电池标签L051工程
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WXK
2023-11-03 03c3a1878df2cb6a72fdffa393c9e453f6e1b6ac 
 Src/application/dw_app.c


@@ -47,7 +47,7 @@


#define POLL_TX_TO_RESP_RX_DLY_UUS 10


/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the


 * frame length of approximately 2.66 ms with above configuration. */


#define RESP_RX_TO_FINAL_TX_DLY_UUS 510


#define RESP_RX_TO_FINAL_TX_DLY_UUS 1000




/* Receive response timeout. See NOTE 5 below. */


#define RESP_RX_TIMEOUT_UUS 4000


@@ -80,16 +80,16 @@


   NEARPOLL,


    SINGLEPOLL,


}tag_state=STARTPOLL;


static dwt_config_t config = {


 dwt_config_t config = {


   2,               /* Channel number. */


   DWT_PRF_64M,     /* Pulse repetition frequency. */


   DWT_PLEN_64,    /* Preamble length. */


   DWT_PLEN_128,    /* Preamble length. */


   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. */


   1,               /* Use non-standard SFD (Boolean) */


   DWT_BR_6M8,      /* Data rate. */


   DWT_PHRMODE_STD, /* PHY header mode. */


   DWT_PHRMODE_EXT, /* PHY header mode. */


   (129 + 8 - 8)    /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */


};


static uint8_t tx_poll_msg[20] = {0};


@@ -107,7 +107,6 @@


static uint64_t poll_rx_ts;


static uint64_t resp_tx_ts;


static uint64_t final_rx_ts;


static double tof;


int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS];   ;   


uint32_t tag_id = 0;


uint32_t tag_id_recv = 0;


@@ -119,7 +118,7 @@


LPFilter_Frac* p_Dis_Filter;      //测距用的低通滤波器








void GetNearMsg(void);


static uint64_t get_tx_timestamp_u64(void)


{


    uint8_t ts_tab[5];


@@ -473,7 +472,7 @@


u8 motor_state,rec_remotepara_state,rec_remotepara[80];






#define SINGLEPOLL_BASENUM 15


#define SINGLEPOLL_BASENUM 5


uint16_t singlepoll_baseid[20]={0x8166,0x9804,0x9689,0x9686,0x8279,0x9815,0x9803,0x9814,0x9687,0x9774,0x8278,0x9743,0x9688,0x9771,0x8277};


int32_t singlepoll_basedist[20];




@@ -483,39 +482,43 @@


uint32_t frame_len;


int32_t salvebase_mindist;


int16_t intheight;


void Poll(void)


static uint8_t send_buffer[200];


void DiscPoll(void)


{


   uint32_t frame_len;


   uint32_t final_tx_time;


   u32 start_poll;


   int32_t mindist=999999,minid=-1,temp_dist;


   int32_t minddist=0x1ffff,minid=-1,temp_dist;


   u8 i,j,getsync_flag=0;


    u16 mindist_ancid,random_delay_tim,tempval;


    


    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;


   frame_seq_nb++;


    intheight+=g_com_map[HEIGHTOFFEST_INDEX];


   for(singlepoll_i=0;singlepoll_i<SINGLEPOLL_BASENUM;singlepoll_i++)


   for(uint8_t singlepoll_i=0;singlepoll_i<10;singlepoll_i++)


   {


   /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */


    nearbase_num = SINGLEPOLL_BASENUM;


        


        tx_near_msg[BATTARY_IDX] = bat_percent;


   tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2;


   tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;


    tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb)>>8;


   tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;


   memcpy(&tx_near_msg[NEARBASEID_INDEX],&singlepoll_baseid,nearbase_num*2);


    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&singlepoll_basedist,nearbase_num*4+4);


    


    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6],&intheight,2);


   tx_near_msg[MESSAGE_TYPE_IDX] = SPOLL;	


	


   tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;	


   tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;	


       




   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&singlepoll_baseid[singlepoll_i],2);	


   dwt_writetxdata(28+6*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去


   /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */


    nearbase_num = 0;


        


   // send_buffer[BATTARY_IDX] = bat_percent;


   //send_buffer[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1|gotosleep_flag<<2;


   send_buffer[SEQUENCE_IDX] = frame_seq_nb;


    send_buffer[SEQUENCEH_IDX] = (frame_seq_nb)>>8;


   send_buffer[NEARBASENUM_INDEX] = nearbase_num;


     


//   memcpy(&send_buffer[NEARBASEID_INDEX],&singlepoll_baseid,nearbase_num*2);


//    memcpy(&send_buffer[NEARBASEID_INDEX+nearbase_num*2],&singlepoll_basedist,nearbase_num*4+4);


//    intheight+=g_com_map[HEIGHTOFFEST_INDEX];


 //   memcpy(&send_buffer[NEARBASEID_INDEX+nearbase_num*6],&intheight,2);


   send_buffer[MESSAGE_TYPE_IDX] = DISCOVERPOLL;	


//   singlepoll_basedist[singlepoll_i]= 0x1ffff;


   send_buffer[NEARP_TAGFREQ_INDEX] = tag_frequency;	


   send_buffer[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;	


    send_buffer[ANCHOR_ID_IDX] = singlepoll_i;


   memcpy(&send_buffer[TAG_ID_IDX],&dev_id,2);	


   dwt_writetxdata(28+6*nearbase_num, send_buffer, 0);//将Poll包数据传给DW1000，将在开启发送时传出去


   dwt_writetxfctrl(28+6*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




@@ -533,63 +536,55 @@


      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)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&singlepoll_baseid[singlepoll_i],2)) //判断接收到的数据是否是response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);


                           current_count=HAL_LPTIM_ReadCounter(&hlptim1);


                memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);


                memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);


//                current_count=HAL_LPTIM_ReadCounter(&hlptim1);


//                           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;}


                           }


                                    ancsync_time=((sync_timer)*1000+tmp_time);	


//                           last_slotnum=current_slotnum;


//                           temptimer = sync_timer-10;


//                           if(temptimer<0)


//                           {temptimer+=1000;}


//                           //current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;


//                           if(current_slotnum==last_slotnum-1)


//                           {flag_getresponse=1;}


//                           lastsync_timer=sync_timer;


                           //offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;


//                           SetNextPollTime(tagslotpos);


                tmp_time=tmp_time+450;


                if(tmp_time>999)


                {


                    tmp_time-=999;


                    sync_timer++;


                    if(sync_timer>=1010)


                        {sync_timer=0;}


                }




                //offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;


//                SetNextPollTime(tagslotpos);


      }


			


         memcpy(&send_buffer[NEARBASEID_INDEX+singlepoll_i*2],&rx_buffer[ANCHOR_ID_IDX],2);


         memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4);


         memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);


            singlepoll_basedist[singlepoll_i] = temp_dist;


         memcpy(&send_buffer[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);


           // singlepoll_basedist[singlepoll_i] = temp_dist;


       // memcpy(&singlepoll_baseid[singlepoll_i], &rx_buffer[ANCHOR_ID_IDX], 2);


            


            if(temp_dist<minddist)


            {


                minddist = temp_dist;


                memcpy(&mindist_ancid,&rx_buffer[ANCHOR_ID_IDX],2);


                


            }


            send_buffer[MESSAGE_TYPE_IDX] = DISCOVERFINAL;	


         /* 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


         final_tx_time = (resp_rx_ts + (600 * 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


         final_msg_set_ts(&send_buffer[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据


         final_msg_set_ts(&send_buffer[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);


         final_msg_set_ts(&send_buffer[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);


         dwt_writetxdata(25,send_buffer, 0);//将发送数据写入DW1000


         dwt_writetxfctrl(25, 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&&temp_dist!=0)


//         {


//            memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);


//            tag_state=GETNEARMSG;


//            trygetnearmsg_times=10*tag_frequency;


//            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


         { };


@@ -610,16 +605,24 @@


   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);


      random_delay_tim = DFT_RAND_DLY_TIM_MS;


   }


   // delay_ms(1);


}


    if(minddist!=0x1ffff&&minddist!=0)


    {


         trygetnearmsg_times = 0;


            tag_state = GETNEARMSG;            


            mainbase_id = mindist_ancid;   


            GetNearMsg();


    }


   


   if(getsync_flag==0)


   {


//   tagslotpos--;


         if(tagslotpos==0||tagslotpos>max_slotpos)


      {		


         tagslotpos=max_slotpos;	


      }


      tyncpoll_time=(tagslotpos-1)*slottime;


//         if(tagslotpos==0||tagslotpos>max_slotpos)


//      {		


//         tagslotpos=max_slotpos;	


//      }


//      tyncpoll_time=(tagslotpos-1)*slottime;


   }


//   mainbase_id=minid;


//   mainbase_id = 0x4;


@@ -711,14 +714,14 @@


   u32 start_poll,frame_len;


    u8 nearmsg_i=0;


   NextSlotDelayMs(0);


    for(nearmsg_i=0;nearmsg_i<20;nearmsg_i++)


    for(nearmsg_i=0;nearmsg_i<MAX_NEARBASE_NUM;nearmsg_i++)


    {


        nearbase_distlist[nearmsg_i] = 0x1ffff;


    }


//mainbase_id = 0x9818;


//mainbase_id = 0x1;


   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;


   tx_near_msg[MESSAGE_TYPE_IDX] = POS_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


@@ -749,7 +752,7 @@


      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


      if (rx_buffer[MESSAGE_TYPE_IDX] == POS_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据


      {


         nearbase_num=rx_buffer[NEARBASENUM_INDEX];


         memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);


@@ -766,20 +769,103 @@


//         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;


   }


}


void SendHuiZongData(void)


{


                usart_send[2] = 0x0c;//正常模式 


               usart_send[3] = 15+8*(nearbase_num+1);//数据段长度


               memcpy(&usart_send[4],&dev_id,2);


                    usart_send[6] = frame_seq_nb;


                    usart_send[7] = frame_seq_nb>>8;


               usart_send[8] = bat_percent;


                    usart_send[9] = tx_near_msg[BUTTON_IDX];




                    memcpy(&usart_send[10],&intheight,2);


               usart_send[12] = tag_frequency;


                    usart_send[13] = tagslotpos;


                    usart_send[14] = 0;


                    usart_send[15] = 0;


               usart_send[16] = nearbase_num+1;


                    memcpy(&usart_send[17],&mainbase_id,2);


                    memcpy(&usart_send[19],&nearbaseid_list,2*nearbase_num);


                    memcpy(&usart_send[19+nearbase_num*2],&nearbase_distlist,4*nearbase_num+4);


                memcpy(&usart_send[19+nearbase_num*6+4],&rec_anc_signalpower,2*nearbase_num+2);


                    


               checksum = Checksum_u16(&usart_send[2],23+8*nearbase_num);


               memcpy(&usart_send[25+8*nearbase_num],&checksum,2);


               USART_puts(usart_send,27+8*nearbase_num);


               //HexToAsciiSendUDP(usart_send,27+8*nearbase_num);


}


#define FREQ_OFFSET_MULTIPLIER          (998.4e6/2.0/1024.0/131072.0)


#define FREQ_OFFSET_MULTIPLIER_110KB    (998.4e6/2.0/8192.0/131072.0)




// Multiplication factors to convert frequency offset in Hertz to PPM crystal offset


// NB: also changes sign so a positive value means the local RX clock is running slower than the remote TX device.




#define HERTZ_TO_PPM_MULTIPLIER_CHAN_1     (-1.0e6/3494.4e6)


#define HERTZ_TO_PPM_MULTIPLIER_CHAN_2     (-1.0e6/3993.6e6)


#define HERTZ_TO_PPM_MULTIPLIER_CHAN_3     (-1.0e6/4492.8e6)


#define HERTZ_TO_PPM_MULTIPLIER_CHAN_5     (-1.0e6/6489.6e6)


int32_t test2;


uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;


uint8_t motor_flag;


uint32_t testtimer[10],testtimer2,anc_pollrx[11],anc_resptx[11],tag_resprx[11];


int32_t anc_clockoffset[11];


int16_t anc_distoffset[11];


extern uint8_t Pah_HRD_flag_fangchai;


uint8_t get_newdist,notenoughdist_count;


void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset)


{


    memcpy(&anc_pollrx[i],pollrx,4);


    memcpy(&anc_resptx[i],resptx,4);


    memcpy(&tag_resprx[i],&resprx,4);


    memcpy(&anc_distoffset[i],distoffset,2);


    anc_clockoffset[i] = test2;


}


float clockOffsetRatio;


double rtd_init, rtd_resp;


double tof,distance;


extern int32_t dwt_readcarrierintegrator(void) ;


void CalculateDists(void)


{


    for(int i=0;i<11;i++)


    {


        rec_anc_signalpower[i] = exsistbase_list[i];


      if(exsistbase_list[i]>0)


      {




          exsistbase_list[i]--;


          clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;


          rtd_init = tag_resprx[i] - poll_tx_ts&0xffffffff;


          rtd_resp = anc_resptx[i] - anc_pollrx[i];


          tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;


          distance = tof * SPEED_OF_LIGHT;


          if(distance>-1000&&distance<100000)


            nearbase_distlist[i] = distance*100+anc_distoffset[i];


      }else{


          nearbase_distlist[i] = 0x1ffff;


      }


    


    }


}


extern uint16_t tagid_list[TAG_NUM_IN_SYS];


extern uint16_t taglist_num;


extern int32_t tagdist_list[TAG_NUM_IN_SYS];


uint16_t nearbase_taglist_num;


extern uint8_t uwb_tx[300];


void NearPoll(void)


{


   


   uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;




    static u8 notenoughdist_count=0;


   uint32_t final_tx_time;


   u32 start_poll;


   u8 i,j,getsync_flag=0,timeout;


   u8 i,j,getsync_flag=0,timeout,get_newdist;


   // USART_putc(current_slotnum);


    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;


   salvebase_mindist=999999;


    get_newdist = 0;


   if(next_nearbase_num>=MAX_NEARBASE_NUM)


   {


      next_nearbase_num = MAX_NEARBASE_NUM-1;


@@ -790,29 +876,46 @@




   recbase_num=0;


//   motor_state=0;


    if(motor_state!=0&&motor_state!=3)


    {


        motor_flag = 1;


    }else{


        motor_flag = 0;


    }


   


   tx_near_msg[BATTARY_IDX] = bat_percent;


   tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2;


   tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;


   tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;


  tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;


   tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;


    tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;


    if(taglist_num>10)


    {taglist_num=10;}


    nearbase_taglist_num=nearbase_num+taglist_num;


   tx_near_msg[NEARBASENUM_INDEX] = nearbase_taglist_num;


   memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);


  memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);


  memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);


    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&tagid_list,taglist_num*2);


    


    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2+taglist_num*2],&nearbase_distlist,nearbase_num*4+4);


    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2+taglist_num*2+nearbase_num*4+4],&tagdist_list,taglist_num*4);


    


    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_taglist_num*12+4],&rec_anc_signalpower,nearbase_taglist_num*2+2);




    


    if(intheight!=0)


    intheight+=g_com_map[HEIGHTOFFEST_INDEX];


    


    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);


   tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;	


//    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);


   tx_near_msg[MESSAGE_TYPE_IDX] = POS_POLL;	


   


   tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;   


   tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;   




   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);   


   dwt_writetxdata(29+8*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去


   dwt_writetxfctrl(29+8*nearbase_num, 0);//设置超宽带发送数据长度


   dwt_writetxdata(29+8*nearbase_taglist_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去


   dwt_writetxfctrl(29+8*nearbase_taglist_num, 0);//设置超宽带发送数据长度


    


//       dwt_writetxdata(280, uwb_tx, 0);//将Poll包数据传给DW1000，将在开启发送时传出去


//   dwt_writetxfctrl(282, 0);//设置超宽带发送数据长度


    


            current_count=HAL_LPTIM_ReadCounter(&hlptim1);


      


      while(current_count<poll_startcount||current_count>poll_startcount+16384)


@@ -837,7 +940,7 @@


   flag_getresponse=0;


   start_count=HAL_LPTIM_ReadCounter(&hlptim1);


   recbase_num=0;


   timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;


   timeout=ceil((float)nearbase_taglist_num*SLOT_SCALE)+3;


   end_count=start_count+(timeout<<5);


   if(end_count>=32768)


   {end_count-=32768;}


@@ -862,10 +965,11 @@


                     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


                            test2 = dwt_readcarrierintegrator();


                     dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间


                     dwt_rxenable(0);//打开接收


                     //HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);


                     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] == POS_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据


                     {   u16 rec_nearbaseid,rec_nearbasepos;


                        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   


@@ -873,38 +977,46 @@


                        memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);


                        if(rec_nearbaseid==mainbase_id)


                        {


                                     exsistbase_list[0]=KEEP_TIMES;


                                   SetANCTimestap(0,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);




                           //////////////////////////////////时间同步


                           memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);


                           memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);


                           current_count=HAL_LPTIM_ReadCounter(&hlptim1);


                              dwt_forcetrxoff();


                           final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS) * UUS_TO_DWT_TIME)) >> 8;


                           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_near_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_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+nearbase_num*4], resp_rx_ts);


                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);


                           tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;


//                           final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS) * UUS_TO_DWT_TIME)) >> 8;


//                           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_near_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_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+nearbase_num*4], resp_rx_ts);


//                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);


//                           tx_near_msg[MESSAGE_TYPE_IDX]=POS_FINAL;


                           rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;


                        if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))


                           {


                              para_update = 1;


                              tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;


                              para_len = frame_len-22;


                              memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);


                           }


                           dwt_writetxdata(28+nearbase_num*4, tx_near_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_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	


                                    if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))


                                        {


                                            para_update = 1;


                                            tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;


                                            para_len = frame_len-22;


                                            memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);


                                        }


//                           dwt_writetxdata(28+nearbase_num*4, tx_near_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_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	


                           userkey_state = !GET_USERKEY;




                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);


                           //memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);


                                    temp_dist = nearbase_distlist[0];


                                    if(temp_dist!=nearbase_distlist[0])


                                    {


                                        get_newdist++;


                                    }


                           mainbase_dist=temp_dist;


                                    nearbase_distlist[0] = temp_dist;


                                    base_mindist = temp_dist;


                           if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)


                              motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;


                                    if(frame_len==28)


                                    if(frame_len==38)


                                     {


                                         memcpy(&rec_maxrangelen,&rx_buffer[MAXRANGE_DISTANCE],2);


                                         memcpy(&rec_anc_signalpower[0],&rx_buffer[ANC_SIGNALPOWER],2);


@@ -912,7 +1024,7 @@


                                         {


                                             if(outrange_times++>OUTRANGE_RESTARTTIMES)


                                             {


                                               // tag_state = STARTPOLL;


                                                tag_state = STARTPOLL;


                                             }


                                         }else{


                                             outrange_times = 0;


@@ -923,7 +1035,7 @@


                           


                           mainbase_lost_count=0;


                           flag_finalsend=1;


                           memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);


//                           memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);


      




                           flag_getresponse=1;                        


@@ -938,33 +1050,40 @@


                           }


                           ancsync_time=((sync_timer)*1000+tmp_time);   


                           SetLPTimer(ancsync_time);


                           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


                                 { };}			


//                           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


//                                 { };}			


//HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);                                 


                              break;


                        }else{


                           


                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);									


                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;


                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);


                                    if(frame_len==28)


                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);	


                                    SetANCTimestap(rec_nearbasepos+1,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);


									


                           exsistbase_list[rec_nearbasepos+1]=KEEP_TIMES;


                           //memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);


                                    temp_dist = nearbase_distlist[rec_nearbasepos+1];


                                    if(frame_len==38)


                                    memcpy(&rec_anc_signalpower[rec_nearbasepos+1],&rx_buffer[ANC_SIGNALPOWER],2);


                           memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);


                                    if(temp_dist!=nearbase_distlist[rec_nearbasepos+1])


                                    {


                                        get_newdist++;


                                    }


                           nearbase_distlist[rec_nearbasepos+1]=temp_dist;   //   nearbase_distlist[1]对应   rec_nearbaseid[0]的距离               


                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);


                           if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]==1)


                              if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]!=0&&(nearbase_switchdistlist[rec_nearbasepos]==1||temp_dist<nearbase_switchdistlist[rec_nearbasepos]))


                           {


                              salvebase_mindist = temp_dist;


                              mindist_slavebaseid = rec_nearbaseid;


                           }


                           #ifdef SWITCHBASE_ZHUANDIAN


                                       if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]>1&&temp_dist>0)


                             {


                                            mainbase_id = rec_nearbaseid;


                                            tag_state = GETNEARMSG;


                                                                  trygetnearmsg_times = 0;


                                        }


//                                       if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]>1&&temp_dist>0)


//                             {


//                                            mainbase_id = rec_nearbaseid;


//                                            tag_state = GETNEARMSG;


//                                 trygetnearmsg_times = 0;


//                                        }


                                    #endif




                  }                        


@@ -992,29 +1111,33 @@


            if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )


            {


               changemainbase_count++;


               if(changemainbase_count>tag_frequency*2)


               if(changemainbase_count>2)


               {


                              mainbase_id = mindist_slavebaseid;


                              tag_state = GETNEARMSG;


                              trygetnearmsg_times = 0;


                        changemainbase_count = 0;


                        mainbase_id = mindist_slavebaseid;


                        tag_state = GETNEARMSG;                    


                        trygetnearmsg_times = 0;


                        GetNearMsg();


               }


            }else{


               changemainbase_count = 0;


            }


         #endif


         }else if(mainbase_lost_count>5*tag_frequency)


         }else if(mainbase_lost_count>10)


         {


            tag_state = STARTPOLL;


                mainbase_lost_count = 0;


            tag_state = DISCPOLL;


                DiscPoll();


         }   


         if(mainbase_lost_count!=0)


         {


            if(mainbase_lost_count<=tag_frequency*1)


            if(mainbase_lost_count<=5)


            {NextSlotDelayMs(0);


            }else{


               NextSlotDelayMs(0);


            }


         }   




CalculateDists();


         if(para_update)


         {


         


@@ -1027,7 +1150,17 @@


               {


                        if(motor_keeptime==0)


                            motor_keeptime = rec_remotepara[3];


               }else{


               }else if( pack_index == 2*COM_INTERVAL)


                    {


                        if(memcmp(&g_com_map[COM_INTERVAL],&rec_remotepara[3],2)!=0)


                        {


                            memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);


                            save_com_map_to_flash();


                            tag_frequency = 1000/g_com_map[COM_INTERVAL];


                            bigslot_num = TOTAL_SLOTNUM/tag_frequency;


                        }


                    }


                    else{


                        if(pack_index<200)


                        {


                            memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);


@@ -1040,15 +1173,27 @@


               }


            }


         }


//            if(get_newdist>=2)


//            {


//                notenoughdist_count = 0;


//            }else{


//                if(notenoughdist_count++>10)


//                {


//                    notenoughdist_count = 0;


//                    tag_state = DISCPOLL;


//                }


//            }


         for(i=0;i<nearbase_num;i++)


         {


                if(nearbaseid_list[i]!=nearbaseid_list2[i])


                {


                    tag_state = GETNEARMSG;


                    GetNearMsg();


                           trygetnearmsg_times = 0;


                           nearbaseid_list0[i]=1;


                }


         }


        //    SendHuiZongData();


   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);


//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);




@@ -1079,7 +1224,8 @@


      memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);   


      memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[IMU_THRES],2);


      memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[NOMOVESLEEP_TIME],2);


    memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[HEIGHTOFFEST_INDEX],2);


        send_buffer[REGP_BATTARY_INDEX] = bat_percent;


//    memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[HEIGHTOFFEST_INDEX],2);


      dwt_writetxdata(23, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去


      dwt_writetxfctrl(23, 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


@@ -1100,10 +1246,10 @@


                     if (rx_buffer[MESSAGE_TYPE_IDX] == REG_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据


                     {   u16 rec_nearbaseid,rec_nearbasepos;


                        


                        memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);


                        tag_frequency = rx_buffer[REGR_TAGFREQ_INDEX];


                        bigslot_num = TOTAL_SLOTNUM/tag_frequency;


                        tagslotpos = rx_buffer[REGR_TAGSLOTPOS_INDEX];


                                    memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);


                                    tag_frequency = rx_buffer[REGR_TAGFREQ_INDEX];


                                    bigslot_num = TOTAL_SLOTNUM/tag_frequency;


                                    tagslotpos = rx_buffer[REGR_TAGSLOTPOS_INDEX];


                           //////////////////////////////////时间同步


                           memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);


                           memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);


@@ -1134,32 +1280,33 @@


                           memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);


                           memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);


                           if(tagslotpos!=255)


                           tag_state = NEARPOLL;


                                        tag_state = DISCPOLL;


                        }


                     }


}


u32 id,error_times=0;




extern float Height;


void Tag_App(void)//发送模式(TAG标签)


{


   


   //LED0_ON;


   SPIx_CS_GPIO->BRR = SPIx_CS;


   delay_us(700);


   SPIx_CS_GPIO->BSRR = SPIx_CS;


   id =  dwt_readdevid() ;


       while (DWT_DEVICE_ID != id) 


    {


      //   Dw1000_Init();


         id =  dwt_readdevid() ;


        IdleTask();	


        if(error_times++>20)


        {


            printf("DW ID ERROR.\r\n");


            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   


        }


    }


//   //LED0_ON;


//   SPIx_CS_GPIO->BRR = SPIx_CS;


//   delay_us(700);


//   SPIx_CS_GPIO->BSRR = SPIx_CS;


//   id =  dwt_readdevid() ;


//       while (DWT_DEVICE_ID != id) 


//    {


//      //   Dw1000_Init();


//         id =  dwt_readdevid() ;


//        IdleTask();	


//        if(error_times++>20)


//        {


//            printf("DW ID ERROR.\r\n");


//            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   


//        }


//    }


    dwt_forcetrxoff();


//    Dw1000_Init();


    error_times = 0;


   switch(tag_state)


   {


@@ -1170,7 +1317,7 @@


         break;


      case DISCPOLL:


         LED_LG_ON;      


         Poll();


         DiscPoll();


         LED_LG_OFF;


         break;


      case GETNEARMSG:


@@ -1189,9 +1336,14 @@


         //intheight = Height*100;


         break;


        case SINGLEPOLL:


            Poll();


          //  Poll();


            break;


   }


     userkey_state = !GET_USERKEY;


   dwt_entersleep();


           dwt_forcetrxoff();


//       Dw1000_Init();


       dwt_setinterrupt(  DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);


      dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间


        dwt_rxenable(0);


   //dwt_entersleep();


}