1.76

yincheng.zhong

2024-01-29 526f2fbdaa4532c5bc0b6dffd7b9b84f784d7fef

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -1,5 +1,6 @@
#include "dw_app.h"
#include "ADC.h"
#include "modbus.h"
#define TDFILTER
enum enumtagstate
{
@@ -14,7 +15,7 @@
   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. */
   0,               /* Use non-standard SFD (Boolean) */
   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. */
@@ -48,7 +49,7 @@
uint32_t g_UWB_com_interval = 0; 
float dis_after_filter;            //当前距离值
LPFilter_Frac* p_Dis_Filter;      //测距用的低通滤波器
uint16_t g_Tagdist[TAG_NUM_IN_SYS];
int32_t g_Tagdist[TAG_NUM_IN_SYS];
uint8_t g_flag_Taggetdist[256];

static uint64_t get_tx_timestamp_u64(void)
@@ -110,11 +111,12 @@
         g_flag_Taggetdist[i]++;
         if(g_flag_Taggetdist[i]>=2)
         {
            g_Tagdist[i]=0xffff;
            g_Tagdist[i]=0x1ffff;
         }
      }
   }
}
extern int16_t g_commap_antdelay;
void Dw1000_Init(void)
{
   /* Reset and initialise DW1000.
@@ -131,12 +133,13 @@
   
    /* Apply default antenna delay value. See NOTE 1 below. */
    dwt_setrxantennadelay(RX_ANT_DLY);      //设置接收天线延迟
    dwt_settxantennadelay(TX_ANT_DLY);      //设置发射天线延迟
    dwt_settxantennadelay(0);      //设置发射天线延迟

    /* 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. */
            //设置接收超时时间
}
extern u16 group_id;
void Dw1000_App_Init(void)
{
//g_com_map[DEV_ID] = 0x0b;
@@ -145,6 +148,10 @@
   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], &dev_id, 2);
   memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
   memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
@@ -333,15 +340,25 @@
   last_nearbase_num=next_nearbase_num;
   nearbase_num=next_nearbase_num;
   recbase_num=0;
    tx_nearpoll_msg[GROUP_ID_IDX] = group_id;
   tx_nearpoll_msg[BATTARY_IDX] = Get_Battary();
   tx_nearpoll_msg[BUTTON_IDX] = !READ_KEY0;
   tx_nearpoll_msg[SEQUENCE_IDX] = frame_seq_nb++;
   tx_nearpoll_msg[NEARBASENUM_INDEX] = nearbase_num;
   memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
    for(i=0;i<nearbase_num;i++)
    { memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*2+i*2],&nearbase_distlist[i],2);}
    
    memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*4],&g_commap_antdelay,2);
    
        for(i=0;i<MAX_NEARBASE_NUM;i++)
    {
        nearbase_distlist[i]=0x1ffff;
    }
   tx_nearpoll_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;   
   memcpy(&tx_nearpoll_msg[ANCHOR_ID_IDX],&mainbase_id,2);   
   dwt_writetxdata(13+2*nearbase_num, tx_nearpoll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(13+2*nearbase_num, 0);//设置超宽带发送数据长度
   dwt_writetxdata(15+4*nearbase_num, tx_nearpoll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(15+4*nearbase_num, 0);//设置超宽带发送数据长度
   dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
   
   flag_finalsend=0;
@@ -383,7 +400,7 @@
                     dwt_readrxdata(rx_buffer, frame_len, 0);   //读取接收数据
                     dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
                     dwt_rxenable(0);//打开接收
                     if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
                     if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX] == group_id) //判断接收到的数据是否是response数据
                     {   u16 rec_nearbaseid,rec_nearbasepos;
                        int32_t temp_dist;
                        poll_tx_ts = get_tx_timestamp_u64();                              //获得POLL发送时间T1
@@ -444,24 +461,23 @@
                           final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
                           final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
                           tx_nearfinal_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
                                    tx_nearfinal_msg[GROUP_ID_IDX] = group_id;
                           dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//将发送数据写入DW1000
                           dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
                                IWDG_Feed();
                        if(temp_dist!=0x1ffff)
                           {
                              g_Resttimer=0;
                              #ifndef USART_INTEGRATE_OUTPUT
                                        
                              #ifdef USART_SINGLE_OUTPUT
                              usart_send[2] = 1;//正常模式
                              usart_send[3] = 17;//数据段长度
                              usart_send[4] = frame_seq_nb;//数据段长度
                              if(g_com_map[DEV_ROLE])
                              {

                              memcpy(&usart_send[5],&dev_id,2);
                              memcpy(&usart_send[7],&rec_nearbaseid,2);      
                              }else{
                              memcpy(&usart_send[5],&rec_nearbaseid,2);
                              memcpy(&usart_send[7],&dev_id,2);	
                              }											
													
                              memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
                              usart_send[13] = battary;
                              usart_send[14] = button;
@@ -500,18 +516,14 @@
//                           tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
                           if(temp_dist!=0x1ffff)
                           {
                              #ifndef USART_INTEGRATE_OUTPUT
                              #ifdef USART_SINGLE_OUTPUT
                              usart_send[2] = 1;//正常模式
                              usart_send[3] = 17;//数据段长度
                              usart_send[4] = frame_seq_nb;//数据段长度
                              if(g_com_map[DEV_ROLE])
                              {

                              memcpy(&usart_send[5],&dev_id,2);
                              memcpy(&usart_send[7],&rec_nearbaseid,2);      
                              }else{
                              memcpy(&usart_send[5],&rec_nearbaseid,2);
                              memcpy(&usart_send[7],&dev_id,2);	
                              }											
										
                              memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
                              usart_send[13] = battary;
                              usart_send[14] = button;
@@ -607,10 +619,7 @@
               report_num++;
            }
         }
         for(i=0;i<MAX_NEARBASE_NUM;i++)
         {
            nearbase_distlist[i]=0x1ffff;
         }

         
      //   printf("%d,%d",temp_sync_timer2,temp_sync_timer1);
         #ifdef USART_INTEGRATE_OUTPUT      
@@ -723,7 +732,7 @@
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];
u16 tagid_list[TAG_NUM_IN_SYS],tagstate_list[TAG_NUM_IN_SYS];;
u8 tagofflinetime[TAG_NUM_IN_SYS];
int32_t tagdist_list[TAG_NUM_IN_SYS];
void TagListUpdate(void)
@@ -751,6 +760,7 @@
uint32_t frame_len;
uint32_t resp_tx_time;
uint8_t rec_nearbase_num,anc_report_num;
int16_t rec_antdelay;
void Anchor_RecPoll(void)
{
         tmp_time=TIM3->CNT;
@@ -774,6 +784,8 @@

         battary = rx_buffer[BATTARY_IDX];
         button = rx_buffer[BUTTON_IDX];
         
            
         frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
         if(result==0)
         {
@@ -824,7 +836,31 @@
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
}
 double firstpath_power, rx_power,rec_firstpath_power;
  double f1, f2, r1, r2;
uint16_t F1,F2,F3,N,C;
double B = 131072;
double A = 121.74;
double min_power;
 dwt_rxdiag_t d1;
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;
  }
u16 smallcar_idlist[10]={0x4052,0x4032,0x4055,0x4034,0x4016,0x4010,0x4036,0x4027,0x4024,0x4047};
extern u16 dist_threshold;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
int32_t filter_dist,filter_speed;
u8 newmeasure,recpoll_len;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
{
   u8 motorstate;
@@ -840,29 +876,41 @@
         dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
         dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
         
         if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
         {
            motorstate =0;
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
         {
            motorstate =2;
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
         {
            motorstate =1;
         }else{
            motorstate =0;
         }
         
         if(new_tagid)
         {
            tagdist_list[taglist_pos]=0x1ffff;
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
         }else{
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
         }
            if(tag_id_recv>>12!=9)
            {
                if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
                {
                    motorstate =0;
                }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
                {
                    motorstate =2;
                }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
                {
                    motorstate =1;
                }else{
                    motorstate =0;
                }
        }else{
                if(tagdist_list[taglist_pos]<g_com_map[RELAY2_DISTANCE1])
                {
                    motorstate =0;
                }else if(tagdist_list[taglist_pos]<g_com_map[RELAY2_DISTANCE2])
                {
                    motorstate =2;
                }else if(tagdist_list[taglist_pos]<g_com_map[RELAY2_DISTANCE3])
                {
                    motorstate =1;
                }else{
                    motorstate =0;
                }
        }
            
            tx_nearresp_msg[GROUP_ID_IDX] = group_id;
         tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
         tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
         tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
            remotesend_state = 0;
         tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|(motorstate&0xf);
         if(remotesend_state)
         {
             memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
@@ -874,9 +922,7 @@
         }
         result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收

         battary = rx_buffer[BATTARY_IDX];
         button = rx_buffer[BUTTON_IDX];
         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))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
@@ -895,12 +941,13 @@
         {
            return 1;
         }
         if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //判断是否为Final包
         if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)&&group_id==rx_buffer[GROUP_ID_IDX]) //判断是否为Final包
            {
               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;
                    u8 si;
               resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
               final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
               final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5
@@ -918,47 +965,96 @@
               tof = tof_dtu * DWT_TIME_UNITS;
               distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
               dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数
               dist_cm = dist_no_bias * 1000; //dis ä¸ºå•ä½ä¸ºcm的距离				
               dist_cm = dist_no_bias * 1000; //dis ä¸ºå•ä½ä¸ºcm的距离	
               dwt_readdiagnostics(&d1);
               LOS(&d1);					
               /*--------------------------以下为非测距逻辑------------------------*/
               //dist_cm=33000;
               getrange_success = 1;
               g_Resttimer=0;
					
               LED0_BLINK; //每成功一次通讯则闪烁一次
               dis_after_filter=dist_cm;
               hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;

                        if(recpoll_len==rec_nearbase_num*4+15)
                        {
                            hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10-rec_antdelay*10;
                        }
                    
               g_flag_Taggetdist[taglist_pos]=0;
               if(hex_dist>0&&hex_dist<2000000)
                    
               if(hex_dist>-100000&&hex_dist<2000000)
               {
               if(abs(hex_dist-his_dist[taglist_pos])<10000||misdist_num[taglist_pos]>3)
               {
                  int32_t filter_dist;
               if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
               {u8 i=0;
						
                        g_Resttimer=0;
                        IWDG_Feed();
                  #ifdef TDFILTER
                  NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
                  filter_dist=pos_predict[taglist_pos]/10;
                  filter_dist = pos_predict[taglist_pos]/10;
                        filter_speed = vel_predict[taglist_pos]/10;
                        newmeasure = 1;
                  #else
                  filter_dist=hex_dist/10;
                  #endif
                  misdist_num[taglist_pos]=0;
               tagdist_list[taglist_pos] = filter_dist;   
               his_dist[taglist_pos]=hex_dist;   
                  g_Tagdist[taglist_pos]=filter_dist;	
            #ifndef USART_INTEGRATE_OUTPUT
                        if(hex_dist>0)
                  {
                            g_Tagdist[taglist_pos]=hex_dist/10;	
                        }else{
                        //    g_Tagdist[taglist_pos]= 1;
                        }
            #ifdef USART_SINGLE_OUTPUT
               usart_send[2] = 1;//正常模式 
               usart_send[3] = 17;//数据段长度
               usart_send[4] = frame_seq_nb2;//数据段长度
               memcpy(&usart_send[5],&tag_id_recv,2);
               memcpy(&usart_send[7],&dev_id,2);				
               memcpy(&usart_send[7],&dev_id,2);			
                    if(tagdist_list[taglist_pos]<=0)
                        tagdist_list[taglist_pos]=0x2ffff;
               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;
               checksum = Checksum_u16(&usart_send[2],17);
               memcpy(&usart_send[19],&checksum,2);
               if(g_com_map[MODBUS_MODE]!=1)
               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
                    tagstate_list[taglist_pos] = (button<<8)|battary;
               for(i=0;i<taglist_num-1;i++)
               {
                  if( tagdist_list[i]>tagdist_list[i+1]&&tagdist_list[i+1]!=0)
                  {
                     int32_t tempdist;
                     u16 tempid,tempstate;
                     tempdist = tagdist_list[i];
                     tempid = tagid_list[i];
                     tempstate = tagstate_list[i];
							
                     tagdist_list[i] = tagdist_list[i+1];
                     tagid_list[i] = tagid_list[i+1];
                     tagstate_list[i] = tagstate_list[i+1];
							
                     tagdist_list[i+1] = tempdist;
                     tagid_list[i+1] = tempid;
                     tagstate_list[i+1] = tempstate;
                  }
               }
               for(i=0;i<taglist_num;i++)
               {
                  Modbus_HoldReg[i*4] = tagid_list[i];
                  Modbus_HoldReg[i*4+1] = tagstate_list[i];
                  memcpy(&Modbus_HoldReg[i*4+2],&tagdist_list[i],4);
               }
               }else{
               //   printf("%d",hex_dist);
                  misdist_num[taglist_pos]++;
@@ -973,7 +1069,7 @@
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
u16 ancidlist_rec[20],ancidlist_send[20];
u16 ancidlist_rec[20],ancidlist_send[20],rec_ancidlist[20],rec_ancdistlist[20];
void Anchor_App(void)
{
   
@@ -1000,10 +1096,13 @@

      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
      frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
        recpoll_len = frame_len;
      dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
      memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
      //将收到的tag_id分别写入各次通讯的包中，为多标签通讯服务，防止一次通讯中接收到不同ID标签的数据
      memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
       if(group_id==rx_buffer[GROUP_ID_IDX])
       {
      switch(rx_buffer[MESSAGE_TYPE_IDX])
      {
//         case POLL:
@@ -1011,29 +1110,29 @@
//            Anchor_RecPoll();
//            break;
         case SYNC:               
            memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
            if(rec_syncid<current_syncid)
            {
               current_syncid=rec_syncid;
               flag_syncbase=0;
               sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
               TIM3->CNT = sync_seq*325%1000+15;
               sync_timer = sync_seq*325/1000;
               synclost_timer=0;
               //SyncPoll(sync_seq,rec_syncid);			
               }else if(rec_syncid==current_syncid)
            {
               if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)		
                  {
                     flag_syncbase=0;
                     sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
                     TIM3->CNT = sync_seq*325%1000+5;
                     sync_timer = sync_seq*325/1000+995;
                     synclost_timer=0;
                     //SyncPoll(sync_seq,rec_syncid);
                  }
				
            }
//            memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
//            if(rec_syncid<current_syncid)
//            {
//               current_syncid=rec_syncid;
//               flag_syncbase=0;
//               sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
//               TIM3->CNT = sync_seq*325%1000+15;
//               sync_timer = sync_seq*325/1000;
//               synclost_timer=0;
//               //SyncPoll(sync_seq,rec_syncid);			
//               }else if(rec_syncid==current_syncid)
//            {
//               if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)		
//                  {
//                     flag_syncbase=0;
//                     sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
//                     TIM3->CNT = sync_seq*325%1000+5;
//                     sync_timer = sync_seq*325/1000+995;
//                     synclost_timer=0;
//                     //SyncPoll(sync_seq,rec_syncid);
//                  }
//				
//            }
            break;
         case NEAR_MSG:
            if(anc_id_recv==flag_syncbase)
@@ -1051,8 +1150,29 @@
            }
            break;
      
         case NEAR_POLL:						
         case NEAR_POLL:	
                frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
                battary = rx_buffer[BATTARY_IDX];
                button = rx_buffer[BUTTON_IDX];
                rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];                
            memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
                memcpy(&rec_ancidlist,&rx_buffer[NEARBASEID_INDEX],2*rec_nearbase_num);
                memcpy(&rec_ancdistlist,&rx_buffer[NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
                memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*4],2);
            #ifdef USART_ALL_OUTPUT
                    usart_send[2] = 0x0c;//正常模式 
               usart_send[3] = 8+rec_nearbase_num*4;//数据段长度
               usart_send[4] = frame_seq_nb2;//数据段长度
                  usart_send[5] = battary;
               usart_send[6] = button;
                    usart_send[7] = rec_nearbase_num;
               memcpy(&usart_send[8],&tag_id_recv,2);
               memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);				
               memcpy(&usart_send[10+rec_nearbase_num*2],&rec_ancdistlist,2*rec_nearbase_num);
               checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
               memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
               UART_PushFrame(usart_send,12+rec_nearbase_num*4);
            #endif
         if(tag_id_recv>=g_com_map[WHITELIST1_START]&&tag_id_recv<=g_com_map[WHITELIST1_END])
         {break;}
            taglist_pos=CmpTagInList(tag_id_recv);
@@ -1066,9 +1186,9 @@
               new_tagid=0;
            }
            tagofflinetime[taglist_pos]=0;
          temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
                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>ancidlist_num)
               {
@@ -1099,4 +1219,5 @@
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
   }
}
}