V1.4 去掉阈值修改，增加滤波功能，客户反馈还不行

yincheng.zhong

2023-11-29 5f02075313d646cd2bdb7a5ff720870455ba61fc

 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
{
@@ -10,14 +11,14 @@
static dwt_config_t config = {
   2,               /* Channel number. */
   DWT_PRF_64M,     /* Pulse repetition frequency. */
   DWT_PLEN_128,    /* Preamble length. */
   DWT_PLEN_1024,    /* 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. */
   (1025 + 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};
@@ -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)
@@ -110,12 +111,20 @@
         g_flag_Taggetdist[i]++;
         if(g_flag_Taggetdist[i]>=2)
         {
            g_Tagdist[i]=0xffff;
            g_Tagdist[i]=0x1ffff;
         }
      }
   }
}
extern u16 g_commap_antdelay;
void SetNLOSNTMSettings(void)
{
    uint8_t temp;
    temp = 7;
    dwt_writetodevice(LDE_IF_ID,LDE_CFG1_OFFSET,1,&temp);
    dwt_write16bitoffsetreg(LDE_IF_ID,LDE_CFG2_OFFSET,3);
    // NTM = dwt_read32bitoffsetreg(LDE_IF_ID,LDE_CFG1_OFFSET) & LDE_CFG1_NSTDEV_MASK;
}
extern int16_t g_commap_antdelay;
void Dw1000_Init(void)
{
   /* Reset and initialise DW1000.
@@ -128,16 +137,17 @@
    /* Configure DW1000. See NOTE 6 below. */
    dwt_configure(&config);//配置DW1000
   

  //  SetNLOSNTMSettings();
   
    /* Apply default antenna delay value. See NOTE 1 below. */
    dwt_setrxantennadelay(RX_ANT_DLY);      //设置接收天线延迟
    dwt_settxantennadelay(g_commap_antdelay);      //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)
{
@@ -347,15 +357,17 @@
   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+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(13+4*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;
@@ -462,22 +474,19 @@
                           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;
                                        IWDG_Feed();
                                        
                              #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;
@@ -520,14 +529,10 @@
                              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;
@@ -736,9 +741,9 @@
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];
int32_t tagdist_list[TAG_NUM_IN_SYS],tag_histdist_list[TAG_NUM_IN_SYS];
void TagListUpdate(void)
{
   u16 i,j=0,temp[TAG_NUM_IN_SYS];
@@ -764,6 +769,7 @@
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;
@@ -787,6 +793,8 @@

         battary = rx_buffer[BATTARY_IDX];
         button = rx_buffer[BUTTON_IDX];
         
            
         frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
         if(result==0)
         {
@@ -837,39 +845,60 @@
            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;
  }
static void resp_msg_set_ts(uint8_t *ts_field, const uint64_t ts)
{
    int i;
    for (i = 0; i < 4; i++)
    {
        ts_field[i] = (ts >> (i * 8)) & 0xFF;
    }
}
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;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
u8 newmeasure,recpoll_len;
uint8_t temp_nearbaspos;
float fiter_p;
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos) //0 mainbase  1 first near_base
{
   u8 motorstate;
         tmp_time=TIM3->CNT;
   uint8_t motorstate;
//         tmp_time=TIM3->CNT;
    temp_nearbaspos = ancrec_nearbasepos;
         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);
            memcpy(&tx_nearresp_msg[RESP_MSG_ANC_DISTOFFSET],&g_com_map[DIST_OFFSET],2);
         poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2

         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;//计算Response发送时间T3。
         dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
         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;
         }
			
         dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间、
            resp_tx_ts = (((uint64_t)(resp_tx_time & 0xFFFFFFFEUL)) << 8) + TX_ANT_DLY;
            resp_msg_set_ts(&tx_nearresp_msg[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts);
            resp_msg_set_ts(&tx_nearresp_msg[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts);
         if(new_tagid)
         {
            tagdist_list[taglist_pos]=0x1ffff;
@@ -877,139 +906,96 @@
         }else{
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
         }
         motorstate =0;
            if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1]||tagdist_list[taglist_pos]<0)
            {
               motorstate =0; 
            }
            else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
         {
            if(1)//flag_tag_distsmooth[taglist_pos])
            {motorstate =2;
            }else{
               motorstate =0;
            }
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
         {
            if(1)//flag_tag_distsmooth[taglist_pos])
            {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;
         if(remotesend_state)
         {
             memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
            dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//写入发送数据
            dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度		
         }else{
         dwt_writetxdata(22, tx_nearresp_msg, 0);//写入发送数据
         dwt_writetxfctrl(22, 0);//设定发送长度
         }
         result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
         tx_nearresp_msg[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
         tx_nearresp_msg[MOTORSTATE_INDEX]&=0x0f;
//         if(remotesend_state)
//         {
//             memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
//            dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//写入发送数据
//            dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度		
//         }else{
         dwt_writetxdata(38, tx_nearresp_msg, 0);//写入发送数据
         dwt_writetxfctrl(38, 0);//设定发送长度
      //   }
         result = dwt_starttx(DWT_START_TX_DELAYED );//延迟发送，等待接收

         
         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
         { };
      }else{
         result++;
      }
	
         if (status_reg & SYS_STATUS_RXFCG)//接收成功
         {
				
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位
            frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//数据长度
            dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
         if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2)) //抢占anchor å¤±è´¥
         {
            return 1;
         }
         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
               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;//使用32位数据计算
               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));//计算公式
               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				
               /*--------------------------以下为非测距逻辑------------------------*/
               //dist_cm=33000;
               getrange_success = 1;
					
               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;
                    for(si=0;si<10;si++)
            while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS ))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
                { };
            }else{
//                 if(g_com_map[MODBUS_ID1]==1)
//                    {
//                     #ifdef DBGMSG_OUTPUT
//                    dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
//                    SendDbgMsg(dbgmsg,dbgmsg_len);
//                    #endif
//                    }
                result++;
            }
            if(!seize_anchor)
            {
            if(abs(tagdist_list[taglist_pos]-tag_histdist_list[taglist_pos])<g_com_map[SPEEDFILTER_THRES]||misdist_num[taglist_pos]>3)
                {                      
                    if(tag_histdist_list[taglist_pos]>0&&tag_histdist_list[taglist_pos]<50000)
                    {
                        if(smallcar_idlist[si]==tag_id_recv)
                        {
                            hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10-(int16_t)g_com_map[NOMOVESLEEP_TIME]*10;
                        }
                        filter_dist=tagdist_list[taglist_pos]*fiter_p+(1-fiter_p)*tag_histdist_list[taglist_pos];
                    }else{
                        filter_dist = tagdist_list[taglist_pos];
                    }
               g_flag_Taggetdist[taglist_pos]=0;
                    
               if(hex_dist>-1000&&hex_dist<2000000)
               {
               if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
               {
						
                        g_Resttimer=0;
                        IWDG_Feed();
                  #ifdef TDFILTER
                  NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
                  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]=hex_dist/10;	
            #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);			
                            if(tagdist_list[taglist_pos]<=0)
                                tagdist_list[taglist_pos]=10;
               memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
               usart_send[13] = battary;
               usart_send[14] = button;
               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
               }else{
               //   printf("%d",hex_dist);
                  misdist_num[taglist_pos]++;
               }
            }
         }
         }else{
               //printf("%x/n",status_reg);
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
                    tag_histdist_list[taglist_pos] = filter_dist; 
                    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[9],&tag_histdist_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);
                   
                    UART_PushFrame(usart_send,21);
            }else{
                misdist_num[taglist_pos]++;
            }
            }                

}
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],rec_ancidlist[20],rec_ancdistlist[20];
extern uint8_t flag_syncbase;
uint8_t tagpos_rec[50],tagpos_send[50],ancidlist_num;
uint16_t ancidlist_rec[20],ancidlist_send[20],rec_ancidlist[20],rec_ancdistlist[20];
void Anchor_App(void)
{
	
   u8 send_len,i;
   u16 tempid;
   uint8_t send_len,i;
   uint16_t  tempid;
   uint32_t rec_syncid;
   
   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
@@ -1025,12 +1011,13 @@
   };
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);   
   if (status_reg & SYS_STATUS_RXFCG)//成功接收
   { u16 tag_recv_interval;
   { uint16_t tag_recv_interval;
      float temp_tagpos;
   

      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
@@ -1050,7 +1037,7 @@
               current_syncid=rec_syncid;
               flag_syncbase=0;
               sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
               TIM3->CNT = sync_seq*325%1000+15;
//               TIM3->CNT = sync_seq*325%1000+15;
               sync_timer = sync_seq*325/1000;
               synclost_timer=0;
               //SyncPoll(sync_seq,rec_syncid);         
@@ -1060,7 +1047,7 @@
                  {
                     flag_syncbase=0;
                     sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
                     TIM3->CNT = sync_seq*325%1000+5;
//                     TIM3->CNT = sync_seq*325%1000+5;
                     sync_timer = sync_seq*325/1000+995;
                     synclost_timer=0;
                     //SyncPoll(sync_seq,rec_syncid);
@@ -1092,6 +1079,8 @@
            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);
                g_Resttimer = 0;
            #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
@@ -1120,7 +1109,7 @@
            }
            tagofflinetime[taglist_pos]=0;
                temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
            tagpos_rec[(u8)temp_tagpos]=1;
            tagpos_rec[(uint8_t)temp_tagpos]=1;
            
         
            if(rec_nearbase_num>ancidlist_num)
@@ -1135,6 +1124,11 @@
               if(tempid==dev_id)
               {
                  seize_anchor=0;  //非抢占。已存在列表中
                        if(rec_ancdistlist[i]!=0)
                        {
                            g_Tagdist[taglist_pos] = rec_ancdistlist[i];
                            tagdist_list[taglist_pos] = rec_ancdistlist[i];
                        }
                  Anchor_RecNearPoll(i);   
                  break;
               }                  
@@ -1148,9 +1142,17 @@
            
            break;      
      }   
   }else{
   }
}else{
//                if(g_com_map[MODBUS_ID1]==1)
//                {
//                 #ifdef DBGMSG_OUTPUT
//                dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
//                SendDbgMsg(dbgmsg,dbgmsg_len);
//                #endif
//                }
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
   }
    dwt_forcetrxoff();
   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}