UWB_SmallModule_F103.git

			@@ -1,4 +1,5 @@
			#include "dw_app.h"
			#include "ADC.h"
			enum enumtagstate
			{
			DISCPOLL,
			@@ -134,7 +135,6 @@
			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;
			@@ -158,7 +158,7 @@
			}

			u16 tag_time_recv[TAG_NUM_IN_SYS];
			u8 usart_send[25];
			u8 usart_send[100];
			u8 battary,button;
			extern uint8_t g_pairstart;
			void tag_sleep_configuraion(void)
			@@ -190,125 +190,20 @@

			u16 anclist_num=0,anclist_pos; //list æ»æ°éåå½åä½ç½®
			u16 ancid_list[TAG_NUM_IN_SYS];
			u8 nearbase_num;
			u16 nearbaseid_list[10],mainbase_id;
			int32_t mainbase_dist,nearbase_distlist[10];
			void Poll(void)
			{
			uint32_t frame_len;
			uint32_t final_tx_time;
			u32 start_poll;
			int32_t mindist=999999,minid=-1,temp_dist;
			u8 i,getsync_flag=0;
			dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //è®¾ç½®åéåå¼å¯æ¥æ¶ï¼å¹¶è®¾å®å»¶è¿æ¶é´
			dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
			tag_succ_times = 0;
			GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);
			for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
			{
			/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
			tx_poll_msg[ANC_TYPE_IDX] = i;
			dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
			dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//è®¾ç½®è¶å®½å¸¦åéæ°æ®é¿åº¦
			dwt_starttx(DWT_START_TX_IMMEDIATE \| DWT_RESPONSE_EXPECTED);//å¼å¯åéï¼åéå®æåçå¾ä¸æ®µæ¶é´å¼å¯æ¥æ¶ï¼çå¾æ¶é´å¨dwt_setrxaftertxdelayä¸è®¾ç½®
			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)))//ä¸ææ¥è¯¢è¯çç¶æç´å°æåæ¥æ¶æèåçéè¯¯
			{ if(time32_incr - start_poll>20)
			NVIC_SystemReset();
			};
			if(status_reg==0xffffffff)
			{
			NVIC_SystemReset();
			}
			if (status_reg & SYS_STATUS_RXFCG)//å¦ææåæ¥æ¶
			{
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG \| SYS_STATUS_TXFRS);//æ¸æ¥å¯åå¨æ å¿ä½
			frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //è·å¾æ¥æ¶å°çæ°æ®é¿åº¦
			dwt_readrxdata(rx_buffer, frame_len, 0); //è¯»åæ¥æ¶æ°æ®
			if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //å¤ææ¥æ¶å°çæ°æ®æ¯å¦æ¯responseæ°æ®
			{
			poll_tx_ts = get_tx_timestamp_u64(); //è·å¾POLLåéæ¶é´T1
			resp_rx_ts = get_rx_timestamp_u64(); //è·å¾RESPONSEæ¥æ¶æ¶é´T4
			if(getsync_flag==0)
			{
			getsync_flag=1;
			memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
			memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
			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;}
			}
			TIM3->CNT=tmp_time;
			if(tagslotpos>max_slotpos)
			tagslotpos=tagslotpos%(max_slotpos+1);
			tyncpoll_time=(tagslotpos-1)*slottime;
			}

			memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4);
			memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
			/* Compute final message transmission time. See NOTE 9 below. */
			final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//è®¡ç®finalååéæ¶é´ï¼T5=T4+Treply2
			dwt_setdelayedtrxtime(final_tx_time);//è®¾ç½®finalååéæ¶é´T5
			final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//finalåå®éåéæ¶é´æ¯è®¡ç®æ¶é´å ä¸åéå¤©çº¿delay
			final_msg_set_ts(&tx_final_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//å°T1ï¼T4ï¼T5åå¥åéæ°æ®
			final_msg_set_ts(&tx_final_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
			final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
			dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//å°åéæ°æ®åå¥DW1000
			dwt_writetxfctrl(sizeof(tx_final_msg), 0);//è®¾å®åéæ°æ®é¿åº¦
			result=dwt_starttx(DWT_START_TX_DELAYED);//è®¾å®ä¸ºå»¶è¿åé
			tag_succ_times++;
			LED0_BLINK;

			if(temp_dist<mindist)
			{
			memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
			tag_state=GETNEARMSG;
			}
			if(result==0)
			{while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//ä¸ææ¥è¯¢è¯çç¶æç´å°åéå®æ
			{ };
			}
			/* Clear TXFRS event. */
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//æ¸é¤æ å¿ä½
			random_delay_tim = 0;
			}
			else
			{
			random_delay_tim = DFT_RAND_DLY_TIM_MS; //å¦æéè®¯å¤±è´¥ï¼å°é´éæ¶é´å¢å 5msï¼é¿å¼å ä¸ºå¤æ ç¾åæ¶åéå¼èµ·çå²çªã
			}
			}
			else
			{
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			random_delay_tim = DFT_RAND_DLY_TIM_MS;
			}
			}
			if(getsync_flag==0)
			{
			tagslotpos--;
			if(tagslotpos==0\|\|tagslotpos>max_slotpos)
			{
			tagslotpos=max_slotpos;
			}
			tyncpoll_time=(tagslotpos-1)*slottime;
			}
			mainbase_id=minid;
			}
			u8 nearbase_num=0;
			u16 nearbaseid_list[10],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
			int32_t mainbase_dist,nearbase_distlist[10],true_nearbase_distlist[MAX_NEARBASE_NUM];
			uint8_t trygetnearmsg_times;

			u8 FindNearBasePos(u16 baseid)
			{
			u8 i;
			for(i=0;i<nearbase_num;i++)
			for(i=0;i<=nearbase_num;i++)
			{
			if(baseid==nearbaseid_list[i])
			return i;
			}
			return i+1;
			}
			u8 recbase_num=0;
			#define CHANGE_BASE_THRESHOLD 5
			@@ -342,6 +237,8 @@
			change_base_count=0;
			}
			}
			u8 anclost_times=0;
			u8 exsistbase_list[MAX_NEARBASE_NUM],report_num;
			void NearPoll(void)
			{
			static u8 mainbase_lost_count=0,flag_finalsend;
			@@ -349,10 +246,19 @@
			uint32_t frame_len;
			uint32_t final_tx_time;
			u32 start_poll;
			u8 i,getsync_flag=0,timeout;
			u8 i,j,getsync_flag=0,timeout;
			// printf("%d",sync_timer);
			dwt_forcetrxoff();
			dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //è®¾ç½®åéåå¼å¯æ¥æ¶ï¼å¹¶è®¾å®å»¶è¿æ¶é´
			dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
			tag_succ_times = 0;
			if(nearbase_num>=MAX_NEARBASE_NUM)
			{
			nearbase_num = MAX_NEARBASE_NUM-1;
			}
			//nearbase_num=0;
			recbase_num=0;

			tx_near_msg[BATTARY_IDX] = Get_Battary();
			tx_near_msg[BUTTON_IDX] = !READ_KEY0;
			tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
			@@ -364,9 +270,12 @@
			dwt_writetxfctrl(13+2*nearbase_num, 0);//è®¾ç½®è¶å®½å¸¦åéæ°æ®é¿åº¦
			dwt_starttx(DWT_START_TX_IMMEDIATE \| DWT_RESPONSE_EXPECTED);//å¼å¯åéï¼åéå®æåçå¾ä¸æ®µæ¶é´å¼å¯æ¥æ¶ï¼çå¾æ¶é´å¨dwt_setrxaftertxdelayä¸è®¾ç½®

			for(i=0;i<MAX_NEARBASE_NUM;i++)
			exsistbase_list[i]=0;

			flag_finalsend=0;
			neartimout_timer=0;
			recbase_num=0;

			timeout=nearbase_num/4+2;
			mainbase_dist=100000;
			mainbase_lost_count++;
			@@ -402,16 +311,25 @@
			dwt_rxenable(0);//æå¼æ¥æ¶
			if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //å¤ææ¥æ¶å°çæ°æ®æ¯å¦æ¯responseæ°æ®
			{ u16 rec_nearbaseid,rec_nearbasepos;
			int32_t temp_dist;
			poll_tx_ts = get_tx_timestamp_u64(); //è·å¾POLLåéæ¶é´T1
			resp_rx_ts = get_rx_timestamp_u64(); //è·å¾RESPONSEæ¥æ¶æ¶é´T4
			recbase_num++;
			memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
			if(rec_nearbaseid==mainbase_id)
			if(nearbase_num==0)
			{
			nearbaseid_list[0]=rec_nearbaseid;
			nearbase_num=1;
			memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
			}
			if(rec_nearbaseid==nearbaseid_list[0])
			{
			//////////////////////////////////æ¶é´åæ¥
			memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
			memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
			memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
			exsistbase_list[0]=1;
			//// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
			//
			tmp_time=tmp_time+450;
			if(tmp_time>999)
			{
			@@ -421,13 +339,18 @@
			{sync_timer=0;}
			}
			TIM3->CNT=tmp_time;
			if(tagslotpos>max_slotpos)
			tagslotpos=tagslotpos%(max_slotpos+1);
			tyncpoll_time=(tagslotpos-1)*slottime;

			// if(tagslotpos>max_slotpos)
			// tagslotpos=tagslotpos%(max_slotpos+1);
			// tyncpoll_time=(tagslotpos-1)*slottime;
			////////////////////////////
			rec_nearbasepos=0;
			exsistbase_list[rec_nearbasepos]=1;
			memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
			nearbase_distlist[rec_nearbasepos]=temp_dist;

			mainbase_lost_count=0;
			flag_finalsend=1;
			memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
			final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUSnearbase_num+500) UUS_TO_DWT_TIME)) >> 8;
			temp1=final_tx_time-((350*UUS_TO_DWT_TIME)>>8);
			temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);
			@@ -439,6 +362,9 @@
			tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
			dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//å°åéæ°æ®åå¥DW1000
			dwt_writetxfctrl(28+nearbase_num*4, 0);//è®¾å®åéæ°æ®é¿åº¦
			if(temp_dist!=0x1ffff)
			{
			#ifndef USART_INTEGRATE_OUTPUT
			usart_send[2] = 1;//æ£å¸¸æ¨¡å¼
			usart_send[3] = 17;//æ°æ®æ®µé¿åº¦
			usart_send[4] = frame_seq_nb;//æ°æ®æ®µé¿åº¦
			@@ -450,14 +376,29 @@
			checksum = Checksum_u16(&usart_send[2],17);
			memcpy(&usart_send[19],&checksum,2);
			UART_PushFrame(usart_send,21);
			#endif
			}
			//result=dwt_starttx(DWT_START_TX_DELAYED);//è®¾å®ä¸ºå»¶è¿åé
			}else{
			rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
			final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], resp_rx_ts);
			memcpy(&nearbase_distlist[rec_nearbasepos],&rx_buffer[DIST_IDX],4);
			if(rec_nearbasepos>nearbase_num) //åç°æ°çåºç«
			{
			nearbase_num++;
			nearbaseid_list[nearbase_num] = rec_nearbaseid;
			memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
			}

			exsistbase_list[rec_nearbasepos]=1;
			memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
			nearbase_distlist[rec_nearbasepos]=temp_dist;

			final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
			dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//å°åéæ°æ®åå¥DW1000
			dwt_writetxfctrl(28+nearbase_num*4, 0);//è®¾å®åéæ°æ®é¿åº¦
			LED0_BLINK;
			if(temp_dist!=0x1ffff)
			{
			#ifndef USART_INTEGRATE_OUTPUT
			usart_send[2] = 1;//æ£å¸¸æ¨¡å¼
			usart_send[3] = 17;//æ°æ®æ®µé¿åº¦
			usart_send[4] = frame_seq_nb;//æ°æ®æ®µé¿åº¦
			@@ -469,29 +410,93 @@
			checksum = Checksum_u16(&usart_send[2],17);
			memcpy(&usart_send[19],&checksum,2);
			UART_PushFrame(usart_send,21);
			#endif

			//dwt_setdelayedtrxtime(final_tx_time);//è®¾ç½®finalååéæ¶é´T5
			// result=dwt_starttx(DWT_START_TX_DELAYED);//è®¾å®ä¸ºå»¶è¿åé
			//dwt_writetxdata(4,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)4);//å°åéæ°æ®åå¥DW1000
			}
			}
			}
			}
			}
			dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG\| SYS_STATUS_ALL_RX_ERR);
			}
			if(mainbase_lost_count>5)
			nearbase_num=recbase_num;
			j=0;
			if(exsistbase_list[0]==0)
			{
			tag_state=DISCPOLL;
			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;
			}
			NearAncSelect();
			// if(result==0)
			// {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//ä¸ææ¥è¯¢è¯çç¶æç´å°åéå®æ
			// { };
			//
			// }
			// else
			// {
			for(i=0;i<MAX_NEARBASE_NUM;i++)
			{
			if(exsistbase_list[i]==1)
			{
			true_nearbase_idlist[j]=nearbaseid_list[i];
			true_nearbase_distlist[j++]=nearbase_distlist[i];
			}

			}

			for(i=0;i<nearbase_num-1;i++)
			{
			for(j=0;j<nearbase_num-1;j++)
			{
			if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
			{
			u32 temp_dist,temp_id;
			temp_dist=true_nearbase_distlist[j];
			temp_id = true_nearbase_idlist[j];
			true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
			true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
			true_nearbase_distlist[j+1]=temp_dist;
			true_nearbase_idlist[j+1]=temp_id;
			}
			}
			}
			report_num=0;
			for (i=0;i<nearbase_num;i++)
			{
			nearbaseid_list[i]=true_nearbase_idlist[i];
			nearbase_distlist[i]=true_nearbase_distlist[i];
			if(nearbase_distlist[i]!=0x1ffff)
			{
			memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
			memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
			report_num++;
			}
			}
			#ifdef USART_INTEGRATE_OUTPUT
			usart_send[2] = 4;//æ£å¸¸æ¨¡å¼
			usart_send[3] = report_num*6+2;//æ£å¸¸æ¨¡å¼
			checksum = Checksum_u16(&usart_send[2],report_num*6+2);
			memcpy(&usart_send[4+report_num*6],&checksum,2);
			UART_PushFrame(usart_send,6+report_num*6);
			#endif
			// if(mainbase_lost_count>5)
			// {
			// //tag_state=DISCPOLL;
			// }
			// NearAncSelect();
			// if(recbase_num<g_com_map[MIN_REPORT_ANC_NUM] )
			// {
			// anclost_times++;
			// if(anclost_times>3)
			// {
			// tagslotpos=poll_tx_ts%(max_slotpos+1);
			// }
			// }else{
			// anclost_times=0;
			// }

			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			// }


			}

			@@ -533,26 +538,15 @@
			}
			}
			}

			void Tag_App(void)//åéæ¨¡å¼(TAGæ ç¾)
			{
			//LED0_ON;
			dwt_forcetrxoff();
			g_Resttimer=0;
			switch(tag_state)
			{
			case DISCPOLL:
			Poll();
			break;
			case GETNEARMSG:
			GetNearMsg();
			break;
			case NEARPOLL:
			NearPoll();
			break;
			}
			NearPoll();
			}

			int8_t correction_time;
			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];
			@@ -582,6 +576,7 @@
			}
			uint32_t frame_len;
			uint32_t resp_tx_time;
			uint8_t rec_nearbase_num,anc_report_num;
			void Anchor_RecPoll(void)
			{
			tmp_time=TIM3->CNT;
			@@ -655,8 +650,8 @@
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			}
			}
			u8 misdist_num;
			void Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
			u8 misdist_num,seize_anchor;
			u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
			{
			tmp_time=TIM3->CNT;
			memcpy(&tx_near_msg[ANCTIMEMS],&sync_timer,2);
			@@ -667,10 +662,17 @@

			resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbaseposDELAY_BETWEEN_TWO_FRAME_UUS) UUS_TO_DWT_TIME)) >> 8;//è®¡ç®Responseåéæ¶é´T3ã
			dwt_setdelayedtrxtime(resp_tx_time);//è®¾ç½®Responseåéæ¶é´T3
			dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(nearbase_num-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//è®¾ç½®åéå®æåå¼å¯æ¥æ¶å»¶è¿æ¶é´
			dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//è®¾ç½®åéå®æåå¼å¯æ¥æ¶å»¶è¿æ¶é´
			dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//æ¥æ¶è¶æ¶æ¶é´

			memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
			if(new_tagid)
			{
			tagdist_list[taglist_pos]=0x1ffff;
			memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
			}else{
			memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
			}

			tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
			dwt_writetxdata(20, tx_near_msg, 0);//åå¥åéæ°æ®
			dwt_writetxfctrl(20, 0);//è®¾å®åéé¿åº¦
			@@ -686,11 +688,17 @@
			}else{
			result++;
			}

			if (status_reg & SYS_STATUS_RXFCG)//æ¥æ¶æå
			{

			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG \| SYS_STATUS_TXFRS);//æ¸æ¥æ å¿ä½
			frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//æ°æ®é¿åº¦
			dwt_readrxdata(rx_buffer, frame_len, 0);//è¯»åæ¥æ¶æ°æ®
			if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2))
			{
			return 1;
			}
			if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //å¤ææ¯å¦ä¸ºFinalå
			{
			uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
			@@ -727,7 +735,8 @@
			{
			misdist_num=0;
			tagdist_list[taglist_pos] = hex_dist;
			his_dist[taglist_pos]=hex_dist;
			his_dist[taglist_pos]=hex_dist;
			#ifndef USART_INTEGRATE_OUTPUT
			usart_send[2] = 1;//æ£å¸¸æ¨¡å¼
			usart_send[3] = 17;//æ°æ®æ®µé¿åº¦
			usart_send[4] = frame_seq_nb;//æ°æ®æ®µé¿åº¦
			@@ -739,22 +748,31 @@
			checksum = Checksum_u16(&usart_send[2],17);
			memcpy(&usart_send[19],&checksum,2);
			UART_PushFrame(usart_send,21);
			#else
			memcpy(&usart_send[4+6*anc_report_num],&tag_id_recv,2);
			memcpy(&usart_send[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
			anc_report_num++;
			#endif
			}else{
			misdist_num++;
			}
			}
			}

			}else{
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			}

			}
			void Anchor_App(void)
			{

			u8 send_len,i;
			u16 tempid;
			g_start_sync_flag=0;
			dwt_setrxtimeout(0);//è®¾å®æ¥æ¶è¶æ¶æ¶é´ï¼0ä½æ²¡æè¶æ¶æ¶é´
			dwt_rxenable(0);//æå¼æ¥æ¶

			while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG \| SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//ä¸ææ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæèåºç°éè¯¯
			{
			IdleTask();
			@@ -763,6 +781,7 @@

			if (status_reg & SYS_STATUS_RXFCG)//æåæ¥æ¶
			{ u16 tag_recv_interval;

			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//æ¸é¤æ å¿ä½
			frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//è·å¾æ¥æ¶æ°æ®é¿åº¦
			dwt_readrxdata(rx_buffer, frame_len, 0);//è¯»åæ¥æ¶æ°æ®
			@@ -775,14 +794,17 @@
			{
			tagid_list[taglist_num++]=tag_id_recv;
			taglist_pos=taglist_num;
			new_tagid=1;
			}else{
			new_tagid=0;
			}
			tagofflinetime[taglist_pos-1]=0;
			switch(rx_buffer[MESSAGE_TYPE_IDX])
			{
			case POLL:
			if (anchor_type == rx_buffer[ANC_TYPE_IDX])
			Anchor_RecPoll();
			break;
			// case POLL:
			// if (anchor_type == rx_buffer[ANC_TYPE_IDX])
			// Anchor_RecPoll();
			// break;
			case SYNC:
			if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
			{
			@@ -792,34 +814,41 @@
			SyncPoll(sync_seq);
			}
			break;
			case NEAR_MSG:
			if(anc_id_recv==dev_id)
			{
			rx_buffer[TAGSLOTPOS]=taglist_pos;
			tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
			memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
			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);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
			dwt_writetxfctrl(send_len, 0);//è®¾ç½®è¶å®½å¸¦åéæ°æ®é¿åº¦
			dwt_starttx(DWT_START_TX_IMMEDIATE);
			}
			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);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
			// dwt_writetxfctrl(send_len, 0);//è®¾ç½®è¶å®½å¸¦åéæ°æ®é¿åº¦
			// dwt_starttx(DWT_START_TX_IMMEDIATE);
			// }
			// break;
			//
			case NEAR_POLL:
			nearbase_num=rx_buffer[NEARBASENUM_INDEX];
			if(anc_id_recv==dev_id)
			{
			Anchor_RecNearPoll(0);
			}else{
			for(i=0;i<nearbase_num;i++)

			rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];

			for(i=0;i<rec_nearbase_num;i++)
			{
			memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
			if(tempid==dev_id)
			Anchor_RecNearPoll(i+1);
			{
			seize_anchor=0;
			Anchor_RecNearPoll(i);
			break;
			}
			}
			}
			if(i==rec_nearbase_num)
			{
			seize_anchor=1;
			Anchor_RecNearPoll(i);
			}

			break;

			}