防丢标签V1.0,demo版本实现震动和测距

chen

4 天以前 bccfff0ace10f85619e9f1fd4b2806f99e9390c2

 keil/uwb_tag.c

@@ -2,23 +2,25 @@
#include "mk_uwb.h"
#include "mk_phy.h"
#include "mk_misc.h"
#include "mk_wdt.h"
#include "mk_power.h"
#include "mk_sleep_timer.h"
#include "lib_ranging.h"
#include "dw_tag.h"
#include "board.h"
#include "mk_calib.h"
#include <serial_at_cmd_app.h>
#include <global_param.h>
extern int TagRange(void);
extern Operation_step UWB_work_state;
#include "stdlib.h"
#include "mk_flash.h"
#include "global_param.h"

#define CALCULATE_TIMECOUNT
extern int TagRange(void);
void Tag_uwb_init(void);
void TagListUpdate(void);
/* Ranging period: 1s */
#define RANGING_PERIOD_MS (1000)
#define RANGING_PERIOD_MS (10000)

/* This is the delay from the end of the poll frame transmission to the enable of the receiver */
#define POLL_TX_TO_RESP_RX_DLY_US 750U  //yuan700
#define POLL_TX_TO_RESP_RX_DLY_US 550U  //yuan700

#define RESP_RX_TO_FINAL_TX_DLY_US 550U

@@ -26,30 +28,18 @@
#define POLL_DELAY  100U //yuan100U

/* Receive response timeout */
#define RESP_RX_TIMEOUT_US 10000 //Yuan500 10mssuccess 300jixian

#define RESP_RX_TIMEOUT_US_DEFAULT 600U //Yuan500 10mssuccess 300jixian
#define RESP_RX_TIMEOUT_US 2000000
/* 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 DELAY_BETWEEN_TWO_FRAME_UUS 600  //yuan1400
#define DELAY_DEFAULT 50000
#define DELAY_BETWEEN_TWO_FRAME_UUS 550  //yuan1400
#define HALF_SECOND_TIME 62400000

#define STARTPOLL  DISCPOLL//#define SWITCHBASE_DIST
#define SWITCHBASE_ZHUANDIAN
#define SWITCHBASE_DIST
enum enumtagstate
{

    DISCPOLL,
    REGPOLL,
    GETNEARMSG,
    NEARPOLL,
    SINGLEPOLL,
} tag_state=STARTPOLL;
static uint16_t CmpTagInList(uint16_t tagid);
uint16_t CmpTagInList(uint16_t tagid);
uint16_t AddNewTagIntoList(uint16_t tagid);
void AnchorListUpdate(void);
void Rank_ANchor_list_by_dis(void);
@@ -60,10 +50,12 @@
};
extern uint32_t dev_id;
extern uint8_t group_id;

#ifdef DW1000
/* Default communication configuration. */
static struct mk_uwb_configure config = {//yuan
    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
    .phy_cfg.ch_num = 5,                      /* Channel number.                           */
    .phy_cfg.ch_num = UWB_CH_NUM,             /* 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                            */
@@ -76,6 +68,51 @@
    .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,
};
#else //MKmode
/* Default communication configuration. */
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
///* Default communication configuration. */
//static struct mk_uwb_configure config = {
//    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
@@ -110,9 +147,9 @@
 *     - byte 14 - 17: response message reception timestamp.
 *     - byte 18 - 21: final message transmission timestamp.
 */
//static uint8_t tx_poll_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x02};
//static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x4D, 0x49, 0x53, 0x45, 0x03, 0x07};
//static uint8_t tx_final_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x04, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
static uint8_t tx_poll_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x02};
static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x4D, 0x49, 0x53, 0x45, 0x03, 0x07};
static uint8_t tx_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_tx_en_start_u32;
@@ -131,31 +168,32 @@
static volatile uint16_t rx_state1;
static volatile uint16_t rx_length;
//DW
uint16_t rec_nearbaseid;
//uint16_t rec_nearbaseid;
uint8_t temp_tag_num;
int32_t test2;
static uint8_t receive_flag=0;
static uint8_t rec_tag_index,tag_num_tosend;

static uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
uint16_t  taglist_total_num,taglist_current_index;  //当前列表总数量

uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
uint8_t  taglist_keeptime[MAX_TAG_LIST_NUM]; //每个标签存活时间
uint16_t taglist_id[MAX_TAG_LIST_NUM],taglist_dist[MAX_TAG_LIST_NUM]; //标签距离和标签的ID
uint16_t taglist_id[MAX_TAG_LIST_NUM],taglist_dist[MAX_TAG_LIST_NUM],temp_index; //标签距离和标签的ID

int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
uint8_t anclost_times=0 , mainbase_lost_count=0,exsistbase_list[MAX_NEARBASE_NUM],get_newbase=0,nearbase_num,last_nearbase_num,next_nearbase_num;
uint16_t nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
uint16_t nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],rec_nearbaseid,rec_nearbasepos;
uint16_t u16_nearbase_distlist[MAX_NEARBASE_NUM];
uint32_t temp_tag_count1=0;
uint32_t temp_tag_count2=0;
uint32_t temp_tag_count3=0;
uint32_t temp_count1=0;
uint32_t temp_count2=0;
uint32_t temp_count3=0;
uint32_t temp_count4=0;
uint32_t tempflag=0;
int32_t freq_offset,freq_offset_filter; 
int temp_flag,poll_tx_num,resp_rx_num;
extern double distance;
extern uint8_t bat_percent;
uint32_t count1,count2;
extern double distance_tag;
extern uint32_t reboot_num;
enum SIMPLE_FSM_T
{
    SIMPLE_IDLE = 0,
@@ -165,19 +203,27 @@
};
void uwb_poll_buffer_construct(void)
{
   for(uint8_t i=0;i<nearbase_num;i++)   //标签距离32位转成16位
{
    u16_nearbase_distlist[i] = nearbase_distlist[i];
}
//   for(uint8_t i=0;i<nearbase_num;i++)   //标签距离32位转成16位
//{
//    u16_nearbase_distlist[i] = nearbase_distlist[i];
//}
	
    tag_num_tosend = taglist_total_num-taglist_current_index;
    if(tag_num_tosend>SEND_GROUP_MAX_NUM)  //这次发的数量
    {
        tag_num_tosend = SEND_GROUP_MAX_NUM;
    }
    memcpy(&uwb_sendbuffer[7],&g_com_map[VERSION],2);
      uwb_sendbuffer[GROUP_ID_IDX] = group_id;
      memcpy(&uwb_sendbuffer[TAG_ID_IDX],&dev_id,2);
   //uwb_sendbuffer[BATTARY_IDX] = bat_percent;
      uwb_sendbuffer[BATTARY_IDX] = bat_percent;
    uwb_sendbuffer[SEQUENCE_IDX] = frame_seq_nb++;
      uwb_sendbuffer[NEARBASENUM_INDEX] = nearbase_num;
      memcpy(&uwb_sendbuffer[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);//基站id
    memcpy(&uwb_sendbuffer[NEARBASEID_INDEX+nearbase_num*2],&u16_nearbase_distlist,nearbase_num*2);
      uwb_sendbuffer[NEARBASENUM_INDEX] = tag_num_tosend;
      memcpy(&uwb_sendbuffer[NEARBASEID_INDEX],&taglist_id[taglist_current_index],tag_num_tosend*2);//基站id
    memcpy(&uwb_sendbuffer[NEARBASEID_INDEX+tag_num_tosend*2],&taglist_dist[taglist_current_index],tag_num_tosend*2);
      uwb_sendbuffer[MESSAGE_TYPE_IDX] = MBX_POLL;   
      memcpy(&uwb_sendbuffer[ANCHOR_ID_IDX],&mainbase_id,2);
    
}

static enum SIMPLE_FSM_T state = SIMPLE_IDLE;
@@ -197,15 +243,7 @@

    return tx_timestamp;
}
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;
    }
}

/**
 * @brief Correct RX timestamp of the ranging frame.
 *
@@ -221,13 +259,14 @@

    return rx_timestamp;
}

uint32_t temp_rx_first_stamp,temp_rx_second_stamp;
uint16_t temp_rx_first_id,temp_rx_second_id;
/* RX done process handler. */
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{
    // Power off radio
    power_off_radio();

      //tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);
    rx_state = rx_report->err_code;

    /** UWB RX success */
@@ -238,13 +277,22 @@
        memcpy(rx_buf, rx_report->pkt_data, rx_length);
        /* Calculate rx timestamp */
        resp_rx_ts_i64 = ranging_rx_time_correct(rx_report);
            temp_tag_count1=phy_timer_count_get();
//         if(temp_rx_first_stamp==0)
//         {
//         temp_rx_first_stamp=(uint32_t)resp_rx_ts_i64;
//         memcpy(&temp_rx_first_id,&rx_buf[1],2);
//         }else{
//         memcpy(&temp_rx_second_id,&rx_buf[1],2);
//         temp_rx_second_stamp=(uint32_t)resp_rx_ts_i64;
//         }
            temp_count1=phy_timer_count_get();
               //获取发射端时钟偏差
         resp_rx_num++;
         freq_offset=phy_freq_offset_get();
         freq_offset_filter=average_filter(freq_offset);//获取频偏
//         int32_t ppm = freq_offset_filter / (int32_t)(ch_center_freq_map[UWB_CH_NUM] * 1e-6);
//         calib_xtal38m4_load_cap_auto_tune(ppm);//利用电容调整晶振适配频偏应在完整的一包之后调整，需要关闭XTAL_AUTO_TUNE_EN 宏定义避免收包中途校准导致测距错误
			
      //   freq_offset_filter=average_filter(freq_offset);//获取频偏
         //int32_t ppm = freq_offset_filter / (int32_t)(ch_center_freq_map[UWB_CH_NUM] * 1e-6);
         //calib_xtal38m4_load_cap_auto_tune(ppm);//利用电容调整晶振适配频偏应在完整的一包之后调整，需要关闭XTAL_AUTO_TUNE_EN 宏定义避免收包中途校准导致测距错误
         //LOG_INFO(TRACE_MODULE_APP, "poll_tx_num is %d,resp_rx_num is %d,distance is %lf\r\n",poll_tx_num,resp_rx_num,distance);   
         receive_flag=1;
         
@@ -260,10 +308,10 @@
            rx_state1=rx_report->err_code;   
        rx_length = 0;
            receive_flag=2;
         temp_tag_count2=phy_timer_count_get();
         temp_count2=phy_timer_count_get();
         
    }
		
      //tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
}

/* TX done process handler. */
@@ -282,77 +330,36 @@
            temp_flag=0;
            return;
         }
         count1=temp_tag_count1;
         count1=temp_count1;
            temp_flag=1;
    }
}

#ifdef _UWB_1HZ
uint16_t time111=1000;
void SetLPTimer(uint16_t time)
{
    sleep_timer_stop();
    if(time==0)
    {
    time111=1000;
    sleep_timer_start(__MS_TO_32K_CNT(time111));    
    }
    else
    {
    time111=time111+time;
    if(time111>1100)
    {
    time111=1000;
    }
    sleep_timer_start(__MS_TO_32K_CNT(time111));//测试 
    }    
}
#else
uint16_t time111=5000;
void SetLPTimer(uint16_t time)
{
    sleep_timer_stop();
    if(time==0)
    {
    time111=5000;
    sleep_timer_start(__MS_TO_32K_CNT(time111));    
    }
    else
    {
    time111=time111+time;
    if(time111>5100)
    {
    time111=5000;
    }
    sleep_timer_start(__MS_TO_32K_CNT(time111));//测试 
    }    
}
#endif


////注意：因为新注册的标签并不知道基站已经收到了，所以要在下一包立刻将新的标签ID发出，否则标签会一直抢占基站的poll包。
////方法是将新注册的标签添加到下次发送的标签列表头部，其他标签依次向后挪动。
//uint16_t AddNewTagIntoList(uint16_t tagid)  
//{                                       
//     uint16_t newindex_cal = taglist_current_index+25;//当前索引+25，为下次索引要发出的值的最大值，如果总数小于这个值，即可放到最后面。
//      if(newindex_cal>=taglist_total_num) //如果当前索引是最后一包，那么就加到总索引的后面，如果不是就加到下一次起始索引位置。
//      {
//        newindex_cal = taglist_total_num;
//          
//      }else{           
//         for(uint16_t i=taglist_total_num;i>newindex_cal;i--)  //从后往前挪地方??就是插入
//            {
//                taglist_id[i]=taglist_id[i-1];
//                taglist_dist[i]=taglist_dist[i-1];
//                taglist_keeptime[i]=taglist_keeptime[i-1];
//            }          
//      }
//      taglist_total_num++;
//      taglist_id[newindex_cal] = tagid;
//      taglist_dist[newindex_cal] = 0;
//      taglist_keeptime[newindex_cal] = TAG_KEEPTIMES;
//      return newindex_cal;
//}
//注意：因为新注册的标签并不知道基站已经收到了，所以要在下一包立刻将新的标签ID发出，否则标签会一直抢占基站的poll包。
//方法是将新注册的标签添加到下次发送的标签列表头部，其他标签依次向后挪动。
uint16_t AddNewTagIntoList(uint16_t tagid)  
{                                       
     uint16_t newindex_cal = taglist_current_index+SEND_GROUP_MAX_NUM;//当前索引+25，为下次索引要发出的值的最大值，如果总数小于这个值，即可放到最后面。
      if(newindex_cal>=taglist_total_num) //如果当前索引是最后一包，那么就加到总索引的后面，如果不是就加到下一次起始索引位置。
      {
        newindex_cal = taglist_total_num;
          
      }else{           
         for(uint16_t i=taglist_total_num;i>newindex_cal;i--)  //从后往前挪地方??就是插入
            {
                taglist_id[i]=taglist_id[i-1];
                taglist_dist[i]=taglist_dist[i-1];
                taglist_keeptime[i]=taglist_keeptime[i-1];
            }          
      }
      taglist_total_num++;
      taglist_id[newindex_cal] = tagid;
      taglist_dist[newindex_cal] = 0;
      taglist_keeptime[newindex_cal] = KEEP_TIMES;
      return newindex_cal;
}
uint8_t FindNearBasePos(uint16_t baseid)//寻找当前列表中的基站返回索引
{
   uint8_t i;
@@ -365,63 +372,78 @@
      return nearbase_num;
}

//void AnchorListUpdate(void)
//{
//   next_nearbase_num = 0;
//         int j=0;
//         for(int i=0;i<nearbase_num;i++)
//         {
//            if(exsistbase_list[i]>0)
//            {	
//          exsistbase_list[i]--;	
//               next_nearbase_num++;
//               true_exsistbase_list[j]=exsistbase_list[i];
//               true_nearbase_idlist[j]=nearbaseid_list[i];			
//               true_nearbase_distlist[j++]=nearbase_distlist[i];
//					
//            }
//            nearbase_num = next_nearbase_num;//更新现存基站数
//            last_nearbase_num = next_nearbase_num;//更新当前基站数
//         }
//}
void AnchorListUpdate(void)
{
   next_nearbase_num = 0;
         int j=0;
         for(int i=0;i<nearbase_num;i++)
         {
            if(exsistbase_list[i]>0)
            {	
          exsistbase_list[i]--;	
               next_nearbase_num++;
               true_exsistbase_list[j]=exsistbase_list[i];
               true_nearbase_idlist[j]=nearbaseid_list[i];			
               true_nearbase_distlist[j++]=nearbase_distlist[i];
					
            }
         }
         nearbase_num = next_nearbase_num;//更新现存基站数
         last_nearbase_num = next_nearbase_num;//更新当前基站数
}
int temp_j;
void TagListUpdate(void)
{
   uint16_t i,j=0,temp[TAG_NUM_IN_SYS];
   for(i=0;i<taglist_total_num;i++)
   {
      if(taglist_keeptime[i]-->0)
      {
         taglist_id[j]=taglist_id[i];
         taglist_keeptime[j++]=taglist_keeptime[i];//自动覆盖，即从前往后寻找存活时间为0的标签，并把它用后面离得最近的第一个有效存活的标签覆盖，那么最后j的值就是当前有效个数

//void Rank_ANchor_list_by_dis(void)//按照目前的基站距离进行冒泡排序用临时数组方式将最近的放到最前面，最远的放到最后面
//{
//for(int i=0;i<last_nearbase_num-1;i++)
//         {
//            for(int j=0;j<last_nearbase_num-1;j++)
//            {
//               if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
//               {
//                  uint32_t temp_dist,temp_id,temp_exsis;
//                  temp_dist=true_nearbase_distlist[j];
//                  temp_id = true_nearbase_idlist[j];
//                  temp_exsis=true_exsistbase_list[j];
//                  true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
//                  true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
//                  true_exsistbase_list[j]=true_exsistbase_list[j+1];
//						
//                  true_nearbase_distlist[j+1]=temp_dist;
//                  true_nearbase_idlist[j+1]=temp_id;
//                  true_exsistbase_list[j+1]=temp_exsis;
//               }			
//            }
//         }
//         for (int i=0;i<last_nearbase_num;i++)
//         {
//            nearbaseid_list[i]=true_nearbase_idlist[i];
//            nearbase_distlist[i]=true_nearbase_distlist[i];
//            exsistbase_list[i] = true_exsistbase_list[i];
//         }
//}
static uint16_t CmpTagInList(uint16_t tagid)//找这个新一包的基站在不在现存的taglist中在的话对应位置更新存活时间，不在就增加（确保有效数量小于最大设置数）
      }
   }
   temp_j=j;
   taglist_total_num=j;
}
void Rank_ANchor_list_by_dis(void)//按照目前的基站距离进行冒泡排序用临时数组方式将最近的放到最前面，最远的放到最后面
{
for(int i=0;i<last_nearbase_num-1;i++)
         {
            for(int j=0;j<last_nearbase_num-1;j++)
            {
               if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
               {
                  uint32_t temp_dist,temp_id,temp_exsis;
                  temp_dist=true_nearbase_distlist[j];
                  temp_id = true_nearbase_idlist[j];
                  temp_exsis=true_exsistbase_list[i];
                  true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
                  true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
                  true_exsistbase_list[j]=true_exsistbase_list[j+1];
						
                  true_nearbase_distlist[j+1]=temp_dist;
                  true_nearbase_idlist[j+1]=temp_id;
                  true_exsistbase_list[j+1]=temp_exsis;
               }			
            }
         }
         for (int i=0;i<last_nearbase_num;i++)
         {
            nearbaseid_list[i]=true_nearbase_idlist[i];
            nearbase_distlist[i]=true_nearbase_distlist[i];
            exsistbase_list[i] = true_exsistbase_list[i];
         }
}
uint16_t CmpTagInList(uint16_t tagid)//找这个新一包的基站在不在现存的taglist中在的话对应位置更新存活时间，不在就增加（确保有效数量小于最大设置数）
{
    uint16_t temp;
   for(uint8_t i=0;i<taglist_total_num;i++)
   {
      if(memcmp(&tagid,&taglist_id[i],2)==0)
        {
            taglist_keeptime[i] = TAG_KEEPTIMES;
            taglist_keeptime[i] = KEEP_TIMES;
         return i;
        }
   }
@@ -429,646 +451,504 @@
    temp = AddNewTagIntoList(tagid);
   return temp;
}

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_near_msg[180] = {0};
uint32_t rec_tagpos_binary;
uint16_t nearbaseid_list2[MAX_NEARBASE_NUM];
uint8_t module_power,imu_enable,motor_enable;
extern uint8_t bat_percent;
extern uint16_t tag_frequency;
uint16_t bigslot_num;
uint16_t tagslotpos;
uint8_t trygetnearmsg_times,try_reg_times;
uint8_t tag_succ_times=0;
int32_t salvebase_mindist;
uint8_t recbase_num=0;
#define MAX_NEARBASE_ANCNUM 11
uint16_t rec_maxrangelen,rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
uint8_t flag_finalsend,flag_getresponse,flag_rxon;
uint8_t nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
int32_t temp_dist;
void GetNearMsg(void)
uint32_t count_index;
int tt=1;
float freqlost_count;
void Tag_uwb_init(void)
{
    uint32_t start_poll,frame_len;
    uint8_t nearmsg_i=0;
//    NextSlotDelayMs(0);
    phy_timer_open(1, IRQ_PRIORITY_HIGH);
    mac_register_process_handler(tx_int_callback, rx_int_callback);
    for(nearmsg_i=0; nearmsg_i<MAX_NEARBASE_NUM; nearmsg_i++)
    {
        nearbase_distlist[nearmsg_i] = 0x1ffff;
    }
//mainbase_id = 0x1;
    memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
    memcpy(&tx_near_msg[TAG_ID_IDX],&g_com_map[DEV_ID],2);
    tx_near_msg[MESSAGE_TYPE_IDX] = POS_MSG;
//发送必须要延时发送才可以用于测距否则立即发送会获取时间戳不对，需要计算程序运行时间，避免设置过去时间
    poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);
    tempflag=uwb_tx(tx_near_msg,12,1,poll_tx_en_start_u32);//立即发送
    poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//修正时间戳
//    temp_count1=phy_timer_count_get();
    while(mac_is_busy());//等待发送完成
//    temp_count2=phy_timer_count_get();
    //设置发送多少s后接收按target独立时间起点算+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US为发送后要多久开启接收时间
    resp_rx_en_start_u32 =  poll_tx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);
    temp_resp=resp_rx_en_start_u32;
    tempflag=uwb_rx(0,0, RESP_RX_TIMEOUT_US);
    while(mac_is_busy())//等待接收完成
    {
    IdleTask();
    } 
    if(receive_flag==1)//成功接收数据
    {
        receive_flag=0;
        if (rx_buf[MESSAGE_TYPE_IDX] == POS_MSG&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
        {
            nearbase_num=rx_buf[NEARBASENUM_INDEX];
            memcpy(&rec_tagpos_binary,&rx_buf[NEARMSG_EMPTYSLOTPOS_INDEX],4);
            //   tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
            //tagslotpos=rx_buffer[TAGSLOTPOS];
            memcpy(nearbaseid_list,&rx_buf[NEARBASEID_INDEX],nearbase_num*2);
            memcpy(nearbaseid_list2,&rx_buf[NEARBASEID_INDEX],nearbase_num*2);
            //slottime=ceil((nearbase_num+2)*0.3)+1;
            //tyncpoll_time=tagslotpos*slottime;
            //tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
            tag_state=NEARPOLL;
        }
    }
    else {
//         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
    }
}
void Registor_Poll(void)
{
    static uint8_t regpoll_count=0;
    mainbase_lost_count = 0;
    phy_timer_open(1, IRQ_PRIORITY_HIGH);
    mac_register_process_handler(tx_int_callback, rx_int_callback);
//    tag_frequency = REGISTER_FREQUENCY;
//    bigslot_num = TOTAL_SLOTNUM/tag_frequency;
//    regpoll_count++;
//    if(regpoll_count%2)
//    {
//        if(tagslotpos--<2)
//            tagslotpos=TOTAL_SLOTNUM;
//    }
//    //SetNextPollTime(tagslotpos);
//    NextSlotDelayMs(-2);
//    tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
    tx_near_msg[REGP_TAGSTATE_INDEX] = 0;
    tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL2;
    tx_near_msg[REGP_FREQUENCY_INDEX] = 1000/g_com_map[COM_INTERVAL];
    tx_near_msg[REGP_POWER_INDEX] = module_power;
    memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
    memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);
    memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[IMU_THRES],2);
    memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[NOMOVESLEEP_TIME],2);
//    tx_near_msg[REGP_BATTARY_INDEX] = bat_percent;
    
    poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);
    tempflag=uwb_tx(tx_near_msg,23,1,poll_tx_en_start_u32);//立即发送
    poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//修正时间戳
//    temp_count1=phy_timer_count_get();
    while(mac_is_busy());//等待发送完成
    
    resp_rx_en_start_u32 =  poll_tx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);
    temp_resp=resp_rx_en_start_u32;
    tempflag=uwb_rx(0,0, RESP_RX_TIMEOUT_US);
    while(mac_is_busy())//等待接收完成
    {
    IdleTask();
    } 
    if(receive_flag==1)//成功接收数据
    {
        receive_flag=0;
        if (rx_buf[MESSAGE_TYPE_IDX] == REG_RESPONSE&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
        {
            uint16_t rec_nearbaseid,rec_nearbasepos;
            memcpy(&rec_nearbaseid,&rx_buf[ANCHOR_ID_IDX],2);
            tag_frequency = rx_buf[REGR_TAGFREQ_INDEX];
            bigslot_num = TOTAL_SLOTNUM/tag_frequency;
            tagslotpos = rx_buf[REGR_TAGSLOTPOS_INDEX];
            //////////////////////////////////时间同步
//            memcpy(&sync_timer,&rx_buf[ANCTIMEMS],2);
//            memcpy(&tmp_time,&rx_buf[ANCTIMEUS],2);
//            current_count=HAL_LPTIM_ReadCounter(&hlptim1);
////                           memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
//            tmp_time=tmp_time+450;
//            if(tmp_time>999)
//            {
//                tmp_time-=999;
//                sync_timer++;
//                if(sync_timer>=1010)
//                {
//                    sync_timer=0;
//                }
//            }
//            ancsync_time=((sync_timer)*1000+tmp_time);
//            SetLPTimer(ancsync_time,0);
            mainbase_id=rec_nearbaseid;
            nearbase_num=rx_buf[NEARBASENUM_INDEX];
            memcpy(nearbaseid_list,&rx_buf[NEARBASEID_INDEX],nearbase_num*2);
            memcpy(nearbaseid_list2,&rx_buf[NEARBASEID_INDEX],nearbase_num*2);
            if(tagslotpos!=255)
            {
                trygetnearmsg_times = 0;
                tag_state = GETNEARMSG;
                GetNearMsg();
            }
        }
    }
}
uint8_t ggggg;
void DiscPoll2(void)
{
    uint32_t temp1,temp2,dw_systime,mindist_slavebaseid,mindist;
    static uint8_t notenoughdist_count=0;
    uint32_t final_tx_time;
    uint32_t start_poll;
    uint8_t i,j,getsync_flag=0,timeout,get_newdist;

    tag_succ_times = 0;
    salvebase_mindist=999999;
    get_newdist = 0;
    if(next_nearbase_num>=MAX_NEARBASE_NUM)
    {
        next_nearbase_num = MAX_NEARBASE_NUM-1;
    }
    nearbase_num = 10;
    recbase_num=0;
    phy_timer_open(1, IRQ_PRIORITY_HIGH);
    mac_register_process_handler(tx_int_callback, rx_int_callback);
    tx_near_msg[BATTARY_IDX] = bat_percent;
    tx_near_msg[BUTTON_IDX] = 0/*userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5*/;
    tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
    tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
    tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
    memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);
//    if(intheight!=0)
//        intheight+=g_com_map[HEIGHTOFFEST_INDEX];
//    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
    tx_near_msg[MESSAGE_TYPE_IDX] = DISCOVERPOLL2;
    tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
    tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
    memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
    
    poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//发送必须要延时发送才可以用于测距否则立即发送会获取时间戳不对，需要计算程序运行时间，避免设置过去时间
    tempflag=uwb_tx(tx_near_msg,29+8*nearbase_num,1,poll_tx_en_start_u32);//立即发送

    poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//修正时间戳
    temp_tag_count1=phy_timer_count_get();
    while(mac_is_busy());//等待发送完成
    
    tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
    para_update = 0;
    flag_finalsend=0;
    flag_rxon=1;
    flag_getresponse=0;
    
    temp_tag_count2=phy_timer_count_get();
    resp_rx_en_start_u32 =  poll_tx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);//设置发送多少s后接收按target独立时间起点算+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US为发送后要多久开启接收时间
    temp_resp=resp_rx_en_start_u32;
    //tempflag=uwb_rx(1, resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);//开启接受并设置接收超时
    tempflag=uwb_rx(0,0, RESP_RX_TIMEOUT_US);
    receive_flag =0;
   start_receive_count=phy_timer_count_get();
   poll_timeout=nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(30000);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
   end_receive_count=start_receive_count+poll_timeout;
   if(end_receive_count>=UINT32_MAX)
   {end_receive_count-=UINT32_MAX;}
   current_count=phy_timer_count_get();	
    mainbase_dist=100000;
    mainbase_lost_count++;
    while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//循环接受包体,若为124.8K则是+62400000
    {
    
    current_count=phy_timer_count_get();//不断刷新当前计数器值
    temp_tag_count2=phy_timer_count_get();
    while(mac_is_busy());//等待接收完成
    temp_tag_count3=phy_timer_count_get();
    if(receive_flag==1)//成功接收数据
    {
        receive_flag=0;

        //接收成功则判断是否为同一组
        if (rx_buf[MESSAGE_TYPE_IDX] == POS_RESPONSE&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
        {
            uint16_t rec_nearbaseid,rec_nearbasepos;
            recbase_num++;
            memcpy(&rec_nearbaseid,&rx_buf[ANCHOR_ID_IDX],2);
            rec_nearbasepos = recbase_num;
            nearbaseid_list[recbase_num] = rec_nearbaseid;
            SetANCTimestap(rec_nearbasepos,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2,(uint32_t)poll_tx_ts_i64);//这个是改过的参数
            exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
            temp_dist = nearbase_distlist[rec_nearbasepos];
            tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
        }else
        {
            if(recbase_num!=nearbase_num+1)
            {
            tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
            }
        }
    //gpio_pin_clr(IO_PIN_5);//测试
        
    }
    else if(receive_flag==2)
    {//接收出错
    receive_flag=0;
        ggggg++;
    tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
    }
    //gpio_pin_clr(IO_PIN_5);//测试
    }
    delay_us(1);
    uwb_rx_force_off(1);
    CalculateDists(poll_tx_ts_i64); //计算距离并更新距离表
//    AnchorListUpdate();//更新存活基站列表
//    Rank_ANchor_list_by_dis();//冒泡排序重新按距离重新排列基站列表最小距离存货基站放到最前面
    for(i=0; i<11; i++)
    {
        if(mindist>nearbase_distlist[i])
        {
            mindist = nearbase_distlist[i];
            mindist_slavebaseid = nearbaseid_list[i];

        }
    }
    if(mindist!=0x1ffff)
    {
      mainbase_id = mindist_slavebaseid;
      try_reg_times = 0;
      tag_state = REGPOLL;
    }
}

uint8_t qiehuan_flag;
uint8_t motor_state,rec_remotepara_state,rec_remotepara[80];
uint8_t motor_flag;
extern uint8_t userkey_state;
int32_t base_mindist;
uint8_t changemainbase_count=0,gotosleep_flag,singlepoll_i;
uint8_t outrange_times;
uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
float motor_keeptime;
int32_t mainbase_dist,nearbase_switchdistlist[MAX_NEARBASE_NUM],nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
void NearPoll(void)
{

    uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;
    static uint8_t notenoughdist_count=0;
    uint32_t final_tx_time;
    uint32_t start_poll;
    uint8_t i,j,getsync_flag=0,timeout,get_newdist;
    tag_succ_times = 0;
    salvebase_mindist=999999;
    get_newdist = 0;
    phy_timer_open(1, IRQ_PRIORITY_HIGH);
    mac_register_process_handler(tx_int_callback, rx_int_callback);
    if(next_nearbase_num>=MAX_NEARBASE_NUM)
    {
        next_nearbase_num = MAX_NEARBASE_NUM-1;
    }
    if(nearbase_num>10)
    {
        nearbase_num = 10;
    }
    recbase_num=0;
//   motor_state=0;
    if(motor_state!=0&&motor_state!=3)
    {
        motor_flag = 1;
    } else {
        motor_flag = 0;
    }

    tx_near_msg[BATTARY_IDX] = bat_percent;
    tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
    tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
    tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
    tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
    memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);


//    if(intheight!=0)
//        intheight+=g_com_map[HEIGHTOFFEST_INDEX];
//    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
    tx_near_msg[MESSAGE_TYPE_IDX] = POS_POLL;

    tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
    tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;

    memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
    
        poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//发送必须要延时发送才可以用于测距否则立即发送会获取时间戳不对，需要计算程序运行时间，避免设置过去时间
    tempflag=uwb_tx(tx_near_msg,29+8*nearbase_num,1,poll_tx_en_start_u32);//立即发送

    poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//修正时间戳
    temp_tag_count1=phy_timer_count_get();
    while(mac_is_busy());//等待发送完成
    
    tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
    para_update = 0;
    flag_finalsend=0;
    flag_rxon=1;
    flag_getresponse=0;
    recbase_num=0;
    
    temp_tag_count2=phy_timer_count_get();
    resp_rx_en_start_u32 =  poll_tx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);//设置发送多少s后接收按target独立时间起点算+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US为发送后要多久开启接收时间
    temp_resp=resp_rx_en_start_u32;
    //tempflag=uwb_rx(1, resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);//开启接受并设置接收超时
    tempflag=uwb_rx(0,0, RESP_RX_TIMEOUT_US);
    receive_flag =0;
   start_receive_count=phy_timer_count_get();
   poll_timeout=nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(RESP_RX_TIMEOUT_US);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
   end_receive_count=start_receive_count+poll_timeout;
   if(end_receive_count>=UINT32_MAX)
   {end_receive_count-=UINT32_MAX;}
   current_count=phy_timer_count_get();	
    mainbase_dist=100000;
    mainbase_lost_count++;
    
    while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//循环接受包体,若为124.8K则是+62400000
    {
    
    current_count=phy_timer_count_get();//不断刷新当前计数器值
    temp_tag_count2=phy_timer_count_get();
    while(mac_is_busy());//等待接收完成
    temp_tag_count3=phy_timer_count_get();
    if(receive_flag==1)//成功接收数据
    {
        receive_flag=0;

        //接收成功则判断是否为同一组
        if (rx_buf[MESSAGE_TYPE_IDX] == POS_RESPONSE&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
        {
            uint16_t rec_nearbaseid,rec_nearbasepos;
            recbase_num++;
            memcpy(&rec_nearbaseid,&rx_buf[ANCHOR_ID_IDX],2);
            if(rec_nearbaseid==mainbase_id)
            {
            exsistbase_list[0]=KEEP_TIMES;
            SetANCTimestap(0,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2,(uint32_t)poll_tx_ts_i64);
            //////////////////////////////////时间同步
//            memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
//            memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
//            current_count=HAL_LPTIM_ReadCounter(&hlptim1);

            rec_remotepara_state=rx_buf[MOTORSTATE_INDEX]>>4;
            if(rec_remotepara_state&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2))
            {
                para_update = 1;
                tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
                para_len = rx_length-22;
                memcpy(rec_remotepara,&rx_buf[REMOTEPARA_INDEX],para_len);
            }
//            userkey_state = !GET_USERKEY;
            temp_dist = nearbase_distlist[0];
            if(temp_dist!=nearbase_distlist[0])
            {
                get_newdist++;
            }
            mainbase_dist=temp_dist;
            nearbase_distlist[0] = temp_dist;
            base_mindist = temp_dist;
            if((rx_buf[MOTORSTATE_INDEX]&0xf)!=3)
                motor_state=rx_buf[MOTORSTATE_INDEX]&0xf;
            if(rx_length==38)
            {
                memcpy(&rec_maxrangelen,&rx_buf[MAXRANGE_DISTANCE],2);
                memcpy(&rec_anc_signalpower[0],&rx_buf[ANC_SIGNALPOWER],2);
                if(mainbase_dist>rec_maxrangelen&&mainbase_dist>0&&rec_maxrangelen!=0)
                {
                    if(outrange_times++>OUTRANGE_RESTARTTIMES)
                    {
                        tag_state = STARTPOLL;
                    }
                } else {
                    outrange_times = 0;
                }
            }
            mainbase_lost_count=0;
            flag_finalsend=1;
            flag_getresponse=1;
//            //时间同步
//            tmp_time=tmp_time+450;
//            if(tmp_time>999)
//            {
//                tmp_time-=999;
//                sync_timer++;
//                if(sync_timer>=1000)
//                {
//                    sync_timer=0;
//                }
//            }
//            ancsync_time=((sync_timer)*1000+tmp_time);
//            SetLPTimer(ancsync_time,nearbase_num);
            break;    
            }
            else
            {
                rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                SetANCTimestap(rec_nearbasepos+1,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2,(uint32_t)poll_tx_ts_i64);

                exsistbase_list[rec_nearbasepos+1]=KEEP_TIMES;
                temp_dist = nearbase_distlist[rec_nearbasepos+1];
                if(rx_length==38)
                    memcpy(&rec_anc_signalpower[rec_nearbasepos+1],&rx_buf[ANC_SIGNALPOWER],2);
                memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buf[NR_NEARSWITCH_DISTANCE],2);
                if(temp_dist!=nearbase_distlist[rec_nearbasepos+1])
                {
                    get_newdist++;
                }
                nearbase_distlist[rec_nearbasepos+1]=temp_dist;   //   nearbase_distlist[1]对应   rec_nearbaseid[0]的距离
                final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], (uint32_t)resp_rx_ts_i64);
                if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]!=0&&(nearbase_switchdistlist[rec_nearbasepos]==1||temp_dist<nearbase_switchdistlist[rec_nearbasepos]))
                {
                    salvebase_mindist = temp_dist;
                    mindist_slavebaseid = rec_nearbaseid;
                }
                tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
            }
        }else
        {
            if(recbase_num!=nearbase_num+1)
            {
            tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
            }
        }
    }
    else if(receive_flag==2)
    {
            if(recbase_num!=nearbase_num+1)
            {
            tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
            }
    }
    }
    if(flag_finalsend!=1)
    {
        flag_finalsend = 2;
    }
    delay_us(1);
    uwb_rx_force_off(1);
    if(mainbase_lost_count==0)
    {
        SetLPTimer(0);
#ifdef SWITCHBASE_DIST
        if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
        {
            changemainbase_count++;
            if(changemainbase_count>2)
            {
                changemainbase_count = 0;
                mainbase_id = mindist_slavebaseid;
                tag_state = GETNEARMSG;
                trygetnearmsg_times = 0;
                GetNearMsg();
                qiehuan_flag=1;
            }
        } else {
            changemainbase_count = 0;
        }
 // The following peripherals will be initialized in the uwb_open function
    // phy/mac/aes/lsp/phy timers initialized
         uwb_open();
#ifdef STS_MODE
      // Set STS key and IV
    phy_sts_key_configure(&sts_iv_key);
#endif
    } else if(mainbase_lost_count>10)
    {
        mainbase_lost_count = 0;
        tag_state = DISCPOLL;
        DiscPoll2();
        SetLPTimer(16);
    }
    if(mainbase_lost_count!=0)
    {
//        if(mainbase_lost_count<=5)
//        {   NextSlotDelayMs(0);
//        } else {
//            NextSlotDelayMs(0);
//        }
        SetLPTimer(11);
    }
    if(qiehuan_flag)
    {qiehuan_flag=0;}
    else
    {CalculateDists(poll_tx_ts_i64);}
//    AnchorListUpdate();//更新存活基站列表
//    Rank_ANchor_list_by_dis();//冒泡排序重新按距离重新排列基站列表最小距离存货基站放到最前面
    if(para_update)
    {
    // Set calibration parameters
    uwb_calibration_params_set(config.phy_cfg.ch_num);
#ifdef STS_MODE
	
    // 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,
    };
#else
    // set advanced parameters
     struct PHY_ADV_CONFIG_T adv_config = {
        .thres_fap_detect = 40,
        .nth_scale_factor = 4,
        .ranging_performance_mode = 0,
        .skip_weakest_port_en = 0,
    };
#endif
    phy_adv_params_configure(&adv_config);

        pack_msgtype = rec_remotepara[0];
        pack_index = rec_remotepara[1];
        pack_length = rec_remotepara[2];
        if(pack_msgtype==2)
        {
            if( pack_index == MOTOR_ONTIME_INDEX)
            {
                if(motor_keeptime==0)
                    motor_keeptime = rec_remotepara[3];
            } else if( pack_index == 2*COM_INTERVAL)
            {
                if(memcmp(&g_com_map[COM_INTERVAL],&rec_remotepara[3],2)!=0)
                {
                    memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
                    save_com_map_to_flash();
                    tag_frequency = 1000/g_com_map[COM_INTERVAL];
                    bigslot_num = TOTAL_SLOTNUM/tag_frequency;
                }
            }
            else {
                if(pack_index<200)
                {
                    memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
                    //返回一个error状态
                    //SendComMap(pack_datalen,pack_index);
                    save_com_map_to_flash();
                    delay_ms(100);
                    NVIC_SystemReset();
                }
            }
    // uwb configure
    uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);
#if (defined STS_MODE) || (defined MK_MODE)
      ranging_lib_init();
#endif
    ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);

}
int sleep_time_step=SLEEP_COUNT;
int rand_temp;
static uint16_t source_id;
uint8_t rec_index,rec_secdelay;
uint16_t rec_value;
uint8_t readgcom_flag;
uint16_t wg_report_id;
uint16_t rec_wenjian_daxiao;
uint16_t wangguan_up_id;
uint8_t shengji_flag,time=5;
uint8_t LoraUp_flag;
extern uint16_t final_bag_num;
uint16_t checksum1;
void Uwb_Update(void)
{
											
                    checksum1=Checksum_u16(rx_buf,rx_length-2);
                    if(!memcmp(&checksum1,&rx_buf[rx_length-2],2))
                    if(!memcmp(&dev_id,&rx_buf[DEST_ID_IDX],2))
                    {
                       memcpy(&source_id,&rx_buf[SOURCE_ID_IDX],2); 
//                        if(wg_state==WG_Lost)
//                        {
//                            wg_state = WG_Connected;
                            wg_report_id = source_id;
//                        }
//                        if(!memcmp(&wg_report_id,&rx_buf[SOURCE_ID_IDX],2))
//                        {
//                            wg_lost_count = 0;
//                            loraled=GREEN;
                            switch(rx_buf[PWTAG_RW_FLAG_IDX])
                            {
                                case WGRSP_RWTAG_READ:
                                    readgcom_flag = 1;
//                                    LoraSendComMap(WGRSP_RWTAG_READ);
                                    break;
                                case WGRSP_RWTAG_WRITE:
                                    rec_index = rx_buf[PWTAG_WRITE_IDX_IDX];
                                    if(rec_index<=DEV_ID)
                                    {break;}
                                    memcpy(&rec_value,&rx_buf[PWTAG_WRITE_VALUE_IDX],2);
                                    if(g_com_map[rec_index/2]==rec_value)
                                    {break;}
                                    g_com_map[rec_index/2] = rec_value;
                                    save_com_map_to_flash();
                                    delay_us(60000);
                                    NVIC_SystemReset();
                                    break; 
                                case WGRSP_RWTAG_UPDATE:
                                rec_index = rx_buf[PWTAG_WRITE_IDX_IDX];
                                switch(rec_index)
                                {
                                    case 0xaa:  //升级下发
                                    memcpy(&rec_wenjian_daxiao,&rx_buf[11],2);//文件大小
                                    if(rec_wenjian_daxiao>APP_SIZE||rec_wenjian_daxiao==0)
                                    {}//文件过大，超出范围
                                    else
                                    {
                                    final_bag_num=(rec_wenjian_daxiao/ONE_BAG_DAXIAO)+1;    
                                    memcpy(&wangguan_up_id,&rx_buf[SOURCE_ID_IDX],2);//网关ID 占用2个字节
                                    shengji_flag=1;
                                    LoraUp_flag=1;    
                                    LOG_INFO(TRACE_MODULE_APP, "进入升级模式,接收文件大小%d\r\n",rec_wenjian_daxiao); 
                                    }
                                        break;                        
                                }
                                    break; 
                            }
//                        }
                    }
}
uint8_t motor_keeptime,motor_state;
uint8_t tagmotortime_list[MAX_TAG_LIST_NUM];
uint32_t reboot_num;

void search_in_motor_list(void)
{
   uint8_t min_index;
    for (int i = 1; i < taglist_total_num; i++) {
        if (taglist_dist[i] < taglist_dist[min_index]) {
            min_index = i;
        }
    }
    for(i=0; i<nearbase_num; i++)
		
          // 将最小距离对应的时间值赋给motor_keeptime
    motor_keeptime = tagmotortime_list[min_index];
//      tagmotortime_list[min_index]=0;
      if(taglist_total_num==0)//仅表示在线的
         motor_keeptime=0;
}
uint8_t num1,temp_index4;
int TagRange(void)
{		
   if(readgcom_flag)
  {
    readgcom_flag=0;
    phy_timer_open(1, IRQ_PRIORITY_HIGH);
    mac_register_process_handler(tx_int_callback, rx_int_callback); 
    uint8_t data_length = 0x50;
   uint16_t checksum = 0;
   uwb_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_READPARARESP;
   uwb_sendbuffer[MSG_LENGTH] = data_length+11;
    memcpy(&uwb_sendbuffer[SOURCE_ID_IDX],&g_com_map[DEV_ID],2);
    memcpy(&uwb_sendbuffer[DEST_ID_IDX],&wg_report_id,2);
   uwb_sendbuffer[RP_CMD_IDX] = WGRSP_RWTAG_READ;
   uwb_sendbuffer[RP_INDEX_IDX] = 2;
   uwb_sendbuffer[RP_LEN_IDX] = data_length;
   memcpy(&uwb_sendbuffer[9], &g_com_map[1], data_length);
   checksum = Checksum_u16(uwb_sendbuffer,11+data_length);
   memcpy(&uwb_sendbuffer[11+data_length],&checksum,2);
//    Radio.Send(uwb_sendbuffer,data_length+13);
  //  Delay_Ms(100);
    poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//发送必须要延时发送才可以用于测距否则立即发送会获取时间戳不对，需要计算程序运行时间，避免设置过去时间
    tempflag=uwb_tx(uwb_sendbuffer,data_length+13,1,poll_tx_en_start_u32);//立即发送  
    poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//修正时间戳
    temp_count1=phy_timer_count_get();
    while(mac_is_busy());//等待发送完成    
    }else{
         phy_timer_open(1, IRQ_PRIORITY_HIGH);
    // Register rx interrupt callback function
    mac_register_process_handler(tx_int_callback, rx_int_callback);
      //taglist_total_num=50;//测试

      uwb_poll_buffer_construct();
      temp_tag_num=0;//临时数量为0
      poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//发送必须要延时发送才可以用于测距否则立即发送会获取时间戳不对，需要计算程序运行时间，避免设置过去时间
      tempflag=uwb_tx(uwb_sendbuffer,13+4*tag_num_tosend,1,poll_tx_en_start_u32);//立即发送
      #ifdef BOXING
      gpio_pin_set(IO_PIN_5);//测试
      #endif
      //LOG_INFO(TRACE_MODULE_APP, "进入测距",poll_tx_num,resp_rx_num,distance);	
      poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//修正时间戳
      temp_count1=phy_timer_count_get();
      while(mac_is_busy());//等待发送完成
   #ifdef BOXING
      gpio_pin_clr(IO_PIN_5);//测试
      gpio_pin_set(IO_PIN_5);//测试
   #endif	
   temp_count2=phy_timer_count_get();
      resp_rx_en_start_u32 =  poll_tx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);//设置发送多少s后接收按target独立时间起点算+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US为发送后要多久开启接收时间
      temp_resp=resp_rx_en_start_u32;
   //tempflag=uwb_rx(1, resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);//开启接受并设置接收超时
   tempflag=uwb_rx(1,resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);
	
	
   start_receive_count=phy_timer_count_get();
   //poll_timeout=nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(RESP_RX_TIMEOUT_US);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
   poll_timeout=US_TO_PHY_TIMER_COUNT(RESP_RX_TIMEOUT_US_DEFAULT)+tag_num_tosend*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);
   end_receive_count=start_receive_count+poll_timeout;
	
   if(end_receive_count>=UINT32_MAX)
   {end_receive_count-=UINT32_MAX;}
   current_count=phy_timer_count_get();		
   count_index=end_receive_count+HALF_SECOND_TIME;
//   if(tt){
   while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//循环接受包体,若为124.8K则是+62400000
      {
		
      current_count=phy_timer_count_get();//不断刷新当前计数器值
      temp_count2=phy_timer_count_get();
      while(mac_is_busy())//等待接收完成
      {
                  IdleTask();
            current_count=phy_timer_count_get();
            if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)
            {
                    break;
            }
      }
		
      temp_count3=phy_timer_count_get();
      if(receive_flag==1)//成功接收数据
      {
         receive_flag=0;
         tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
         //接收成功则判断是否为同一组
            if(rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//收到是其他的基站的POLL包
            {
            rand_temp=rand()%10;
            sleep_timer_start(__MS_TO_32K_CNT(SLEEP_COUNT-rand_temp));//测试
            }else if (rx_buf[MESSAGE_TYPE_IDX] == MBX_RESPONSE&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2)&&rx_buf[GROUP_ID_IDX]==group_id) //判断接收到的数据是否是response数据
                     {	
                        reboot_num=0;//清0复位监测数值
                        memcpy(&rec_nearbaseid,&rx_buf[ANCHOR_ID_IDX],2);
                        rec_tag_index = CmpTagInList(rec_nearbaseid);//当前新来的这包数据插入当前表中的位置索引
                           //rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                           freqlost_count = 0;
                           temp_index =rec_tag_index -taglist_current_index;
                           SetANCTimestap(temp_index,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2,(uint32_t)poll_tx_ts_i64);
                                 tagmotortime_list[rec_tag_index]=rx_buf[RESP_MSG_TAG_MOTOR];
                        if(rx_buf[RESP_MSG_TAG_MOTOR]==5)
                        {
                        num1++;
                           temp_index4=rec_tag_index;
                        }
                        //                           if(rec_nearbasepos>=nearbase_num)          //发现新的基站
//                           {
//                              //get_newbase=1;
//                              nearbase_num++;
//                              nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
//                           }
//                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;//更新存活时间
              
                     memset(rx_buf, 0, sizeof(rx_buf));//清空接收到的用完的数组
                     rx_length=0;//清0长度
                     //uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
//                     while(mac_is_busy());
                     //break;//成功接收就退出
               }else if(rx_buf[MSG_TYPE_IDX]==LORA_MSGTYPE_WGRESPTAG){
                     Uwb_Update();
          } 
		
//            #ifdef BOXING 
//      gpio_pin_clr(IO_PIN_5);//测试
//         #endif
      }else if(receive_flag==2){//接收出错
      receive_flag=0;
      tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
//      sleep_timer_start(__MS_TO_32K_CNT(SLEEP_COUNT-phy_timer_count_get()%30));//测试
//         sleep_time_step=SLEEP_COUNT-phy_timer_count_get()%10;
      //tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//立即开启接受并设置0超时
      temp_count3=phy_timer_count_get();
//      while(mac_is_busy());
      temp_count1=phy_timer_count_get();
      }
   #ifdef BOXING 
      gpio_pin_clr(IO_PIN_5);//测试
      gpio_pin_set(IO_PIN_5);//测试
      #endif
      }
//   }
      #ifdef BOXING 
      gpio_pin_clr(IO_PIN_5);//测试
      #endif
      delay_us(1);
      uwb_rx_force_off(1);
      //dwt_forecetrxoff();
       CalculateDists(poll_tx_ts_i64); //计算距离并更新距离表
			
       //Calculate_battery_percent();
		
      //LOG_INFO(TRACE_MODULE_APP,"现存测距数 %d id1:%04x dist:%d .\r\n",taglist_total_num,taglist_id[0],(int16_t)taglist_dist[0]);
       //AnchorListUpdate();//更新存活基站列表
       TagListUpdate();
       taglist_current_index+=tag_num_tosend;
      if(taglist_current_index>=taglist_total_num||taglist_total_num<=SEND_GROUP_MAX_NUM) //如果标签当前index大于总index，或者总基站数量小于等于25，则从0开始index。一个是已经发完一轮了，一个是不够最大发送数
     taglist_current_index = 0;
       //Rank_ANchor_list_by_dis();//冒泡排序重新按距离重新排列基站列表最小距离存货基站放到最前面
   }
}
//#endif
//uint16_t UpdateCRC16(uint16_t crcIn, uint8_t byte)
//{
//  uint32_t crc = crcIn;
//  uint32_t in = byte|0x100;

//  do
//  {
//    crc <<= 1;
//    in <<= 1;

//    if(in&0x100)
//    {
//      ++crc;
//    }
//    
//    if(crc&0x10000)
//    {
//      crc ^= 0x1021;
//    }
// } while(!(in&0x10000));

// return (crc&0xffffu);
//}

///**
//  * @brief  Cal CRC16 for YModem Packet
//  * @param  data
//  * @param  length
//  * @retval CRC value
//  */
//uint16_t Cal_CRC16(const uint8_t* data, uint32_t size)
//{
//  uint32_t crc = 0;
//  const uint8_t* dataEnd = data+size;
//  
//  while(data<dataEnd)
//  {
//    crc = UpdateCRC16(crc,*data++);
//  }
//  crc = UpdateCRC16(crc,0);
//  crc = UpdateCRC16(crc,0);

//  return (crc&0xffffu);
//}
//void delay_ms(uint32_t nTimer)  
//{  
//    uint32_t i=1000*nTimer;  
//    delay_us(i);  
//}  
extern uint8_t send_lora_data[250];
uint16_t muqiandeshengjibao;
static uint16_t current_count1,target_count1,end_count1,start_count1;
uint8_t huifushengjibaoerror_num;

uint16_t testflag;
uint32_t Zhongjian_data[60];
uint8_t shengji_flag;
uint16_t wangguan_up_id;
uint8_t huifushengjibao_flag;
uint8_t LoraUp_flag;
uint16_t rec_wenjian_daxiao;
uint8_t lora_up_rec_flag;
uint16_t flash_shuju;
static uint32_t status_reg;
static uint32_t frame_len;
void LoraUp_Poll(void)
{    uint16_t  result ;
    uint16_t crc16;
    uint8_t jindu;
    if(shengji_flag)
    {
        if(nearbaseid_list[i]!=nearbaseid_list2[i])
    uwb_rx_force_off(1);
    Tag_uwb_init();
    phy_timer_open(1, IRQ_PRIORITY_HIGH);
    mac_register_process_handler(tx_int_callback, rx_int_callback);
        
    send_lora_data[MSG_TYPE_IDX]=LORA_MSGTYPE_UPDATE_CONFIRM;
    memcpy(&send_lora_data[SOURCE_ID_IDX],&dev_id,2);//网关ID 占用2个字节
    memcpy(&send_lora_data[DEST_ID_IDX],&wangguan_up_id,2);//标签或者基站的设备ID 2个字节
//    send_lora_data[MUQIAN_BAG]=0xFF;
    crc16=Checksum_u16(send_lora_data,6);
    memcpy(&send_lora_data[6],&crc16,2);
    huifushengjibao_flag=0;
    LoraUp_flag=1;
         
    poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//发送必须要延时发送才可以用于测距否则立即发送会获取时间戳不对，需要计算程序运行时间，避免设置过去时间
    tempflag=uwb_tx(send_lora_data,8+2,1,poll_tx_en_start_u32);//立即发送  
    poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//修正时间戳
    temp_count1=phy_timer_count_get();
    while(mac_is_busy());//等待发送完成        

   __disable_irq();
    result=flash_open(FLASH_ID0,NULL);
    flash_read(FLASH_ID0, APP2_ADRESS, (uint8_t*)&flash_shuju, 2);
    if(flash_shuju!=0xffff/*&&flash_shuju!=0x0000*/)
    {
            while(1)
        {
            tag_state = GETNEARMSG;
            GetNearMsg();
            trygetnearmsg_times = 0;
//            nearbaseid_list0[i]=1;
            flash_erase(FLASH_ID0,APP2_ADRESS,APP_SIZE);      
            delay_ms(500);
            flash_read(FLASH_ID0, APP2_ADRESS, (uint8_t*)&flash_shuju, 2);
            if(flash_shuju==0xffff/*&&flash_shuju!=0x0000*/)
            {break;}
        }
    }
    TagListUpdate();
   __enable_irq();
            while(1)
            {
                uwb_rx_force_off(1);
                send_lora_data[MSG_TYPE_IDX]=LORA_MSGTYPE_UPDATEFILE_REQUEST;
                memcpy(&send_lora_data[SOURCE_ID_IDX],&dev_id,2);//网关ID 占用2个字节
                memcpy(&send_lora_data[DEST_ID_IDX],&wangguan_up_id,2);//标签或者基站的设备ID 2个字节
//                send_lora_data[MUQIAN_BAG]=muqiandeshengjibao;
                memcpy(&send_lora_data[MUQIAN_BAG],&muqiandeshengjibao,2);
                crc16=Checksum_u16(send_lora_data,8);
                memcpy(&send_lora_data[8],&crc16,2);
                lora_up_rec_flag=0;    
//                LOG_INFO(TRACE_MODULE_APP, "正在请求第%d包\r\n",muqiandeshengjibao);
                jindu=(muqiandeshengjibao*100)/final_bag_num;
                LOG_INFO(TRACE_MODULE_APP, "升级进度%d\r\n",jindu);
                wdt_ping(WDT_ID0);//喂狗
                poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//发送必须要延时发送才可以用于测距否则立即发送会获取时间戳不对，需要计算程序运行时间，避免设置过去时间
                tempflag=uwb_tx(send_lora_data,10+2,1,poll_tx_en_start_u32);//立即发送
                poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//修正时间戳
                temp_count1=phy_timer_count_get();
                while(mac_is_busy());//等待发送完成
                temp_count2=phy_timer_count_get();
                resp_rx_en_start_u32 =  poll_tx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);//设置发送多少s后接收按target独立时间起点算+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US为发送后要多久开启接收时间
                temp_resp=resp_rx_en_start_u32;
                tempflag=uwb_rx(0,0, 50000);
                
                while(mac_is_busy())
                {}
                if(receive_flag==1)//成功接收数据
                {   uint16_t result12;
                     
                     __disable_irq();
                     crc16=Cal_CRC16(rx_buf,DATA_IDX+ONE_BAG_DAXIAO);

                     if(!memcmp(&muqiandeshengjibao,&rx_buf[MUQIAN_BAG],2)&&!memcmp(&crc16,&rx_buf[DATA_IDX+ONE_BAG_DAXIAO],2)&&!memcmp(&dev_id,&rx_buf[DEST_ID_IDX],2)&& !memcmp(&wangguan_up_id,&rx_buf[SOURCE_ID_IDX],2))
                     {
                     result=flash_open(FLASH_ID0,NULL);
                     memcpy(Zhongjian_data,&rx_buf[DATA_IDX],ONE_BAG_DAXIAO);
                     result12=flash_write_nbytes(FLASH_ID0, APP2_ADRESS+ONE_BAG_DAXIAO*muqiandeshengjibao, (uint8_t*)Zhongjian_data, ONE_BAG_DAXIAO);
                     while(!result12==0)
                     {
                     result12=flash_write_nbytes(FLASH_ID0, APP2_ADRESS+ONE_BAG_DAXIAO*muqiandeshengjibao, (uint8_t*)Zhongjian_data, ONE_BAG_DAXIAO);
                     delay_ms(10);    
                     }                         
                     if(result12==0)
                     {
//                         if(muqiandeshengjibao==650)
//                         {
//                         delay_ms(10);   
//                         }
                     muqiandeshengjibao++;   
                     huifushengjibaoerror_num=0;
                     delay_ms(10);       
                     }
                     }
                     __enable_irq();
                }
                else
                {
                    delay_ms(500);
                    huifushengjibaoerror_num++;
                    if(huifushengjibaoerror_num>=20)
                    {
                    huifushengjibaoerror_num=0;    
                    muqiandeshengjibao=0;
                    delay_ms(500);
                    NVIC_SystemReset();    
                    break;
                    }   
                    uwb_rx_force_off(1);
                }
                if(muqiandeshengjibao==final_bag_num)
                {
                send_lora_data[MSG_TYPE_IDX]=0x99;
                memcpy(&send_lora_data[SOURCE_ID_IDX],&dev_id,2);//网关ID 占用2个字节
                memcpy(&send_lora_data[DEST_ID_IDX],&wangguan_up_id,2);//标签或者基站的设备ID 2个字节
                crc16=Checksum_u16(send_lora_data,6);
                memcpy(&send_lora_data[6],&crc16,2);
                huifushengjibao_flag=0;
                LoraUp_flag=1;    
                LOG_INFO(TRACE_MODULE_APP, "正在发送最后一包\r\n");    
                poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//发送必须要延时发送才可以用于测距否则立即发送会获取时间戳不对，需要计算程序运行时间，避免设置过去时间
                tempflag=uwb_tx(send_lora_data,8+2,1,poll_tx_en_start_u32);//立即发送  
                poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//修正时间戳
                temp_count1=phy_timer_count_get();
                while(mac_is_busy());//等待发送完成        
                
                uint16_t tmp11 ,result11;
                tmp11=0XDDDD;
                result=flash_open(FLASH_ID0,NULL); 
                result11=flash_erase(FLASH_ID0,APP_1OR2_ADRESS,0x1000);
                if(result11==0)
                flash_write_nbytes(FLASH_ID0, APP_1OR2_ADRESS, (uint8_t*)&tmp11, 2);
                __disable_irq();       
                delay_ms(500);
                NVIC_SystemReset(); 
                }
            }
   uwb_rx_force_off(1);
  }
}


void SwitchTagState(void)
{
    switch(tag_state)
    {
    case REGPOLL:
//        LED_LG_ON;
        Registor_Poll();
        if(try_reg_times++>5)
        {
            tag_state = STARTPOLL;
        }
         outrange_times = 0;
        mainbase_lost_count = 0;
//        LED_LG_OFF;
//        GetPressAndHeight();
        break;
    case DISCPOLL:
//        LED_LG_ON;
        DiscPoll2();
//        LED_LG_OFF;
        break;
    case GETNEARMSG:

//        LED_LG_ON;
        GetNearMsg();
//        LED_LG_OFF;
        outrange_times = 0;
        mainbase_lost_count = 0;
        if(trygetnearmsg_times++>5)
        {
            tag_state = STARTPOLL;
        }
        break;
    case NEARPOLL:
        NearPoll();
        break;
    case SINGLEPOLL:
        //  Poll();
        break;
    }
}

void Dw1000_App_Init(void)
{
//g_com_map[DEV_ID] = 0x0b;
    //tag_state=DISCPOLL;
    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[GROUP_ID_IDX], &group_id, 1);
    memcpy(&tx_final_msg[GROUP_ID_IDX], &group_id, 1);
    memcpy(&tx_resp_msg[GROUP_ID_IDX], &group_id, 1);

    memcpy(&tx_poll_msg[TAG_ID_IDX], &g_com_map[DEV_ID], 2);
    memcpy(&tx_final_msg[TAG_ID_IDX], &g_com_map[DEV_ID], 2);
    memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &g_com_map[DEV_ID], 2);
    memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &g_com_map[DEV_ID], 2);
    memcpy(&tx_near_msg[ANCHOR_ID_IDX], &g_com_map[DEV_ID], 2);
    memcpy(&tx_near_msg[TAG_ID_IDX], &g_com_map[DEV_ID], 2);
}