V1.15

zhyinch

2020-06-08 66596268c0f602ecc7ccbb34ea2b649108179eea

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -5,7 +5,7 @@
   DISCPOLL,
   GETNEARMSG,
   NEARPOLL,
}tag_state;
}tag_state=GETNEARMSG;
static dwt_config_t config = {
   2,               /* Channel number. */
   DWT_PRF_64M,     /* Pulse repetition frequency. */
@@ -25,6 +25,8 @@
static uint8_t tx_nearpoll_msg[80] = {0};
static uint8_t tx_nearresp_msg[80] = {0};
static uint8_t tx_nearfinal_msg[80] = {0};

static uint8_t tx_near_msg[80] = {0};

static uint32_t frame_seq_nb = 0;   
static uint32_t status_reg = 0;
@@ -202,56 +204,78 @@

u16 anclist_num=0,anclist_pos; //list æ€»æ•°é‡å’Œå½“前位置
u16 ancid_list[TAG_NUM_IN_SYS];
u8 nearbase_num=0;
u8 nearbase_num=0,last_nearbase_num,next_nearbase_num;
u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM];
int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM];
uint8_t trygetnearmsg_times;

u8 FindNearBasePos(u16 baseid)
{
   u8 i;
   for(i=0;i<=nearbase_num;i++)
   for(i=0;i<last_nearbase_num;i++)
   {
      if(baseid==nearbaseid_list[i])
         return i;
   }
   return i+1;
   return i;
}
u8 recbase_num=0;
#define CHANGE_BASE_THRESHOLD  5
void NearAncSelect(void)
{static u16 last_mainbase_id,change_base_count;
   int32_t nearbase_mindist=99999, nearbase_minpos;
//void NearAncSelect(void)
//{static u16 last_mainbase_id,change_base_count;
//   int32_t nearbase_mindist=99999, nearbase_minpos;
//   u8 i;
//   for(i=0;i<recbase_num-1;i++)
//   {
//      if(nearbase_mindist>nearbase_distlist[i])
//      {
//         nearbase_mindist=nearbase_distlist[i];
//         nearbase_minpos=i;
//      }
//   }
//   if(nearbase_mindist<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST)
//   {
//      if(last_mainbase_id==nearbaseid_list[nearbase_minpos])
//      {
//         change_base_count++;
//         if(change_base_count>CHANGE_BASE_THRESHOLD)
//         {
//            mainbase_id=last_mainbase_id;
//            tag_state=GETNEARMSG;
//         }
//      }else{
//         change_base_count=0;
//      }
//      last_mainbase_id=nearbaseid_list[nearbase_minpos];		
//   }else{
//      change_base_count=0;
//   }
//}
u8 GetRandomSlotPos(uint32_t emptyslot)
{
   u8 i;
   for(i=0;i<recbase_num-1;i++)
   for(i=dev_id%32;i<max_slotpos;i++)
   {
      if(nearbase_mindist>nearbase_distlist[i])
      if(((emptyslot>>i)&0x1)==0)
      {
         nearbase_mindist=nearbase_distlist[i];
         nearbase_minpos=i;
         return i;
      }
   }
   if(nearbase_mindist<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST)
	
      for(i=1;i<max_slotpos;i++)
   {
      if(last_mainbase_id==nearbaseid_list[nearbase_minpos])
      if(((emptyslot>>i)&0x1)==0)
      {
         change_base_count++;
         if(change_base_count>CHANGE_BASE_THRESHOLD)
         {
            mainbase_id=last_mainbase_id;
            tag_state=GETNEARMSG;
         }
      }else{
         change_base_count=0;
         return i;
      }
      last_mainbase_id=nearbaseid_list[nearbase_minpos];		
   }else{
      change_base_count=0;
   }
return max_slotpos-1;
}
u8 test=0;
u8 anclost_times=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;;
u16 temp_sync_timer1,temp_sync_timer2;
u32 rec_tagpos_binary;
void NearPoll(void)
{
   static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
@@ -266,11 +290,13 @@
    dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);      
   tag_succ_times = 0;
   GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
   if(nearbase_num>=MAX_NEARBASE_NUM)
   if(next_nearbase_num>=MAX_NEARBASE_NUM)
   {
      nearbase_num = MAX_NEARBASE_NUM-1;
      next_nearbase_num = MAX_NEARBASE_NUM-1;
   }
   //nearbase_num=0;
   last_nearbase_num=next_nearbase_num;
   nearbase_num=next_nearbase_num;
   recbase_num=0;
   tx_nearpoll_msg[BATTARY_IDX] = Get_Battary();
   tx_nearpoll_msg[BUTTON_IDX] = !READ_KEY0;
@@ -282,14 +308,11 @@
   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_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

   for(i=0;i<MAX_NEARBASE_NUM;i++)
   exsistbase_list[i]=0;
   
   flag_finalsend=0;
   flag_rxon=1;
   neartimout_timer=0;

   get_newbase=0;
   timeout=ceil((float)nearbase_num/4)+2;
   //timeout=5;
   mainbase_dist=100000;
@@ -332,11 +355,12 @@
                        resp_rx_ts = get_rx_timestamp_u64();                              //获得RESPONSE接收时间T4   
                        recbase_num++;
                        memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
                        if(nearbase_num==0)
                        if(last_nearbase_num==0)
                        {
                        nearbaseid_list[0]=rec_nearbaseid;
                        nearbase_num=1;
                        memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
                           get_newbase=1;
                           nearbaseid_list[0]=rec_nearbaseid;
                           nearbase_num=1;
                           memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
                        }
                        if(rec_nearbaseid==nearbaseid_list[0])
                        {
@@ -345,15 +369,15 @@
                           memcpy(&temp_sync_timer1,&rx_buffer[ANCTIMEMS],2);
                           memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
                           sync_timer=temp_sync_timer1;
                           exsistbase_list[0]=1;
                           exsistbase_list[0]=KEEP_TIMES;
////                           memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);      
//                           
                           tmp_time=tmp_time+450;
                           tmp_time=tmp_time+650;
                           if(tmp_time>999)
                           {
                              tmp_time-=999;
                              sync_timer++;
                              if(sync_timer>=1010)
                              if(sync_timer>=1000)
                                 {sync_timer=0;}
                           }
                           TIM3->CNT=tmp_time;
@@ -363,7 +387,7 @@
//                              tyncpoll_time=(tagslotpos-1)*slottime;
                           ////////////////////////////
                           rec_nearbasepos=0;
                           exsistbase_list[rec_nearbasepos]=1;
                           exsistbase_list[rec_nearbasepos]=10;
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                           
@@ -380,6 +404,9 @@
                           tx_nearfinal_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
                           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);
                           tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
									
                           if(temp_dist!=0x1ffff)
                           {
                           #ifndef USART_INTEGRATE_OUTPUT
@@ -399,14 +426,15 @@
                           //result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送         
                        }else{
                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                           if(rec_nearbasepos>nearbase_num)          //发现新的基站
                           if(rec_nearbasepos>=last_nearbase_num)          //发现新的基站
                           {
                              get_newbase=1;
                              nearbase_num++;
                              nearbaseid_list[nearbase_num] = rec_nearbaseid;
                              nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
                              memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
                           }
                           
                           exsistbase_list[rec_nearbasepos]=1;
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                           
@@ -456,53 +484,70 @@
         j=0;
         if(exsistbase_list[0]==0)
         {
          u8 temp_adc,random_value;
            random_value=0;
            for(i=0;i<8;i++)
            {
               temp_adc=Get_ADC_Value();
               random_value=random_value|((temp_adc&0x01)<<i);
            }
            tyncpoll_time=(random_value%max_slotpos)*slottime;	
//          u8 temp_adc,random_value;
//            random_value=0;
//            for(i=0;i<8;i++)
//            {
//               temp_adc=Get_ADC_Value();
//               random_value=random_value|((temp_adc&0x01)<<i);
//            }
            tyncpoll_time = (tagslotpos%max_slotpos)*slottime;	
         }
         for(i=0;i<MAX_NEARBASE_NUM;i++)
      //   tyncpoll_time=0;
         next_nearbase_num=0;
         for(i=0;i<last_nearbase_num+get_newbase;i++)
         {
            if(exsistbase_list[i]==1)
            {
            if(exsistbase_list[i]>0)
            {		
               next_nearbase_num++;
               true_exsistbase_list[j]=exsistbase_list[i];
               true_nearbase_idlist[j]=nearbaseid_list[i];         
               true_nearbase_distlist[j++]=nearbase_distlist[i];
               exsistbase_list[i]--;
            }
			
         }
		
         for(i=0;i<nearbase_num-1;i++)

         if(recbase_num<3)
         {next_nearbase_num=next_nearbase_num;}
               last_nearbase_num = next_nearbase_num;
         for(i=0;i<last_nearbase_num-1;i++)
         {
            for(j=0;j<nearbase_num-1;j++)
            for(j=0;j<last_nearbase_num-1;j++)
            {
               if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
               {
                  u32 temp_dist,temp_id;
                  u32 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;
               }         
            }
         }
			
         report_num=0;
   for (i=0;i<nearbase_num;i++)
   for (i=0;i<last_nearbase_num;i++)
         {
            nearbaseid_list[i]=true_nearbase_idlist[i];
            nearbase_distlist[i]=true_nearbase_distlist[i];
            if(nearbase_distlist[i]!=0x1ffff)
            if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==0xa)
            {
               memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
               memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
               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      
            usart_send[2] = 4;//正常模式
@@ -531,51 +576,69 @@


}

//void GetNearMsg(void)
//{
//   u32 start_poll,frame_len;
//   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
//   memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
//   tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
//	
//   dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);         //设置发送后开启接收，并设定延迟时间
//  dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);	
//   dwt_writetxdata(12, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
//   dwt_writetxfctrl(12, 0);//设置超宽带发送数据长度
//   dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);
//   start_poll = time32_incr;
//   /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
//   while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
//   { if(time32_incr - start_poll>20)
//      NVIC_SystemReset();
//   };
//   if(status_reg==0xffffffff)
//   {
//      NVIC_SystemReset();
//   }
//   if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
//   {
//      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
//      frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;   //获得接收到的数据长度
//      dwt_readrxdata(rx_buffer, frame_len, 0);   //读取接收数据
//      if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
//      {
//         nearbase_num=rx_buffer[NEARBASENUM_INDEX];
//         tagslotpos=rx_buffer[TAGSLOTPOS];
//         memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
//         slottime=ceil((nearbase_num+2)*0.3)+1;
//         tyncpoll_time=tagslotpos*slottime;
//         tag_state=NEARPOLL;
//      }
//   }
//}
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
void GetNearMsg(void)
{
   u32 start_poll,frame_len;
   if(nearmsg_mainbase)
   {nearmsg_mainbase=0;
   }else{
   nearmsg_mainbase=1;
   }
   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&nearmsg_mainbase,2);
   memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
   tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
	
   dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);         //设置发送后开启接收，并设定延迟时间
  dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);	
   dwt_writetxdata(12, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(12, 0);//设置超宽带发送数据长度
   dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);
   start_poll = time32_incr;
   /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
   while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
   { if(time32_incr - start_poll>20)
      NVIC_SystemReset();
   };
   if(status_reg==0xffffffff)
   {
      NVIC_SystemReset();
   }
   if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
   {
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
      frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;   //获得接收到的数据长度
      dwt_readrxdata(rx_buffer, frame_len, 0);   //读取接收数据
      if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
      {
         next_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
         memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
         tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
         //tagslotpos=rx_buffer[TAGSLOTPOS];
         memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],next_nearbase_num*2);
         tyncpoll_time=tagslotpos*slottime;
         tag_state=NEARPOLL;
      }
   }
}

void Tag_App(void)//发送模式(TAG标签)
{
   //LED0_ON;
   g_Resttimer=0;
   NearPoll();
   switch(tag_state)
   {
      case DISCPOLL:
			
         break;
      case GETNEARMSG:
           GetNearMsg();
         break;
      case NEARPOLL:
            NearPoll();
         break;
   }

}

int8_t correction_time,new_tagid=0;
@@ -602,9 +665,9 @@
   for(i=0;i<taglist_num;i++)
   {
      if(memcmp(&tagid,&tagid_list[i],2)==0)
         return i+1;
         break;
   }
   return 0;
   return i;
}
uint32_t frame_len;
uint32_t resp_tx_time;
@@ -682,7 +745,7 @@
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
}
u8 misdist_num,seize_anchor;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
{
         tmp_time=TIM3->CNT;
@@ -704,10 +767,11 @@
         }else{
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
         }
	
         tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
         tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
         dwt_writetxdata(20, tx_nearresp_msg, 0);//写入发送数据
         dwt_writetxfctrl(20, 0);//设定发送长度
			
         dwt_writetxdata(21, tx_nearresp_msg, 0);//写入发送数据
         dwt_writetxfctrl(21, 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

         battary = rx_buffer[BATTARY_IDX];
@@ -761,11 +825,12 @@
               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];
               g_flag_Taggetdist[taglist_pos]=0;
               if(hex_dist>-1000&&hex_dist<100000)
               {
               if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num>3)
               if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
               {
                  misdist_num=0;
                  misdist_num[taglist_pos]=0;
               tagdist_list[taglist_pos] = hex_dist;   
               his_dist[taglist_pos]=hex_dist;   
            #ifndef USART_INTEGRATE_OUTPUT
@@ -787,19 +852,20 @@
            #endif
               }else{
               //   printf("%d",hex_dist);
                  misdist_num++;
                  misdist_num[taglist_pos]++;
               }
            }
         }
		
         }else{
               //printf("%x/n",status_reg);
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
	
}
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase;
extern uint32_t tagpos_binary;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
u16 ancidlist_rec[20],ancidlist_send[20];
void Anchor_App(void)
{
   
@@ -819,33 +885,20 @@

   if (status_reg & SYS_STATUS_RXFCG)//成功接收
   { u16 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
      dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
      //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
      //tag_id_recv = rx_buffer[TAG_ID_IDX];
      memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
      memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
      taglist_pos=CmpTagInList(tag_id_recv);
      if(taglist_pos==0)
      {
         synclost_timer=0;
         tagid_list[taglist_num++]=tag_id_recv;
         taglist_pos=taglist_num;
         new_tagid=1;
      }else{
         new_tagid=0;
      }
      tagofflinetime[taglist_pos-1]=0;
      //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
      tag_id_recv = rx_buffer[TAG_ID_IDX];
      switch(rx_buffer[MESSAGE_TYPE_IDX])
      {
//         case POLL:
//            if (anchor_type == rx_buffer[ANC_TYPE_IDX])
//            Anchor_RecPoll();
//            break;
         case SYNC:
				
         case SYNC:			
            memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
            if(rec_syncid<current_syncid)
            {
@@ -855,40 +908,60 @@
               TIM3->CNT = sync_seq*325%1000+15;
               sync_timer = sync_seq*325/1000;
               synclost_timer=0;
               SyncPoll(sync_seq,rec_syncid);			
               //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+15;
                     sync_timer = sync_seq*325/1000;
                     TIM3->CNT = sync_seq*325%1000+5;
                     sync_timer = sync_seq*325/1000+995;
                     synclost_timer=0;
                     SyncPoll(sync_seq,rec_syncid);
                     //SyncPoll(sync_seq,rec_syncid);
                  }
            
            }
            break;
//         case NEAR_MSG:
//            if(anc_id_recv==dev_id)
//            {
//               rx_buffer[TAGSLOTPOS]=taglist_pos;
//               tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
//               memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
//               tx_near_msg[NEARBASENUM_INDEX]=g_com_map[NEARBASE_NUM];
//               memcpy(&tx_near_msg[NEARBASEID_INDEX],&g_com_map[NEARBASE_ID1],g_com_map[NEARBASE_NUM]*2);
//               send_len=11+g_com_map[NEARBASE_NUM]*2+2;
//               dwt_writetxdata(send_len, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
//               dwt_writetxfctrl(send_len, 0);//设置超宽带发送数据长度
//               dwt_starttx(DWT_START_TX_IMMEDIATE);
//            }
//            break;
//		
         case NEAR_POLL:
				
         case NEAR_MSG:
            if(anc_id_recv==flag_syncbase)
            {
               rx_buffer[TAGSLOTPOS]=taglist_pos;
               tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
               memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
               memcpy(&tx_near_msg[NEARMSG_EMPTYSLOTPOS_INDEX],&tagpos_binary,4);
               tx_near_msg[NEARBASENUM_INDEX]=ancidlist_num;
               memcpy(&tx_near_msg[NEARBASEID_INDEX],&ancidlist_send,ancidlist_num*2);
               send_len=11+ancidlist_num*2+2;
               dwt_writetxdata(send_len, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
               dwt_writetxfctrl(send_len, 0);//设置超宽带发送数据长度
               dwt_starttx(DWT_START_TX_IMMEDIATE);
            }
            break;
		
         case NEAR_POLL:			
            memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
            taglist_pos=CmpTagInList(tag_id_recv);
            if(taglist_pos==taglist_num)
            {
               taglist_pos=taglist_num;
               tagid_list[taglist_num++]=tag_id_recv;
					
               new_tagid=1;
            }else{
               new_tagid=0;
            }
            tagofflinetime[taglist_pos]=0;
          temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
            tagpos_rec[(u8)temp_tagpos]=1;
            rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
         
            if(rec_nearbase_num>ancidlist_num)
               {
                  ancidlist_num=rec_nearbase_num;
                  memcpy(ancidlist_rec,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
               }
					
            for(i=0;i<rec_nearbase_num;i++)
            {
                memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
@@ -904,14 +977,11 @@
                  seize_anchor=1;   //抢占anchor
                  Anchor_RecNearPoll(i);   
               }

            
            break;
		
      }
		
   }
   else
   {
            break;		
      }	
   }else{
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
   }
}