[(u8)temp_tagpos]=1;
                rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
                if(rec_nearbase_num>30)
                {
                    break;
                }
                battary = rx_buffer[BATTARY_IDX];
                button = rx_buffer[BUTTON_IDX];
                frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
            tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
            tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
      ////////////////»ùÕ¾»ã×ÜģʽÊý¾Ý          
                memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*8+6],2);
                memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
                memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4+4);
                memcpy(&rec_taganc_signalpower_list,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6+4],rec_nearbase_num*2+2);
                if(anc_id_recv == dev_id||g_com_map[OUTPUTALLNEARPOLLMSG] == 1 )
                {
                    usart_send[2] = 0x0c;//Õý³£Ä£Ê½ 
                    usart_send[3] = 15+8*(rec_nearbase_num+1);//Êý¾Ý¶Î³¤¶È
                    memcpy(&usart_send[4],&tag_id_recv,2);
                    usart_send[6] = rx_buffer[SEQUENCE_IDX];
                    usart_send[7] = rx_buffer[SEQUENCEH_IDX];
                    usart_send[8] = battary;
                    usart_send[9] = button;
 
                    memcpy(&usart_send[10],&rec_tagheight,2);
                    usart_send[12] = tag_frequency;
                    usart_send[13] = tag_slotpos;
                    usart_send[14] = 0;
                    usart_send[15] = 0;
                    usart_send[16] = rec_nearbase_num+1;
                    memcpy(&usart_send[17],&anc_id_recv,2);
                    memcpy(&usart_send[19],&recnearbaselist_id,2*rec_nearbase_num);
                    memcpy(&usart_send[19+rec_nearbase_num*2],&recnearbaselist_dist,4*rec_nearbase_num+4);
                     memcpy(&usart_send[19+rec_nearbase_num*6+4],&rec_taganc_signalpower_list,2*rec_nearbase_num+2);
                    
                    checksum = Checksum_u16(&usart_send[2],23+8*rec_nearbase_num);
                    memcpy(&usart_send[25+8*rec_nearbase_num],&checksum,2);
                    UART_PushFrame(usart_send,27+8*rec_nearbase_num);
//                    UART_CheckSend();
                    
                    timm++;
                }
    //////////////////////////////////////////////////////////////            
                
                
GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);    
            if(anc_id_recv==dev_id)
            {
                Anchor_RecNearPoll(rec_nearbase_num);    
            }else{
                    
                for(i=0;i<rec_nearbase_num;i++)
                {
                     memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
                    if(tempid==dev_id)
                    {
                        
                        seize_anchor=0;  //·ÇÇÀÕ¼¡£ÒÑ´æÔÚÁбíÖÐ
                        Anchor_RecNearPoll(i);    
                        break;
                    }                        
                }
            }
                //ÇÀռģʽ
//                    if(i==rec_nearbase_num)
//                    {
//                        seize_anchor=1;   //ÇÀÕ¼anchor
//                        Anchor_RecNearPoll(i);    
//                    }
//                    if(tag_id_recv==0x4008)
//                    printf("±êÇ©¸ß¶È: %d,»ùÕ¾¸ß¶È: %d,¸ß¶È²î£º %d. \r\n",rec_tagheight,intheight,intheight-rec_tagheight);
                
                break;
             default:
                
                break;
        }    
    }else{
         #ifdef DEBUG_INF
        printf("poll°üʧ°Ü£º%x/n",status_reg);
        #endif
        dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
    }
UART_CheckSend();
    dwt_setinterrupt(  DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
        dwt_setrxtimeout(0);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
    dwt_rxenable(0);//´ò¿ª½ÓÊÕ
    
}