V1.47 2

yincheng.zhong

2023-02-28 27956a4435c7cc37eee8fb908565b4ca8b1119ae

 Src/application/dw_app.c

@@ -29,7 +29,9 @@
#include <stdio.h>
#include "beep.h"
#include "modbus.h"
#include "CRC.h"

//#define USART_INTEGRATE_OUTPUT
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -47,14 +49,14 @@
#define POLL_TX_TO_RESP_RX_DLY_UUS 150
/* 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 850
#define RESP_RX_TO_FINAL_TX_DLY_UUS_POLL 1850
#define RESP_RX_TO_FINAL_TX_DLY_UUS 410

/* Receive response timeout. See NOTE 5 below. */
#define RESP_RX_TIMEOUT_UUS 600

#define DELAY_BETWEEN_TWO_FRAME_UUS 240
#define DELAY_BETWEEN_TWO_FRAME_UUS 400

#define POLL_RX_TO_RESP_TX_DLY_UUS 420
#define POLL_RX_TO_RESP_TX_DLY_UUS 470
/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
/* Receive final timeout. See NOTE 5 below. */
@@ -68,16 +70,8 @@
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4


enum enumtagstate
{
   DISCPOLL,
   GETNEARMSG,
   NEARPOLL,
}tag_state;
static dwt_config_t config = {
   2,               /* Channel number. */
   5,               /* Channel number. */
   DWT_PRF_64M,     /* Pulse repetition frequency. */
   DWT_PLEN_128,    /* Preamble length. */
   DWT_PAC8,        /* Preamble acquisition chunk size. Used in RX only. */
@@ -92,7 +86,7 @@
static uint8_t tx_sync_msg[14] = {0};
static uint8_t tx_final_msg[60] = {0};
static uint8_t tx_resp_msg[22] = {0};
static uint8_t tx_near_msg[80] = {0};
 uint8_t tx_near_msg[80] = {0};

static uint32_t frame_seq_nb = 0;   
static uint32_t status_reg = 0;
@@ -190,7 +184,7 @@
void Dw1000_App_Init(void)
{
//g_com_map[DEV_ID] = 0x0b;
   tag_state=DISCPOLL;
   //tag_state=DISCPOLL;
   tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
   tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
   tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
@@ -238,123 +232,10 @@
u16 anclist_num=0,anclist_pos; //list 总数量和当前位置
u16 ancid_list[TAG_NUM_IN_SYS];
u8 nearbase_num;
u16 nearbaseid_list[10],mainbase_id;
int32_t mainbase_dist,nearbase_distlist[10];
u16 mainbase_id;
int32_t mainbase_dist;
uint8_t trygetnearmsg_times;
void Poll(void)
{
   uint32_t frame_len;
   uint32_t final_tx_time,id;
   u32 start_poll;
   int32_t mindist=999999,minid=-1,temp_dist;
   u8 i,getsync_flag=0;
   id =  dwt_readdevid() ;  //0XFFFFFF BUG 初始化缺少Spi_ChangePrescaler(SPIx_PRESCALER_SLOW);   //设置为快速模式
       while (DWT_DEVICE_ID != id) 
    {
         id =  dwt_readdevid() ;
    }
    dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);         //设置发送后开启接收，并设定延迟时间
    dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);		
   tag_succ_times = 0;
//   GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);
   for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
   {
   /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
   tx_poll_msg[ANC_TYPE_IDX] = i;	
   dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//设置超宽带发送数据长度
   dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置

   /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
   while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
   {
   };
   if(status_reg==0xffffffff)
   {
      NVIC_SystemReset();
   }
   if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
   {
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
      frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;   //获得接收到的数据长度
      dwt_readrxdata(rx_buffer, frame_len, 0);   //读取接收数据
      if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
      {
         poll_tx_ts = get_tx_timestamp_u64();                              //获得POLL发送时间T1
         resp_rx_ts = get_rx_timestamp_u64();                              //获得RESPONSE接收时间T4			
         if(getsync_flag==0)
         {
            getsync_flag=1;
         memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
         memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
         memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);		
         tmp_time=tmp_time+450;
         if(tmp_time>999)
         {
            tmp_time-=999;
            sync_timer++;
            if(sync_timer>=1010)
               {sync_timer=0;}
         }
//         TIM3->CNT=tmp_time;
//         if(tagslotpos>max_slotpos)
//            tagslotpos=tagslotpos%(max_slotpos+1);
//            tyncpoll_time=(tagslotpos-1)*slottime;
      }
			
         memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4);
         memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
         /* Compute final message transmission time. See NOTE 9 below. */
         final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS_POLL * UUS_TO_DWT_TIME)) >> 8;//计算final包发送时间，T5=T4+Treply2
         dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
         final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
         final_msg_set_ts(&tx_final_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
         final_msg_set_ts(&tx_final_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
         final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
         dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//将发送数据写入DW1000
         dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度
         result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送			
         tag_succ_times++;		
            LED0_BLINK;
			
         if(temp_dist<mindist)
         {
            memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
            tag_state=GETNEARMSG;
            trygetnearmsg_times=5;
            mindist=temp_dist;
         }
         if(result==0)
         {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
         { };
      }
         /* Clear TXFRS event. */
         dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清除标志位
         random_delay_tim = 0;
      }
      else
      {
         random_delay_tim = DFT_RAND_DLY_TIM_MS; //如果通讯失败，将间隔时间增加5ms，避开因为多标签同时发送引起的冲突。
      }
   }
   else
   {
   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
      random_delay_tim = DFT_RAND_DLY_TIM_MS;
   }
}
   if(getsync_flag==0)
   {
   tagslotpos--;
         if(tagslotpos==0||tagslotpos>max_slotpos)
      {		
         tagslotpos=max_slotpos;	
      }
      tyncpoll_time=(tagslotpos-1)*slottime;
   }
   mainbase_id=minid;
}

u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
u8 FindNearBasePos(u16 baseid)
{
   u8 i;
@@ -366,39 +247,64 @@
}
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++)
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 = HAL_LPTIM_ReadCounter(&hlptim1);//GetRandomValue();
   for(i=temp_value%32;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;
}

int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
u8 anclost_times=0 , mainbase_lost_count=0;
u8 flag_finalsend,flag_getresponse;
uint16_t current_count,start_count,end_count;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
u8 flag_finalsend,flag_getresponse,flag_rxon;
uint16_t current_count,start_count,end_count,lastsync_timer;

u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
u32 rec_tagpos_binary;
int16_t offset=2700;
u8 current_freq,rec_freq;
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
extern u16 last_lpcount;
float freqlost_count = 0;
void TagFreqProcess(u8 freq)
{
    if(freq>MAX_ANCFREQ||freq==0)
    {
        return;
    }
    if(freq==tag_frequency||freq>tag_frequency)
    {
        tag_frequency = freq;
        freqlost_count = 0;
    }
}

void NearPoll(void)
{
   
@@ -406,29 +312,40 @@
   uint32_t frame_len;
   uint32_t final_tx_time;
   u32 start_poll;
   u8 i,getsync_flag=0,timeout;
   u8 i,j,getsync_flag=0,timeout,flag_ancreadpara=0;
    dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);         //设置发送后开启接收，并设定延迟时间
    dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);		
    dwt_setrxtimeout(10000);		
   tag_succ_times = 0;
   tx_near_msg[BATTARY_IDX] = Get_Battary();
   //tx_near_msg[BUTTON_IDX] = !READ_KEY0;
      //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
   if(next_nearbase_num>=MAX_NEARBASE_NUM)
   {
      next_nearbase_num = MAX_NEARBASE_NUM-1;
   }
   HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
   last_nearbase_num=next_nearbase_num;
   nearbase_num=next_nearbase_num;
   recbase_num=0;
//   motor_state=0;
   tx_near_msg[GROUP_ID_IDX] = group_id;
   tx_near_msg[BATTARY_IDX] = bat_percent;
   tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
   tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
   tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
   memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
   tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;	
   tx_near_msg[MESSAGE_TYPE_IDX] = MBX_POLL;	
   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);   
   dwt_writetxdata(13+2*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(13+2*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

   for(i=0;i<nearbase_num;i++)
   nearbase_distlist[i]=0xffff;
   
   tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
   para_update = 0;
   flag_finalsend=0;
   flag_rxon=1;
   flag_getresponse=0;
   start_count=HAL_LPTIM_ReadCounter(&hlptim1);
   recbase_num=0;
   timeout=ceil((float)nearbase_num/4)+2;
   timeout=nearbase_num*SLOT_SCALE+4;
   end_count=start_count+(timeout<<5);
   if(end_count>=32768)
   {end_count-=32768;}
@@ -447,6 +364,17 @@
                     {
                        
                        dwt_forcetrxoff();
                        flag_rxon=0;
                                if(flag_ancreadpara)
                                {
                                    u16 calCRC;
                                  tx_near_msg[MESSAGE_TYPE_IDX] = MBX_PRAAREPLY;  
                                  memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX],g_com_map,SENDANCPARA_LEN);
                                  calCRC = CRC_Compute((uint8_t*)g_com_map,SENDANCPARA_LEN);
                                  memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX+SENDANCPARA_LEN],&calCRC,2);
                                  dwt_writetxdata(14+SENDANCPARA_LEN, tx_near_msg, 0);//将发送数据写入DW1000
                                  dwt_writetxfctrl(14+SENDANCPARA_LEN, 0);//设定发送数据长度
                                }
                        dwt_setdelayedtrxtime(final_tx_time);
                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送   
                        flag_finalsend=0;
@@ -454,7 +382,7 @@
                     }
                  }
                     current_count=HAL_LPTIM_ReadCounter(&hlptim1);
                   if(current_count>end_count&&current_count<end_count+15000)
                   if(current_count>=end_count&&current_count<end_count+15000)
                        break;
               };
               if(status_reg==0xffffffff)
@@ -468,17 +396,36 @@
                     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] == MBX_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;
                        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   
                        recbase_num++;
                        memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
                        if(rec_nearbaseid==mainbase_id)
                                rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;
                                TagFreqProcess(rx_buffer[TAGFREQ_IDX]);
                                if(rec_remotepara_state != 0)
                                {   
                                    para_update = rec_remotepara_state;
                                    memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],7);
                                    if(para_update==2)
                                    {
                                        flag_ancreadpara = 1;                                     
                                    }
                                }
                        if(last_nearbase_num==0)
                        {
                           get_newbase=1;
                           nearbaseid_list[0]=rec_nearbaseid;
                           nearbase_num=1;
                           memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
                        }
                        if(rec_nearbaseid==nearbaseid_list[0])
                        {
                           //////////////////////////////////时间同步
                           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)
@@ -493,6 +440,14 @@
//                              tagslotpos=tagslotpos%(max_slotpos+1);
//                              tyncpoll_time=(tagslotpos-1)*slottime;
                           ////////////////////////////
                           rec_nearbasepos=0;
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                           if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
                              motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
									
									
                           mainbase_lost_count=0;
                           flag_finalsend=1;
                           memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
@@ -504,118 +459,202 @@
                           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], 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;
                           tx_near_msg[MESSAGE_TYPE_IDX]=MBX_FINAL;
                                    tx_near_msg[GROUP_ID_IDX] = group_id;
									
                           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
                           flag_getresponse=1;
//                           dwt_setdelayedtrxtime(final_tx_time);
//                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送	
                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
									
								
                           //时间同步
                           ancsync_time=((sync_timer)*1000+tmp_time);	
                           last_slotnum=current_slotnum;
                           current_slotnum=((float)sync_timer/g_com_map[COM_INTERVAL])+1;
                           if(current_slotnum==last_slotnum-1)
                           {flag_getresponse=1;}
                           lastsync_timer=sync_timer;
                           offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
//                           SetNextPollTime(tyncpoll_time);
//                           if(rec_remotepara_state==1)
//                           {
//                                      memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],REMOTEPARA_LEN);
//                              memcpy(&g_com_map[COM_INTERVAL],&rec_remotepara[0],8);
//                              memcpy(&g_com_map[POWER],&rec_remotepara[8],10);
//                                        if(g_com_map[COM_INTERVAL]>0&&g_com_map[COM_INTERVAL]<1000&&g_com_map[POWER]<67&&g_com_map[POWER]>0)
//                              {save_com_map_to_flash();
//                              delay_ms(100);										
//                                        }
//                                        NVIC_SystemReset();
//                           } 
                        }else{
                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], resp_rx_ts);								
                           memcpy(&nearbase_distlist[rec_nearbasepos],&rx_buffer[DIST_IDX],4);
									
                              if(rec_nearbasepos>=last_nearbase_num)          //发现新的基站
                           {
                              get_newbase=1;
                              nearbase_num++;
                              nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
                              memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
                           }
									
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
									
                           if(motor_state<(rx_buffer[MOTORSTATE_INDEX]&0xf)&&(rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
                           {
                                 motor_state=rx_buffer[MOTORSTATE_INDEX];
                           }
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);		
               
                           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         
                           //dwt_writetxdata(4,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//将发送数据写入DW1000
                        }                        
                     }
                  }else{
                  dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
                  if(flag_rxon)
                     {dwt_rxenable(0);	
                     }								
                  }         
               //   dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
         }
         if(flag_getresponse==0)
         if(mainbase_lost_count>tag_frequency*BASELOST_STOPMOTOR_TIME)
         {motor_state=0; }
            dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
            nearbase_num=recbase_num;
      //   tyncpoll_time=0;
         next_nearbase_num=0;
            j = 0;
         for(i=0;i<last_nearbase_num+get_newbase;i++)
         {
         LED_LR_BLINK;
         }
         if(mainbase_lost_count>5)
         {
         //   tag_state=DISCPOLL;
         }
         NearAncSelect();
         if(recbase_num<MIN_ANCHOR_NUM )
         {
            anclost_times++;
            if(anclost_times>3)
            {
               tagslotpos=poll_tx_ts%(max_slotpos+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]--;
            }
         }else{
            anclost_times=0;
         }

   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);


            if(mainbase_lost_count>1&&exsistbase_list[0] != 0)
         {
                last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
         }
            last_nearbase_num = next_nearbase_num;
         for(i=0;i<last_nearbase_num-1;i++)
         {
            for(j=0;j<last_nearbase_num-1;j++)
            {
               if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
               {
                  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<last_nearbase_num;i++)
         {
            nearbaseid_list[i]=true_nearbase_idlist[i];
            nearbase_distlist[i]=true_nearbase_distlist[i];
            if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==KEEP_TIMES)
            {
               memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
               memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
               report_num++;
            }
         }
            #ifdef USART_INTEGRATE_OUTPUT	
                usart_send[0] = 0x55;     
                usart_send[1] = 0xAA;              
            usart_send[2] = 4;//正常模式
            usart_send[3] = report_num*6+2;//正常模式
            checksum = Checksum_u16(&usart_send[2],report_num*6+2);
            memcpy(&usart_send[4+report_num*6],&checksum,2);
            USART_puts(usart_send,6+report_num*6);
         #endif
            
         for(i=0;i<MAX_NEARBASE_NUM;i++)
         {
            nearbase_distlist[i]=0x1ffff;
         }
   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);
if(para_update==1)
    {   
        uint16_t calCRC;
        calCRC = CRC_Compute(rec_remotepara,5);
        if(memcmp(&calCRC,&rec_remotepara[5],2)==0)
        {   uint8_t pack_msgtype,pack_index,pack_length;
            pack_msgtype = rec_remotepara[0];
            pack_index = rec_remotepara[1]*2;
            pack_length = rec_remotepara[2];
            if(pack_msgtype==2)
            {
                if( pack_index == 1)//MOTOR_ONTIME_INDEX)
                {
               
               //     motor_keeptime = rec_remotepara[3];
                }else if(pack_index == CNT_UPDATE)
                        {
                              if(rec_remotepara[3]==2)
                              {
                                     EnterUWBUpdateMode();
                              }
                        }								
                           else{
                    if(pack_index<200)
                    {
                        memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
                        //返回一个error状态
                        //SendComMap(pack_datalen,pack_index);
                        save_com_map_to_flash();
                        delay_ms(100);
                        NVIC_SystemReset();
                    }
                }
            }
        }
    }
}

void GetNearMsg(void)
{
   u32 start_poll,frame_len;
   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
   memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
   tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
	
   dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);         //设置发送后开启接收，并设定延迟时间
  dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);	
   dwt_writetxdata(12, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(12, 0);//设置超宽带发送数据长度
   dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);

   /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
   while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
   {
   };
   if(status_reg==0xffffffff)
   {
      NVIC_SystemReset();
   }
   if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
   {
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
      frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;   //获得接收到的数据长度
      dwt_readrxdata(rx_buffer, frame_len, 0);   //读取接收数据
      if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
      {
         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;
      }
   }
}

u32 id;
void Tag_App(void)//发送模式(TAG标签)
{
	
   //LED0_ON;
   dwt_forcetrxoff();
   id =  dwt_readdevid() ;
   while (DWT_DEVICE_ID != id) 
    {
        u8 iderror_count = 0;
        id =  dwt_readdevid() ;
        if(iderror_count++>100)
        {
            printf("UWB芯片ID错误");
            break;
        }
    }
    delay_us(100);
   g_Resttimer=0;
//   tag_state=DISCPOLL;
   switch(tag_state)
   {
      case DISCPOLL:
         Poll();
         break;
      case GETNEARMSG:
      //   if(trygetnearmsg_times--!=0)
         {
            mainbase_lost_count=0;
            GetNearMsg();
         }
//         else{
//            tag_state=DISCPOLL;
//         }
	 
         break;
      case NEARPOLL:
         //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);
         NearPoll();
         //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
         break;
   }
   NearPoll();
   dwt_entersleep();
    bat_percent=Get_VDDVlotage();
}