zhyinch
2022-04-17 cb5ff916850a3ab91774f6125cc3e73a04e6d754
Ô´Âë/ºËÐİå/Src/application/dw_app.c
@@ -1,6 +1,12 @@
#include "dw_app.h"
#include "ADC.h"
#define TDFILTER
#include "stm32f10x_it.h"
#include "serial_at_cmd_app.h"
#define STRX(x) #x
#define STR(x) STRX(x)
#define __debug_info__           __FILE__ ":" STR(__LINE__)
//#define TDFILTER
#define DBGMSG_OUTPUT
enum enumtagstate
{
   DISCPOLL,
@@ -14,7 +20,7 @@
   DWT_PAC8,        /* Preamble acquisition chunk size. Used in RX only. */
   9,               /* TX preamble code. Used in TX only. */
   9,               /* RX preamble code. Used in RX only. */
   0,               /* Use non-standard SFD (Boolean) */
   1,               /* Use non-standard SFD (Boolean) */
   DWT_BR_6M8,      /* Data rate. */
   DWT_PHRMODE_STD, /* PHY header mode. */
   (129 + 8 - 8)    /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
@@ -43,14 +49,14 @@
uint32_t tag_id = 0;
uint32_t tag_id_recv = 0;
uint32_t anc_id_recv = 0;
uint8_t random_delay_tim = 0;
uint8_t random_delay_tim = 0,dbgmsg_len;
double distance, dist_no_bias, dist_cm;
uint32_t g_UWB_com_interval = 0; 
float dis_after_filter;            //当前距离值
LPFilter_Frac* p_Dis_Filter;      //测距用的低通滤波器
uint16_t g_Tagdist[TAG_NUM_IN_SYS];
uint8_t g_flag_Taggetdist[256];
int32_t g_Tagdist[TAG_NUM_IN_SYS];
uint8_t g_flag_Taggetdist[256],flag_tag_distsmooth[TAG_NUM_IN_SYS];
char dbgmsg[100];
static uint64_t get_tx_timestamp_u64(void)
{
    uint8_t ts_tab[5];
@@ -110,11 +116,12 @@
         g_flag_Taggetdist[i]++;
         if(g_flag_Taggetdist[i]>=2)
         {
            g_Tagdist[i]=0xffff;
            g_Tagdist[i]=0x1ffff;
         }
      }
   }
}
extern int16_t g_commap_antdelay;
void Dw1000_Init(void)
{
   /* Reset and initialise DW1000.
@@ -131,12 +138,13 @@
   
    /* Apply default antenna delay value. See NOTE 1 below. */
    dwt_setrxantennadelay(RX_ANT_DLY);      //设置接收天线延迟
    dwt_settxantennadelay(TX_ANT_DLY);      //设置发射天线延迟
    dwt_settxantennadelay(0);      //设置发射天线延迟
    /* Set expected response's delay and timeout. See NOTE 4 and 5 below.
     * As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
            //设置接收超时时间
}
extern u16 group_id;
void Dw1000_App_Init(void)
{
//g_com_map[DEV_ID] = 0x0b;
@@ -145,6 +153,10 @@
   tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
   tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
   
    memcpy(&tx_poll_msg[GROUP_ID_IDX], &group_id, 1);
   memcpy(&tx_final_msg[GROUP_ID_IDX], &group_id, 1);
   memcpy(&tx_resp_msg[GROUP_ID_IDX], &group_id, 1);
   memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 2);
   memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
   memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
@@ -309,10 +321,10 @@
}
u8 test=0;
u8 anclost_times=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0,uwbrec_userdata[20],uwbrec_userdatalen;
u16 temp_sync_timer1,temp_sync_timer2;
 void NearPoll(void)
extern u8 usartrec_userdatalen,heartbeat_timer;
void NearPoll(void)
{
   static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
   uint32_t temp1,temp2,dw_systime;
@@ -333,15 +345,28 @@
   last_nearbase_num=next_nearbase_num;
   nearbase_num=next_nearbase_num;
   recbase_num=0;
    tx_nearpoll_msg[GROUP_ID_IDX] = group_id;
   tx_nearpoll_msg[BATTARY_IDX] = Get_Battary();
   tx_nearpoll_msg[BUTTON_IDX] = !READ_KEY0;
   tx_nearpoll_msg[SEQUENCE_IDX] = frame_seq_nb++;
   tx_nearpoll_msg[NEARBASENUM_INDEX] = nearbase_num;
   memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
   tx_nearpoll_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;   
   memcpy(&tx_nearpoll_msg[ANCHOR_ID_IDX],&mainbase_id,2);
   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
   memcpy(&tx_nearpoll_msg[ANCHOR_ID_IDX],&mainbase_id,2);
    tx_nearpoll_msg[POLL_USERDATA_IDX] = usartrec_userdatalen;
    memcpy(&tx_nearpoll_msg[POLL_USERDATA_IDX+1],&uartrec_userdata,usartrec_userdatalen);
    memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
    for(i=0;i<nearbase_num;i++)
    { memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*2+i*2],&nearbase_distlist[i],2);}
    memcpy(&tx_nearpoll_msg[KUIXIANLEN_INDEX],&g_commap_antdelay,2);
        for(i=0;i<MAX_NEARBASE_NUM;i++)
    {
        nearbase_distlist[i]=0x1ffff;
    }
   dwt_writetxdata(27+4*nearbase_num, tx_nearpoll_msg, 0);//将Poll包数据传给DW1000,将在开启发送时传出去
   dwt_writetxfctrl(27+4*nearbase_num, 0);//设置超宽带发送数据长度
   dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送,发送完成后等待一段时间开启接收,等待时间在dwt_setrxaftertxdelay中设置
   
   flag_finalsend=0;
@@ -365,7 +390,14 @@
                        flag_rxon=0;
                        dwt_forcetrxoff();
                        dwt_setdelayedtrxtime(final_tx_time);
                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
                                if(result!=DWT_SUCCESS)
                                {
                                    #ifdef DBGMSG_OUTPUT
                                    dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
                                    SendDbgMsg(dbgmsg,dbgmsg_len);
                                    #endif
                                }
                        break;
                     }
                  }
@@ -383,7 +415,7 @@
                     dwt_readrxdata(rx_buffer, frame_len, 0);   //读取接收数据
                     dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间,0位没有超时时间
                     dwt_rxenable(0);//打开接收
                     if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
                     if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX] == group_id) //判断接收到的数据是否是response数据
                     {   u16 rec_nearbaseid,rec_nearbasepos;
                        int32_t temp_dist;
                        poll_tx_ts = get_tx_timestamp_u64();                              //获得POLL发送时间T1
@@ -405,22 +437,22 @@
                           memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
                           
                           
                           if(g_com_map[DEV_ROLE]!=0)
                           {
                           sync_timer=temp_sync_timer1;
////                           memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
//                           if(g_com_map[DEV_ROLE]!=0)
//                           {
//                           sync_timer=temp_sync_timer1;
//////                           memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
////
//                           
                              tmp_time=tmp_time+650;
                           if(tmp_time>999)
                           {
                              tmp_time-=999;
                              sync_timer++;
                              if(sync_timer>=1000)
                                 {sync_timer=0;}
                           }
                           TIM3->CNT=tmp_time;
                        }
//                              tmp_time=tmp_time+650;
//                           if(tmp_time>999)
//                           {
//                              tmp_time-=999;
//                              sync_timer++;
//                              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);
@@ -444,30 +476,37 @@
                           final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
                           final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
                           tx_nearfinal_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
                                    tx_nearfinal_msg[GROUP_ID_IDX] = group_id;
                           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
                           dwt_writetxfctrl(28+nearbase_num*4, 0);// è®¾å®šå‘送数据长度
                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
                        if(temp_dist!=0x1ffff)
                                    ClearUWBUserData();
                                    uwbrec_userdatalen = rx_buffer[RESPONSE_USERDATA_IDX];
                                    if(uwbrec_userdatalen<=USERDATA_MAXLEN)
                                    {
                                        memcpy(uwbrec_userdata,&rx_buffer[RESPONSE_USERDATA_IDX+1],uwbrec_userdatalen);
                                    }
                        if(temp_dist!=0x1ffff )
                           {
                              g_Resttimer=0;
                              #ifndef USART_INTEGRATE_OUTPUT
                                        IWDG_Feed();
                              #ifdef USART_SINGLE_OUTPUT
                              usart_send[2] = 1;//正常模式
                              usart_send[3] = 17;//数据段长度
                              usart_send[3] = 29;//数据段长度
                              usart_send[4] = frame_seq_nb;//数据段长度
                              if(g_com_map[DEV_ROLE])
                              {
                              memcpy(&usart_send[5],&dev_id,2);
                              memcpy(&usart_send[7],&rec_nearbaseid,2);      
                              }else{
                              memcpy(&usart_send[5],&rec_nearbaseid,2);
                              memcpy(&usart_send[7],&dev_id,2);
                              }
                              memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
                              usart_send[13] = battary;
                              usart_send[14] = button;
                              checksum = Checksum_u16(&usart_send[2],17);
                              memcpy(&usart_send[19],&checksum,2);
                              UART_PushFrame(usart_send,21);
                                        memcpy(&usart_send[17],selftest,2);
                                        memcpy(&usart_send[21],uwbrec_userdata,10);
                                        checksum = Checksum_u16(&usart_send[2],29);
                                        memcpy(&usart_send[31],&checksum,2);
                                        UART_PushFrame(usart_send,33);
                                        heartbeat_timer = 0;
                              #endif
                           //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -488,6 +527,12 @@
                           
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                                    ClearUWBUserData();
                                    uwbrec_userdatalen = rx_buffer[RESPONSE_USERDATA_IDX];
                                    if(uwbrec_userdatalen<=USERDATA_MAXLEN)
                                    {
                                        memcpy(uwbrec_userdata,&rx_buffer[RESPONSE_USERDATA_IDX+1],uwbrec_userdatalen);
                                    }
                           
                           if(temp_dist!=0x1ffff)
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
@@ -498,26 +543,25 @@
                           LED0_BLINK;
//                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
//                           tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
                           if(temp_dist!=0x1ffff)
                           if(temp_dist!=0x1ffff )
                           {
                              #ifndef USART_INTEGRATE_OUTPUT
                              #ifdef USART_SINGLE_OUTPUT
                              usart_send[2] = 1;//正常模式
                              usart_send[3] = 17;//数据段长度
                              usart_send[3] = 29;//数据段长度
                              usart_send[4] = frame_seq_nb;//数据段长度
                              if(g_com_map[DEV_ROLE])
                              {
                              memcpy(&usart_send[5],&dev_id,2);
                              memcpy(&usart_send[7],&rec_nearbaseid,2);      
                              }else{
                              memcpy(&usart_send[5],&rec_nearbaseid,2);
                              memcpy(&usart_send[7],&dev_id,2);
                              }
                              memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
                              usart_send[13] = battary;
                              usart_send[14] = button;
                              checksum = Checksum_u16(&usart_send[2],17);
                              memcpy(&usart_send[19],&checksum,2);
                              UART_PushFrame(usart_send,21);
                                        memcpy(&usart_send[17],selftest,2);
                                        memcpy(&usart_send[21],uwbrec_userdata,10);
                                        checksum = Checksum_u16(&usart_send[2],29);
                                        memcpy(&usart_send[31],&checksum,2);
                                        UART_PushFrame(usart_send,33);
                                        heartbeat_timer = 0;
                              #endif
                           //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -529,7 +573,12 @@
                  }else{
                  dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
                  if(flag_rxon)
                     {dwt_rxenable(0);
                     {
                                dwt_rxenable(0);
                               #ifdef DBGMSG_OUTPUT
                                dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
                                SendDbgMsg(dbgmsg,dbgmsg_len);
                               #endif
                     }                        
                  }                     
         }
@@ -553,9 +602,10 @@
//               temp_adc=Get_ADC_Value();
//               random_value=random_value|((temp_adc&0x01)<<i);
//            }
                pollsendtimer+=time32_incr%11;
            tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
      tag_state=NEARPOLL;
                tag_state=NEARPOLL;
         }
      //   tyncpoll_time=0;
         next_nearbase_num=0;
@@ -607,10 +657,7 @@
               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      
@@ -714,7 +761,6 @@
            NearPoll();
         break;
   }
   SetNextPollTime(tyncpoll_time);
   g_start_send_flag = 0;      
   GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);   
@@ -751,6 +797,7 @@
uint32_t frame_len;
uint32_t resp_tx_time;
uint8_t rec_nearbase_num,anc_report_num;
int16_t rec_antdelay;
void Anchor_RecPoll(void)
{
         tmp_time=TIM3->CNT;
@@ -774,6 +821,8 @@
         battary = rx_buffer[BATTARY_IDX];
         button = rx_buffer[BUTTON_IDX];
         frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
         if(result==0)
         {
@@ -824,10 +873,37 @@
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
}
 double firstpath_power, rx_power,rec_firstpath_power;
  double f1, f2, r1, r2;
uint16_t F1,F2,F3,N,C;
double B = 131072;
double A = 121.74;
double min_power;
 dwt_rxdiag_t d1;
double LOS(dwt_rxdiag_t *dia) {
     F1 = dia->firstPathAmp1;
     F2 = dia->firstPathAmp2;
     F3 = dia->firstPathAmp3;
     N = dia->rxPreamCount;
     C = dia->maxGrowthCIR;
    firstpath_power=10* log10((F1*F1+F2*F2+F3*F3)/(N*N))-A;
    rx_power=10*log10(C*B/(N*N))-A;
 //   min_power =  - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
    return min_power;
  }
extern u8 uartrec_userdata[20];
u16 smallcar_idlist[10]={0x4052,0x4032,0x4055,0x4034,0x4016,0x4010,0x4036,0x4027,0x4024,0x4047};
extern u16 dist_threshold;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
int32_t filter_dist,filter_speed;
u8 newmeasure,recpoll_len;
u8 motorstate=0;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
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);
@@ -840,18 +916,7 @@
         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)
         {
@@ -860,29 +925,52 @@
         }else{
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
         }
         motorstate =0;
      if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
         {
            if(flag_tag_distsmooth[taglist_pos])
            {motorstate =2;
            }else{
               motorstate =0;
            }
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
         {
            if(flag_tag_distsmooth[taglist_pos])
            {motorstate =1;
               }else{
               motorstate =0;
            }
         }
            tx_nearresp_msg[GROUP_ID_IDX] = group_id;
         tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
         tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
         tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
         if(remotesend_state)
         {
             memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
            dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//写入发送数据
            dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度
         }else{
         dwt_writetxdata(22, tx_nearresp_msg, 0);//写入发送数据
         dwt_writetxfctrl(22, 0);//设定发送长度
         }
         tx_nearresp_msg[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
         tx_nearresp_msg[MOTORSTATE_INDEX]&=0x0f;
            if(usartrec_userdatalen<=USERDATA_MAXLEN)
            {tx_nearresp_msg[RESPONSE_USERDATA_IDX] = usartrec_userdatalen;
                memcpy(&tx_nearresp_msg[RESPONSE_USERDATA_IDX+1],uartrec_userdata,usartrec_userdatalen);
            }
//         if(remotesend_state)
//         {
//             memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
//            dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//写入发送数据
//            dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度
//         }else{
         dwt_writetxdata(24+11, tx_nearresp_msg, 0);//写入发送数据
         dwt_writetxfctrl(24+11, 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];
         button = rx_buffer[BUTTON_IDX];
         frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
         if(result==0)
         if(result==DWT_SUCCESS)
         {
            while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
         { };
      }else{
         result++;
                #ifdef DBGMSG_OUTPUT
                dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
                SendDbgMsg(dbgmsg,dbgmsg_len);
                #endif
      }
   
         if (status_reg & SYS_STATUS_RXFCG)//接收成功
@@ -895,12 +983,13 @@
         {
            return 1;
         }
         if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //判断是否为Final包
         if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)&&group_id==rx_buffer[GROUP_ID_IDX]) //判断是否为Final包
            {
               uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
               uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
               double Ra, Rb, Da, Db;
               int64_t tof_dtu;
                    u8 si;
               resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
               final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
               final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1,T4,T5
@@ -918,42 +1007,73 @@
               tof = tof_dtu * DWT_TIME_UNITS;
               distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
               dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数
               dist_cm = dist_no_bias * 1000; //dis ä¸ºå•位为cm的距离
               dist_cm = dist_no_bias * 1000; //dis ä¸ºå•位为cm的距离
               dwt_readdiagnostics(&d1);
               LOS(&d1);
               /*--------------------------以下为非测距逻辑------------------------*/
               //dist_cm=33000;
               getrange_success = 1;
               g_Resttimer=0;
               LED0_BLINK; //每成功一次通讯则闪烁一次
               dis_after_filter=dist_cm;
               hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
                        if(recpoll_len==rec_nearbase_num*4+15)
                        {
                            hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10-rec_antdelay*10;
                        }
               g_flag_Taggetdist[taglist_pos]=0;
               if(hex_dist>-10000&&hex_dist<2000000)
               if(hex_dist>-100000&&hex_dist<2000000)
               {
               if(abs(hex_dist-his_dist[taglist_pos])<15000||misdist_num[taglist_pos]>3)
                  if(abs(hex_dist-his_dist[taglist_pos])<10000)
                  {
                     flag_tag_distsmooth[taglist_pos] =1;
                  }else{
                     flag_tag_distsmooth[taglist_pos] =0;
                  }
               if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
               {
                  int32_t filter_dist;
                        g_Resttimer=0;
                        IWDG_Feed();
                  #ifdef TDFILTER
                  NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
                  filter_dist=pos_predict[taglist_pos]/10;
                  filter_dist = pos_predict[taglist_pos]/10;
                        filter_speed = vel_predict[taglist_pos]/10;
                        newmeasure = 1;
                  #else
                  filter_dist=hex_dist/10;
                  #endif
                  misdist_num[taglist_pos]=0;
               tagdist_list[taglist_pos] = filter_dist;   
               his_dist[taglist_pos]=hex_dist;   
                  g_Tagdist[taglist_pos]=filter_dist;
            #ifndef USART_INTEGRATE_OUTPUT
                        if(hex_dist>0)
                  {
                            g_Tagdist[taglist_pos]=hex_dist/10;
                        }else{
                            g_Tagdist[taglist_pos]= 0x2ffff;
                        }
            #ifdef USART_SINGLE_OUTPUT
               usart_send[2] = 1;//正常模式 
               usart_send[3] = 17;//数据段长度
               usart_send[3] = 29;//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[7],&dev_id,2);
                            if(tagdist_list[taglist_pos]<=0)
                                tagdist_list[taglist_pos]=0x2ffff;
               memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
               usart_send[13] = battary;
               usart_send[14] = button;
               checksum = Checksum_u16(&usart_send[2],17);
               memcpy(&usart_send[19],&checksum,2);
               UART_PushFrame(usart_send,21);
               usart_send[15] = firstpath_power;
               usart_send[16] = rx_power;
                    memcpy(&usart_send[17],selftest,2);
                    memcpy(&usart_send[21],uwbrec_userdata,10);
               checksum = Checksum_u16(&usart_send[2],29);
               memcpy(&usart_send[31],&checksum,2);
               UART_PushFrame(usart_send,33);
                            heartbeat_timer = 0;
            #else      
               memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
               memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
@@ -967,13 +1087,17 @@
         }
         }else{
               //printf("%x/n",status_reg);
                 #ifdef DBGMSG_OUTPUT
                dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
                SendDbgMsg(dbgmsg,dbgmsg_len);
                #endif
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
}
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];
u16 ancidlist_rec[20],ancidlist_send[20],rec_ancidlist[20],rec_ancdistlist[20];
void Anchor_App(void)
{
   
@@ -1000,10 +1124,13 @@
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
      frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
        recpoll_len = frame_len;
      dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
      memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
      //将收到的tag_id分别写入各次通讯的包中,为多标签通讯服务,防止一次通讯中接收到不同ID标签的数据
      memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
       if(group_id==rx_buffer[GROUP_ID_IDX])
       {
      switch(rx_buffer[MESSAGE_TYPE_IDX])
      {
//         case POLL:
@@ -1051,8 +1178,35 @@
            }
            break;
      
         case NEAR_POLL:
         case NEAR_POLL:
                frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
                battary = rx_buffer[BATTARY_IDX];
                button = rx_buffer[BUTTON_IDX];
                rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
            memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
                memcpy(&rec_ancidlist,&rx_buffer[NEARBASEID_INDEX],2*rec_nearbase_num);
                memcpy(&rec_ancdistlist,&rx_buffer[NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
                memcpy(&rec_antdelay,&rx_buffer[KUIXIANLEN_INDEX],2);
                ClearUWBUserData();
                uwbrec_userdatalen = rx_buffer[POLL_USERDATA_IDX];
                if(uwbrec_userdatalen<=20)
                memcpy(uwbrec_userdata,&rx_buffer[POLL_USERDATA_IDX+1],uwbrec_userdatalen);
            #ifdef USART_ALL_OUTPUT
                    usart_send[2] = 0x0c;//正常模式
               usart_send[3] = 8+rec_nearbase_num*4;//数据段长度
               usart_send[4] = frame_seq_nb2;//数据段长度
                  usart_send[5] = battary;
               usart_send[6] = button;
                    usart_send[7] = rec_nearbase_num;
               memcpy(&usart_send[8],&tag_id_recv,2);
               memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);
               memcpy(&usart_send[10+rec_nearbase_num*2],&rec_ancdistlist,2*rec_nearbase_num);
               checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
               memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
               UART_PushFrame(usart_send,12+rec_nearbase_num*4);
            #endif
         if(tag_id_recv>=g_com_map[WHITELIST1_START]&&tag_id_recv<=g_com_map[WHITELIST1_END])
         {break;}
            taglist_pos=CmpTagInList(tag_id_recv);
            if(taglist_pos==taglist_num)
            {
@@ -1064,9 +1218,9 @@
               new_tagid=0;
            }
            tagofflinetime[taglist_pos]=0;
          temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
                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)
               {
@@ -1093,7 +1247,14 @@
            
            break;      
      }   
   }else{
   }
}else{
        #ifdef DBGMSG_OUTPUT
    if(status_reg&SYS_STATUS_ALL_RX_ERR)
    { dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
        SendDbgMsg(dbgmsg,dbgmsg_len);
    }
        #endif
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
   }
}