UWB_SmallModule_F103.git

			@@ -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();//éå¯DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
			status_reg = dwt_read32bitreg(SYS_STATUS_ID);
			dwt_initialise(DWT_LOADUCODE);//åå§åDW1000
			status_reg = dwt_read32bitreg(SYS_STATUS_ID);
			Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //è®¾ç½®ä¸ºå¿«éæ¨¡å¼

			/* Configure DW1000. See NOTE 6 below. */
			@@ -208,7 +210,31 @@
			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],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;
			@@ -265,7 +291,7 @@
			{
			u8 i,temp_value;
			temp_value = GetRandomValue();
			for(i=temp_value%32;i<max_slotpos;i++)
			for(i=temp_value%max_slotpos;i<max_slotpos;i++)
			{
			if(((emptyslot>>i)&0x1)==0)
			{
			@@ -286,7 +312,7 @@
			u8 anclost_times=0;
			u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
			u16 temp_sync_timer1,temp_sync_timer2;
			u32 rec_tagpos_binary;

			void NearPoll(void)
			{
			static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
			@@ -323,7 +349,7 @@
			flag_rxon=1;
			neartimout_timer=0;
			get_newbase=0;
			timeout=ceil((float)nearbase_num/4)+2;
			timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
			//timeout=5;
			mainbase_dist=100000;
			mainbase_lost_count++;
			@@ -341,6 +367,9 @@
			dwt_forcetrxoff();
			dwt_setdelayedtrxtime(final_tx_time);
			result=dwt_starttx(DWT_START_TX_DELAYED);//è®¾å®ä¸ºå»¶è¿åé
			#ifdef DEBUG_INF
			USART_putc(0x33);
			#endif
			break;
			}
			}
			@@ -378,7 +407,7 @@
			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)
			{
			@@ -396,15 +425,21 @@
			}
			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;
			////////////////////////////
			#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;

			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;
			@@ -419,7 +454,32 @@
			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¦
			memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);

			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);
			}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

			//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{
			@@ -431,10 +491,14 @@
			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);//å°åéæ°æ®åå¥DW1000
			@@ -448,14 +512,20 @@
			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);
			//UART_PushFrame(usart_send,21);
			#endif

			//dwt_setdelayedtrxtime(final_tx_time);//è®¾ç½®finalååéæ¶é´T5
			@@ -465,6 +535,9 @@
			}
			}
			}else{
			#ifdef DEBUG_INF
			printf("responseåå¤±è´¥ï¼%x/n",status_reg);
			#endif
			dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG\| SYS_STATUS_ALL_RX_ERR);
			if(flag_rxon)
			{dwt_rxenable(0);
			@@ -491,8 +564,9 @@
			// temp_adc=Get_ADC_Value();
			// random_value=random_value\|((temp_adc&0x01)<<i);
			// }
			tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
			tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
			tagslotpos=GetRandomSlotPos(rec_tagpos_binary\|tagpos_binary);
			tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
			tag_state=GETNEARMSG;
			}
			// tyncpoll_time=0;
			next_nearbase_num=0;
			@@ -537,7 +611,7 @@
			{
			nearbaseid_list[i]=true_nearbase_idlist[i];
			nearbase_distlist[i]=true_nearbase_distlist[i];
			if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==0xa)
			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);
			@@ -550,13 +624,16 @@
			}

			// printf("%d,%d",temp_sync_timer2,temp_sync_timer1);
			// #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
			#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
			#ifdef DEBUG_INF
			printf("åºå·ï¼%d,åºç«æ°éï¼%d/n",(frame_seq_nb-1)&0xff,nearbase_num);
			#endif
			// if(mainbase_lost_count>5)
			// {
			// //tag_state=DISCPOLL;
			@@ -572,7 +649,7 @@
			// }else{
			// anclost_times=0;
			// }

			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];
			@@ -615,13 +692,16 @@
			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)*0.3)+1;
			//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)//åéæ¨¡å¼(TAGæ ç¾)
			@@ -629,6 +709,7 @@
			//LED0_ON;
			dwt_forcetrxoff();
			g_Resttimer=0;
			GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
			switch(tag_state)
			{
			case DISCPOLL:
			@@ -642,6 +723,9 @@
			break;
			}

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

			int8_t correction_time,new_tagid=0;
			@@ -698,7 +782,7 @@

			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¯¯
			@@ -748,9 +832,12 @@
			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);
			@@ -762,7 +849,20 @@
			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;
			@@ -772,14 +872,47 @@
			}
			tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
			tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;

			dwt_writetxdata(21, tx_nearresp_msg, 0);//åå¥åéæ°æ®
			dwt_writetxfctrl(21, 0);//è®¾å®åéé¿åº¦
			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);//åå¥åéæ°æ®
			dwt_writetxfctrl(22+remotetag_paralen, 0);//è®¾å®åéé¿åº¦
			remotesend_state=0;
			break;
			}
			}

			}else{
			dwt_writetxdata(22, tx_nearresp_msg, 0);//åå¥åéæ°æ®
			dwt_writetxfctrl(22, 0);//è®¾å®åéé¿åº¦
			}

			// 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);//åå¥åéæ°æ®
			// dwt_writetxfctrl(22+remotetag_paralen, 0);//è®¾å®åéé¿åº¦
			// waittagconfig_reponse=1;
			// }else{

			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¯¯
			@@ -829,7 +962,7 @@
			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)
			{
			@@ -838,9 +971,9 @@
			his_dist[taglist_pos]=hex_dist;
			g_Tagdist[taglist_pos]=hex_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);
			@@ -854,20 +987,36 @@
			memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
			anc_report_num++;
			#endif
			#ifdef DEBUG_INF
			printf("åºå·ï¼%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;//æ£å¸¸æ¨¡å¼
			usart_send[3] = 5;//æ°æ®æ®µé¿åº¦
			memcpy(&usart_send[4],&tag_id_recv,2);
			usart_send[6] = 1;//æ°æ®æ®µé¿åº¦
			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("finalåå¤±è´¥ï¼%x/n",status_reg);
			#endif
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			}
			}
			uint32_t current_syncid=0xffffffff,synclost_timer;
			extern u8 flag_syncbase;
			extern uint32_t tagpos_binary;
			u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
			u16 ancidlist_rec[20],ancidlist_send[20];
			void Anchor_App(void)
			@@ -877,15 +1026,17 @@
			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();
			};

			//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
			if (status_reg & SYS_STATUS_RXFCG)//æåæ¥æ¶
			{ u16 tag_recv_interval;
			float temp_tagpos;
			@@ -896,7 +1047,7 @@
			dwt_readrxdata(rx_buffer, frame_len, 0);//è¯»åæ¥æ¶æ°æ®
			memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
			//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);
			switch(rx_buffer[MESSAGE_TYPE_IDX])
			{
			// case POLL:
			@@ -987,6 +1138,9 @@
			break;
			}
			}else{
			#ifdef DEBUG_INF
			printf("pollåå¤±è´¥ï¼%x/n",status_reg);
			#endif
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			}
			}