修改基站临近接收BUG

zhyinch

2020-10-19 8e3c571a48a30e8c1bd07dca4786a53d7c9994f5

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -28,7 +28,7 @@

static uint8_t tx_near_msg[80] = {0};

static uint32_t frame_seq_nb = 0;	
 uint32_t frame_seq_nb = 0, frame_seq_nb2 = 0;	
static uint32_t status_reg = 0;
static uint8_t rx_buffer[100];
static uint64_t poll_tx_ts;
@@ -120,7 +120,9 @@
     * For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
     * performance. */
    Reset_DW1000();//重启DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
   status_reg = dwt_read32bitreg(SYS_STATUS_ID);
    dwt_initialise(DWT_LOADUCODE);//初始化DW1000
   status_reg = dwt_read32bitreg(SYS_STATUS_ID);
   Spi_ChangePrescaler(SPIx_PRESCALER_FAST);   //设置为快速模式

    /* Configure DW1000. See NOTE 6 below. */
@@ -171,6 +173,7 @@
   dwt_configuresleep(0x940, 0x7);
   dwt_entersleep();
}

extern uint8_t g_start_send_flag;
u8 g_start_sync_flag;
void SyncPoll(u8 sync_seq,uint32_t sync_baseid)
@@ -311,6 +314,162 @@
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
u16 temp_sync_timer1,temp_sync_timer2;

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);         //设置发送后开启接收，并设定延迟时间
    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);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(sizeof(tx_poll_msg), 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
   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] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
      {
         poll_tx_ts = get_tx_timestamp_u64();                              //获得POLL发送时间T1
         resp_rx_ts = get_rx_timestamp_u64();                              //获得RESPONSE接收时间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;//计算final包发送时间，T5=T4+Treply2
         dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
         final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
         final_msg_set_ts(&tx_final_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
         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);//将发送数据写入DW1000
         dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度
         result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送			
         tag_succ_times++;		
            LED0_BLINK;
			
         if(temp_dist<mindist)
         {
            memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
            tag_state=GETNEARMSG;
            trygetnearmsg_times=5;
            mindist=temp_dist;
         }
         if(result==0)
         {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
         { };
      }
         /* Clear TXFRS event. */
         dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清除标志位
         random_delay_tim = 0;
      }
      else
      {
         random_delay_tim = DFT_RAND_DLY_TIM_MS; //如果通讯失败，将间隔时间增加5ms，避开因为多标签同时发送引起的冲突。
      }
   }
   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 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
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
      {
         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);
         //slottime=ceil((nearbase_num+2)*0.4)+2;
         tyncpoll_time=tagslotpos*slottime;
         tag_state=NEARPOLL;
      }else{
            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
      }
   }else{
         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
   }
	
}
 void NearPoll(void)
{
   static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
@@ -347,7 +506,7 @@
   flag_rxon=1;
   neartimout_timer=0;
   get_newbase=0;
   timeout=ceil((float)nearbase_num*0.4)+3;
   timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
   //timeout=5;
   mainbase_dist=100000;
   mainbase_lost_count++;
@@ -365,6 +524,9 @@
                        dwt_forcetrxoff();
                        dwt_setdelayedtrxtime(final_tx_time);
                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送   
                                                      #ifdef DEBUG_INF
                           USART_putc(0x33);
                           #endif
                        break;
                     }
                  }
@@ -389,20 +551,14 @@
                        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(last_nearbase_num==0)
                        {
                           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])

                        if(rec_nearbaseid==mainbase_id)
                        {
                           //////////////////////////////////时间同步
                           temp_sync_timer2=sync_timer;
                           memcpy(&temp_sync_timer1,&rx_buffer[ANCTIMEMS],2);
                           memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
                           exsistbase_list[0]=KEEP_TIMES;
									
                           
                           if(g_com_map[DEV_ROLE]!=0)
                           {
@@ -425,11 +581,16 @@
//                              tagslotpos=tagslotpos%(max_slotpos+1);
//                              tyncpoll_time=(tagslotpos-1)*slottime;
                           ////////////////////////////
                                                   #ifdef DEBUG_INF
                           USART_putc(0x31);
                           #endif
                           rec_nearbasepos=0;
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                           
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           mainbase_dist = temp_dist;
                        if(temp_dist!=0x1ffff)
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
								
                           mainbase_lost_count=0;
                           flag_finalsend=1;
                           final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+500) * UUS_TO_DWT_TIME)) >> 8;
@@ -445,8 +606,6 @@
                           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);
                           
		
									
                        }else{
                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                           if(rec_nearbasepos>=last_nearbase_num)          //发现新的基站
@@ -456,10 +615,14 @@
                              nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
                              memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
                           }
									
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                           #ifdef DEBUG_INF
                           USART_putc(0x32);
                           #endif
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
									
                           if(temp_dist!=0x1ffff)
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                           
                           final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);                        
                           dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//将发送数据写入DW1000
@@ -469,12 +632,19 @@
//                           tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
                           if(temp_dist!=0x1ffff)
                           {
                           #ifdef TAG_OUTPUT
                              #ifndef USART_INTEGRATE_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);				
                              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;
@@ -482,7 +652,7 @@
                              memcpy(&usart_send[19],&checksum,2);
                              UART_PushFrame(usart_send,21);
                              #endif

                        #endif
                           //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
                        //   result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送         
                           //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);//将发送数据写入DW1000
@@ -490,6 +660,9 @@
                     }                           
                     }
                  }else{
                      #ifdef DEBUG_INF
                        printf("response包失败：%x/n",status_reg);
                        #endif
                  dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
                  if(flag_rxon)
                     {dwt_rxenable(0);   
@@ -559,17 +732,7 @@
         }
         
         report_num=0;
   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&&true_exsistbase_list[i]==KEEP_TIMES)
            {
               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;
@@ -583,6 +746,9 @@
            memcpy(&usart_send[4+report_num*6],&checksum,2);
            UART_PushFrame(usart_send,6+report_num*6);
         #endif
         #ifdef DEBUG_INF
            printf("序号：%d,基站数量：%d/n",(frame_seq_nb-1)&0xff,nearbase_num);
            #endif
//         if(mainbase_lost_count>5)
//         {
//            //tag_state=DISCPOLL;
@@ -601,57 +767,6 @@
dwt_forcetrxoff();
   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
}
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);
         //slottime=ceil((nearbase_num+2)*0.4)+2;
         tyncpoll_time=tagslotpos*slottime;
         tag_state=NEARPOLL;
      }else{
            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
      }
   }else{
         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
   }
	
}

void Tag_App(void)//发送模式(TAG标签)
{
@@ -662,7 +777,7 @@
   switch(tag_state)
   {
      case DISCPOLL:
			
            Poll();
         break;
      case GETNEARMSG:
           GetNearMsg();
@@ -731,7 +846,7 @@

         battary = rx_buffer[BATTARY_IDX];
         button = rx_buffer[BUTTON_IDX];
         frame_seq_nb = rx_buffer[SEQUENCE_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)))///不断查询芯片状态直到接收成功或者出现错误
@@ -781,9 +896,12 @@
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
}
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor;
extern uint16_t configremotetagID;
extern u8 remotetag_paralen;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
{
   u8 motorstate;
         tmp_time=TIM3->CNT;
         memcpy(&tx_nearresp_msg[ANCTIMEMS],&sync_timer,2);
         memcpy(&tx_nearresp_msg[ANCTIMEUS],&tmp_time,2);
@@ -795,7 +913,20 @@
         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;
         }
			
         if(new_tagid)
         {
            tagdist_list[taglist_pos]=0x1ffff;
@@ -805,14 +936,47 @@
         }
         tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
         tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
			
         dwt_writetxdata(21, tx_nearresp_msg, 0);//写入发送数据
         dwt_writetxfctrl(21, 0);//设定发送长度
         tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
         waittagconfig_reponse=0;
         if(pwtag.remain_time>0)
            {uint8_t i;
               for(i=0;i<pwtag.groupnum;i++)
               {
                  if(pwtag.groupid[i][0]<=tag_id_recv&&tag_id_recv<=pwtag.groupid[i][1])
                  {
                     remotesend_state=1;
                     tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
                     remotetag_paralen = 2+3;
                     remotetag_para[0] = 2;
                     remotetag_para[1] = 6;
                     remotetag_para[2] = 2;
                     memcpy(&remotetag_para[3],&pwtag.group_interval[i],2);
                     memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,remotetag_paralen);
                     dwt_writetxdata(22+remotetag_paralen, tx_nearresp_msg, 0);//写入发送数据
                     dwt_writetxfctrl(22+remotetag_paralen, 0);//设定发送长度		
                     remotesend_state=0;
                     break;
                  }				
               }
					
            }else{
                  dwt_writetxdata(22, tx_nearresp_msg, 0);//写入发送数据
                  dwt_writetxfctrl(22, 0);//设定发送长度
            }
					
//          if(remotesend_state&&tag_id_recv==configremotetagID)
//         {
//             memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,remotetag_paralen);
//            dwt_writetxdata(22+remotetag_paralen, tx_nearresp_msg, 0);//写入发送数据
//            dwt_writetxfctrl(22+remotetag_paralen, 0);//设定发送长度		
//            waittagconfig_reponse=1;
//         }else{

         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_nb = rx_buffer[SEQUENCE_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
@@ -862,7 +1026,7 @@
               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(hex_dist>-1000&&hex_dist<200000)
               {
               if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
               {
@@ -871,9 +1035,9 @@
               his_dist[taglist_pos]=hex_dist;   
                  g_Tagdist[taglist_pos]=hex_dist;   
            #ifndef USART_INTEGRATE_OUTPUT
               usart_send[2] = 1;//正常模式
               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
               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],&tagdist_list[taglist_pos],4);
@@ -887,14 +1051,31 @@
               memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
               anc_report_num++;
            #endif
             #ifdef DEBUG_INF
             printf("序号：%d\r\n",frame_seq_nb2);
             #endif
               }else{
               //   printf("%d",hex_dist);
                  misdist_num[taglist_pos]++;
               }
            }
               if(rx_buffer[TAGCONFIGSUCCESS_INDEX]==1&&waittagconfig_reponse)
               {
                  waittagconfig_reponse = 0;
                  remotesend_state = 0;
                  usart_send[2] = 7;//正常模式 
                  usart_send[3] = 5;//数据段长度
                  memcpy(&usart_send[4],&tag_id_recv,2);
                  usart_send[6] = 1;//数据段长度
                  checksum = Checksum_u16(&usart_send[2],5);
                  memcpy(&usart_send[7],&checksum,2);
                  UART_PushFrame(usart_send,9);
               }
         }
         }else{
               //printf("%x/n",status_reg);
             #ifdef DEBUG_INF
               printf("final包失败：%x/n",status_reg);
            #endif
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
}
@@ -930,13 +1111,13 @@
      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
      tag_id_recv = rx_buffer[TAG_ID_IDX];
      memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
      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:         
            memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
            if(rec_syncid<current_syncid)
@@ -963,14 +1144,15 @@
            }
            break;
         case NEAR_MSG:
            if(anc_id_recv==flag_syncbase)
            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);
               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);
               ancidlist_num=g_com_map[NEARBASE_NUM];
               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+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
@@ -1000,6 +1182,10 @@
                  ancidlist_num=rec_nearbase_num;
                  memcpy(ancidlist_rec,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
               }
         if(anc_id_recv==dev_id)
         {
            Anchor_RecNearPoll(0);	
         }else{
               
            for(i=0;i<rec_nearbase_num;i++)
            {
@@ -1007,20 +1193,25 @@
               if(tempid==dev_id)
               {
                  seize_anchor=0;  //非抢占。已存在列表中
                  Anchor_RecNearPoll(i);	
                  Anchor_RecNearPoll(i+1);	
                  break;
               }                  
            }
               if(i==rec_nearbase_num)
               {
                  seize_anchor=1;   //抢占anchor
                  Anchor_RecNearPoll(i);	
               }
         }
            //抢占模式
//               if(i==rec_nearbase_num)
//               {
//                  seize_anchor=1;   //抢占anchor
//                  Anchor_RecNearPoll(i);	
//               }

            
            break;      
      }   
   }else{
       #ifdef DEBUG_INF
      printf("poll包失败：%x/n",status_reg);
      #endif
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
   }
}