UWB_SmallModule_F103.git

			@@ -1,11 +1,12 @@
			#include "dw_app.h"
			#include "ADC.h"
			#define TDFILTER
			enum enumtagstate
			{
			DISCPOLL,
			GETNEARMSG,
			NEARPOLL,
			}tag_state;
			}tag_state=NEARPOLL;
			static dwt_config_t config = {
			2, /* Channel number. */
			DWT_PRF_64M, /* Pulse repetition frequency. */
			@@ -26,7 +27,9 @@
			static uint8_t tx_nearresp_msg[80] = {0};
			static uint8_t tx_nearfinal_msg[80] = {0};

			static uint32_t frame_seq_nb = 0;
			static uint8_t tx_near_msg[80] = {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;
			@@ -202,57 +205,114 @@

			u16 anclist_num=0,anclist_pos; //list æ»æ°éåå½åä½ç½®
			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;
			u16 current_slotnum,total_slotnum,target_time,last_time;
			u32 rec_tagpos_binary;
			extern uint32_t tagpos_binary;
			void SetNextPollTime(u16 time)
			{
			current_slotnum++;
			if(current_slotnum==total_slotnum)
			current_slotnum-=total_slotnum;
			//time=5;
			target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time);

			last_time=target_time;
			if(target_time>=990&&target_time<992)
			{
			current_slotnum++;
			target_time+=g_com_map[COM_INTERVAL];
			tagslotpos=GetRandomSlotPos(rec_tagpos_binary\|tagpos_binary);
			tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
			}
			if(target_time>=1000)
			{target_time-=1000;}
			if(target_time<0)
			{target_time+=1000;}

			}
			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;
			u8 i;
			for(i=0;i<recbase_num-1;i++)
			//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;
			// }
			//}
			uint8_t GetRandomValue(void)
			{
			uint8_t random_value=0,temp_adc,i;
			for(i=0;i<8;i++)
			{
			if(nearbase_mindist>nearbase_distlist[i])
			{
			nearbase_mindist=nearbase_distlist[i];
			nearbase_minpos=i;
			}
			temp_adc=Get_ADC_Value();
			random_value=random_value\|((temp_adc&0x01)<<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;
			}
			return random_value;
			}
			u8 GetRandomSlotPos(uint32_t emptyslot)
			{
			u8 i,temp_value;
			temp_value = GetRandomValue();
			for(i=temp_value%max_slotpos;i<max_slotpos;i++)
			{
			if(((emptyslot>>i)&0x1)==0)
			{
			return i;
			}
			}

			for(i=1;i<max_slotpos;i++)
			{
			if(((emptyslot>>i)&0x1)==0)
			{
			return i;
			}
			}
			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;
			void NearPoll(void)

			void NearPoll(void)
			{
			static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
			uint32_t temp1,temp2,dw_systime;
			@@ -261,16 +321,17 @@
			u32 start_poll;
			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;
			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;
			@@ -282,15 +343,12 @@
			dwt_writetxdata(13+2*nearbase_num, tx_nearpoll_msg, 0);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
			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;
			flag_rxon=1;
			neartimout_timer=0;

			timeout=ceil((float)nearbase_num/4)+2;
			get_newbase=0;
			timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
			//timeout=5;
			mainbase_dist=100000;
			mainbase_lost_count++;
			@@ -332,11 +390,12 @@
			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(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])
			{
			@@ -344,29 +403,36 @@
			temp_sync_timer2=sync_timer;
			memcpy(&temp_sync_timer1,&rx_buffer[ANCTIMEMS],2);
			memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);


			if(g_com_map[DEV_ROLE]!=0)
			{
			sync_timer=temp_sync_timer1;
			exsistbase_list[0]=1;
			//// 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;

			}
			current_slotnum=temp_sync_timer1/g_com_map[COM_INTERVAL];
			// 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;

			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_UUSnearbase_num+500) UUS_TO_DWT_TIME)) >> 8;
			@@ -380,48 +446,72 @@
			tx_nearfinal_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
			dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//å°åéæ°æ®åå¥DW1000
			dwt_writetxfctrl(28+nearbase_num*4, 0);//è®¾å®åéæ°æ®é¿åº¦
			if(temp_dist!=0x1ffff)
			memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
			if(temp_dist!=0x1ffff)
			{
			#ifndef USART_INTEGRATE_OUTPUT
			g_Resttimer=0;
			#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¦
			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;
			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
			#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
			}


			}else{
			rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
			if(rec_nearbasepos>nearbase_num) //åç°æ°çåºç«
			if(rec_nearbasepos>=last_nearbase_num) //åç°æ°çåºç«
			{
			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;
			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);//å°åéæ°æ®åå¥DW1000
			dwt_writetxfctrl(28+nearbase_num*4, 0);//è®¾å®åéæ°æ®é¿åº¦
			LED0_BLINK;
			// memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
			// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
			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¦
			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;
			@@ -456,53 +546,72 @@
			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);
			// }
			tagslotpos=GetRandomSlotPos(rec_tagpos_binary\|tagpos_binary);
			tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
			tag_state=NEARPOLL;
			}
			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]==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;
			}

			// printf("%d,%d",temp_sync_timer2,temp_sync_timer1);
			#ifdef USART_INTEGRATE_OUTPUT
			usart_send[2] = 4;//æ£å¸¸æ¨¡å¼
			@@ -526,56 +635,89 @@
			// }else{
			// anclost_times=0;
			// }

			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);


			dwt_forcetrxoff();
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR\| SYS_STATUS_TXFRS \|SYS_STATUS_RXFCG);
			}

			//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); //è®¾ç½®åéåå¼å¯æ¥æ¶ï¼å¹¶è®¾å®å»¶è¿æ¶é´
			// dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
			// dwt_writetxdata(12, tx_near_msg, 0);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
			// dwt_writetxfctrl(12, 0);//è®¾ç½®è¶å®½å¸¦åéæ°æ®é¿åº¦
			// 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)))//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] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //å¤ææ¥æ¶å°çæ°æ®æ¯å¦æ¯responseæ°æ®
			// {
			// 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); //è®¾ç½®åéåå¼å¯æ¥æ¶ï¼å¹¶è®¾å®å»¶è¿æ¶é´
			dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
			dwt_writetxdata(12, tx_near_msg, 0);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
			dwt_writetxfctrl(12, 0);//è®¾ç½®è¶å®½å¸¦åéæ°æ®é¿åº¦
			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)))//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] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //å¤ææ¥æ¶å°çæ°æ®æ¯å¦æ¯responseæ°æ®
			{
			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;
			}

			#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
			}

			void Tag_App(void)//åéæ¨¡å¼(TAGæ ç¾)
			{
			//LED0_ON;
			g_Resttimer=0;
			NearPoll();
			dwt_forcetrxoff();
			GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
			switch(tag_state)
			{
			case DISCPOLL:

			break;
			case GETNEARMSG:
			GetNearMsg();
			break;
			case NEARPOLL:
			NearPoll();
			break;
			}

			SetNextPollTime(tyncpoll_time);
			g_start_send_flag = 0;
			GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
			}

			int8_t correction_time,new_tagid=0;
			@@ -602,9 +744,9 @@
			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;
			@@ -632,7 +774,7 @@

			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)))///ä¸ææ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæèåºç°éè¯¯
			@@ -682,9 +824,10 @@
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			}
			}
			u8 misdist_num,seize_anchor;
			u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
			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);
			@@ -696,7 +839,20 @@
			dwt_setdelayedtrxtime(resp_tx_time);//è®¾ç½®Responseåéæ¶é´T3
			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´


			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;
			@@ -704,15 +860,23 @@
			}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);//åå¥åéæ°æ®
			dwt_writetxfctrl(20, 0);//è®¾å®åéé¿åº¦
			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);//åå¥åéæ°æ®
			dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//è®¾å®åéé¿åº¦
			}else{
			dwt_writetxdata(22, tx_nearresp_msg, 0);//åå¥åéæ°æ®
			dwt_writetxfctrl(22, 0);//è®¾å®åéé¿åº¦
			}
			result = dwt_starttx(DWT_START_TX_DELAYED \| DWT_RESPONSE_EXPECTED);//å»¶è¿åéï¼çå¾æ¥æ¶

			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)///ä¸ææ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæèåºç°éè¯¯
			@@ -754,24 +918,34 @@
			tof = tof_dtu * DWT_TIME_UNITS;
			distance = tof * SPEED_OF_LIGHT;//è·ç¦»=åé*é£è¡æ¶é´
			dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //è·ç¦»åå»ç«æ£ç³»æ°
			dist_cm = dist_no_bias * 100; //dis ä¸ºåä½ä¸ºcmçè·ç¦»
			dist_cm = dist_no_bias * 1000; //dis ä¸ºåä½ä¸ºcmçè·ç¦»
			/--------------------------ä»¥ä¸ä¸ºéæµè·é»è¾------------------------/
			//dist_cm=33000;

			getrange_success = 1;
			g_Resttimer=0;
			LED0_BLINK; //æ¯æåä¸æ¬¡éè®¯åéªçä¸æ¬¡
			dis_after_filter=dist_cm;
			hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
			if(hex_dist>-1000&&hex_dist<100000)
			hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
			g_flag_Taggetdist[taglist_pos]=0;
			if(hex_dist>-10000&&hex_dist<2000000)
			{
			if(abs(hex_dist-his_dist[taglist_pos])<1500\|\|misdist_num>3)
			if(abs(hex_dist-his_dist[taglist_pos])<15000\|\|misdist_num[taglist_pos]>3)
			{
			misdist_num=0;
			tagdist_list[taglist_pos] = hex_dist;
			int32_t filter_dist;
			#ifdef TDFILTER
			NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
			filter_dist=pos_predict[taglist_pos]/10;
			#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
			usart_send[2] = 1;//æ£å¸¸æ¨¡å¼
			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¦
			usart_send[4] = frame_seq_nb2;//æ°æ®æ®µé¿åº¦
			memcpy(&usart_send[5],&tag_id_recv,2);
			memcpy(&usart_send[7],&dev_id,2);
			memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
			@@ -787,19 +961,19 @@
			#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;
			u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
			u16 ancidlist_rec[20],ancidlist_send[20];
			void Anchor_App(void)
			{

			@@ -807,45 +981,36 @@
			u16 tempid;
			uint32_t rec_syncid;

			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR\| SYS_STATUS_TXFRS \|SYS_STATUS_RXFCG);
			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¶

			// GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
			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();
			g_Resttimer=0;
			};

			//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
			if (status_reg & SYS_STATUS_RXFCG)//æåæ¥æ¶
			{ u16 tag_recv_interval;
			float temp_tagpos;


			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®
			//å°æ¶å°çtag_idåå«åå¥åæ¬¡éè®¯çåä¸ï¼ä¸ºå¤æ ç¾éè®¯æå¡ï¼é²æ¢ä¸æ¬¡éè®¯ä¸æ¥æ¶å°ä¸åIDæ ç¾çæ°æ®
			//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;
			//å°æ¶å°çtag_idåå«åå¥åæ¬¡éè®¯çåä¸ï¼ä¸ºå¤æ ç¾éè®¯æå¡ï¼é²æ¢ä¸æ¬¡éè®¯ä¸æ¥æ¶å°ä¸åIDæ ç¾çæ°æ®
			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 SYNC:

			case SYNC:
			memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
			if(rec_syncid<current_syncid)
			{
			@@ -855,40 +1020,60 @@
			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);//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:

			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);//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:
			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 +1089,11 @@
			seize_anchor=1; //æ¢å anchor
			Anchor_RecNearPoll(i);
			}


			break;

			}

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