XRange_Tag.git - Gitblit

			@@ -3,7 +3,7 @@
			* @file main.c
			* @brief Double-sided two-way ranging (DS TWR) initiator example code
			*
			*
			*
			*
			* @attention
			*
			@@ -72,33 +72,34 @@
			#define STARTPOLL REGPOLL//#define SWITCHBASE_DIST
			#define SWITCHBASE_ZHUANDIAN
			#define SWITCHBASE_DIST
			void GetNearMsg(void);
			enum enumtagstate
			{
			REGPOLL,
			DISCPOLL,
			GETNEARMSG,
			NEARPOLL,
			REGPOLL,
			DISCPOLL,
			GETNEARMSG,
			NEARPOLL,
			SINGLEPOLL,
			}tag_state=STARTPOLL;
			} tag_state=STARTPOLL;
			static dwt_config_t config = {
			2, /* Channel number. */
			DWT_PRF_64M, /* Pulse repetition frequency. */
			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. */
			(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
			2, /* Channel number. */
			DWT_PRF_64M, /* Pulse repetition frequency. */
			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. */
			(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
			};
			static uint8_t tx_poll_msg[20] = {0};
			static uint8_t tx_sync_msg[14] = {0};
			static uint8_t tx_final_msg[60] = {0};
			static uint8_t tx_resp_msg[22] = {0};
			uint8_t tx_near_msg[180] = {0};
			uint8_t tx_near_msg[180] = {0};

			static uint32_t frame_seq_nb = 0;
			static uint32_t frame_seq_nb = 0;
			static uint32_t status_reg = 0;
			static uint8_t rx_buffer[100];
			static uint64_t poll_tx_ts;
			@@ -108,13 +109,13 @@
			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]; ;
			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;
			uint32_t anc_id_recv = 0;
			uint8_t random_delay_tim = 0;
			double distance, dist_no_bias, dist_cm;
			uint32_t g_UWB_com_interval = 0;
			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

			@@ -170,48 +171,48 @@

			void Dw1000_Init(void)
			{
			/* Reset and initialise DW1000.
			/* Reset and initialise DW1000.
			* For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
			* performance. */
			Reset_DW1000();//重启DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
			Spi_ChangePrescaler(SPIx_PRESCALER_SLOW); //设置为快速模式
			Spi_ChangePrescaler(SPIx_PRESCALER_SLOW); //设置为快速模式
			dwt_initialise(DWT_LOADUCODE);//初始化DW1000
			Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //设置为快速模式
			Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //设置为快速模式

			/* Configure DW1000. See NOTE 6 below. */
			dwt_configure(&config);//配置DW1000





			/* 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

			/* 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
			//设置接收超时时间
			}
			void Dw1000_App_Init(void)
			{
			//g_com_map[DEV_ID] = 0x0b;
			//tag_state=DISCPOLL;
			tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
			tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
			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);
			memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 2);
			memcpy(&tx_near_msg[ANCHOR_ID_IDX], &dev_id, 2);
			memcpy(&tx_near_msg[TAG_ID_IDX], &dev_id, 2);
			}
			uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
			//tag_state=DISCPOLL;
			tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
			tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
			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);
			memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 2);
			memcpy(&tx_near_msg[ANCHOR_ID_IDX], &dev_id, 2);
			memcpy(&tx_near_msg[TAG_ID_IDX], &dev_id, 2);
			}
			uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
			{
			uint16_t sum = 0;
			uint32_t i;
			@@ -222,13 +223,13 @@
			}

			u16 tag_time_recv[TAG_NUM_IN_SYS];
			u8 usart_send[25];
			u8 usart_send[125];
			u8 battary,button;
			extern uint8_t g_pairstart;
			void tag_sleep_configuraion(void)
			{
			dwt_configuresleep(0x940, 0x7);
			dwt_entersleep();
			dwt_configuresleep(0x940, 0x7);
			dwt_entersleep();
			}
			extern uint8_t g_start_send_flag;

			@@ -252,174 +253,176 @@
			u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list0[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
			u8 FindNearBasePos(u16 baseid)
			{
			u8 i;
			for(i=0;i<nearbase_num;i++)
			{
			if(baseid==nearbaseid_list[i])
			return i;
			}
			u8 i;
			for(i=0; i<nearbase_num; i++)
			{
			if(baseid==nearbaseid_list[i])
			return i;
			}
			}
			u8 recbase_num=0;
			#define CHANGE_BASE_THRESHOLD 5
			uint8_t GetRandomValue(void)
			{
			uint8_t random_value=0,temp_adc,i;
			for(i=0;i<8;i++)
			{
			temp_adc=Get_ADC_Value();
			random_value=random_value\|((temp_adc&0x01)<<i);
			}
			return random_value;
			uint8_t random_value=0,temp_adc,i;
			for(i=0; i<8; i++)
			{
			temp_adc=Get_ADC_Value();
			random_value=random_value\|((temp_adc&0x01)<<i);
			}
			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;
			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;
			}
			void MODBUS_Poll(void)
			{
			uint32_t frame_len;
			uint32_t final_tx_time;
			u32 start_poll;
			u8 i,getsync_flag=0;
			u8 bat_percent;
			//LED0_ON;
			//dwt_forcetrxoff();
			g_Resttimer=0;
			uint32_t frame_len;
			uint32_t final_tx_time;
			u32 start_poll;
			u8 i,getsync_flag=0;
			u8 bat_percent;
			//LED0_ON;
			//dwt_forcetrxoff();
			g_Resttimer=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);
			tag_succ_times = 0;
			dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
			tag_succ_times = 0;

			if(bat_percent>100)
			bat_percent=100;
			tx_poll_msg[BATTARY_IDX] = bat_percent;//Get_Battary();
			if(bat_percent>100)
			bat_percent=100;
			tx_poll_msg[BATTARY_IDX] = bat_percent;//Get_Battary();
			// tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
			tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
			tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
			// 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
			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;

			/* Start transmission, indicating that a response is expected so that reception is enabled automatically after the frame is sent and the delay
			* set by dwt_setrxaftertxdelay() has elapsed. */
			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
			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

			/* Start transmission, indicating that a response is expected so that reception is enabled automatically after the frame is sent and the delay
			* set by dwt_setrxaftertxdelay() has elapsed. */
			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
			// start_poll = time32_incr;
			/* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
			while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG \| SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
			{
			IdleTask();

			};
			/* 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
			{
			IdleTask();

			/* Increment frame sequence number after transmission of the poll message (modulo 256). */
			if(status_reg==0xffffffff)
			{
			NVIC_SystemReset();
			}
			};

			if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
			{
			/* Clear good RX frame event and TX frame sent in the DW1000 status register. */
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG \| SYS_STATUS_TXFRS);//清楚寄存器标志位
			/* Increment frame sequence number after transmission of the poll message (modulo 256). */
			if(status_reg==0xffffffff)
			{
			NVIC_SystemReset();
			}

			/* A frame has been received, read it into the local buffer. */
			frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
			if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
			{
			/* Clear good RX frame event and TX frame sent in the DW1000 status register. */
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG \| SYS_STATUS_TXFRS);//清楚寄存器标志位

			dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
			/* A frame has been received, read it into the local buffer. */
			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


			/* Check that the frame is the expected response from the companion "DS TWR responder" example.
			* As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */

			if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据
			{ u16 anc_id_recv,rec_com_interval;
			/* Retrieve poll transmission and response reception timestamp. */
			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&&g_com_map[DEV_ROLE])
			{
			getsync_flag=1;
			memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
			memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],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;
			}
			// memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
			memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
			// memcpy(&rec_com_interval,&rx_buffer[ANCSEND_INTERVAL], 2);
			/* Check that the frame is the expected response from the companion "DS TWR responder" example.
			* As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */

			if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据
			{ u16 anc_id_recv,rec_com_interval;
			/* Retrieve poll transmission and response reception timestamp. */
			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&&g_com_map[DEV_ROLE])
			{
			getsync_flag=1;
			memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
			memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],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;
			}
			// memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
			memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
			// memcpy(&rec_com_interval,&rx_buffer[ANCSEND_INTERVAL], 2);
			// if(rec_com_interval>4&&rec_com_interval!=g_com_map[COM_INTERVAL])
			// {
			// g_com_map[COM_INTERVAL]=rec_com_interval;
			// save_com_map_to_flash();
			// // delay_ms(100);
			// SCB->AIRCR = 0X05FA0000\|(unsigned int)0x04; //软复位回到bootloader
			// SCB->AIRCR = 0X05FA0000\|(unsigned int)0x04; //软复位回到bootloader
			// }

			/* 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
			dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5

			/* Final TX timestamp is the transmission time we programmed plus the TX antenna delay. */
			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
			/* 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
			dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5

			/* Write all timestamps in the final message. See NOTE 10 below. */
			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);
			/* Final TX timestamp is the transmission time we programmed plus the TX antenna delay. */
			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

			/* Write and send final message. See NOTE 7 below. */

			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;

			memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
			/* Write all timestamps in the final message. See NOTE 10 below. */
			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);

			/* Write and send final message. See NOTE 7 below. */

			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;

			memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
			// if(hex_dist2!=0xffff)
			// {
			// {
			// g_Tagdist[anc_id_recv]= hex_dist2;
			// g_flag_Taggetdist[anc_id_recv]=0;
			//
			//
			// if(!g_com_map[MODBUS_MODE])
			// {
			// hex_dist2 = hex_dist2;
			// hex_dist2 = hex_dist2;
			// usart_send[2] = 1;//正常模式
			// usart_send[3] = 17;//数据段长度
			// usart_send[4] = frame_seq_nb;//数据段长度
			// memcpy(&usart_send[5],&dev_id,2);
			// memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);
			//
			//
			// memcpy(&usart_send[9],&hex_dist2,4);
			// usart_send[13] = bat_percent;
			// usart_send[14] = button;
			@@ -428,37 +431,37 @@
			// UART_PushFrame(usart_send,21);
			// }
			// }
			// memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
			/* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
			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
			// memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
			/* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
			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

			/* Increment frame sequence number after transmission of the final message (modulo 256). */
			/* Increment frame sequence number after transmission of the final message (modulo 256). */

			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
			{
			/* Clear RX error events in the DW1000 status register. */
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			random_delay_tim = DFT_RAND_DLY_TIM_MS;
			}
			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
			{
			/* Clear RX error events in the DW1000 status register. */
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			random_delay_tim = DFT_RAND_DLY_TIM_MS;
			}
			// deca_sleep(10);
			}
			}
			// dwt_entersleep();


			/* Execute a delay between ranging exchanges. */
			delay_ms(30);
			/* Execute a delay between ranging exchanges. */
			delay_ms(30);

			}
			int32_t mainbase_dist,nearbase_switchdistlist[MAX_NEARBASE_NUM],nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
			@@ -474,7 +477,7 @@


			#define SINGLEPOLL_BASENUM 5
			uint16_t singlepoll_baseid[20]={0x8166,0x9804,0x9689,0x9686,0x8279,0x9815,0x9803,0x9814,0x9687,0x9774,0x8278,0x9743,0x9688,0x9771,0x8277};
			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];

			extern u8 userkey_state;
			@@ -486,144 +489,147 @@
			static uint8_t send_buffer[200];
			void DiscPoll(void)
			{
			uint32_t frame_len;
			uint32_t final_tx_time;
			u32 start_poll;
			int32_t minddist=0x1ffff,minid=-1,temp_dist;
			u8 i,j,getsync_flag=0;
			uint32_t frame_len;
			uint32_t final_tx_time;
			u32 start_poll;
			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);
			frame_seq_nb++;
			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 = 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;

			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);
			frame_seq_nb++;
			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 = 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_num2],&singlepoll_basedist,nearbase_num4+4);
			// intheight+=g_com_map[HEIGHTOFFEST_INDEX];
			// memcpy(&send_buffer[NEARBASEID_INDEX+nearbase_num*6],&intheight,2);
			send_buffer[MESSAGE_TYPE_IDX] = DISCOVERPOLL;
			// 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
			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


			/* 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);
			// 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;}
			}

			//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(&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)
			/* 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
			{
			minddist = temp_dist;
			memcpy(&mindist_ancid,&rx_buffer[ANCHOR_ID_IDX],2);

			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(&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;
			}
			}

			//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(&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 + (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(&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


			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;
			}
			send_buffer[MESSAGE_TYPE_IDX] = DISCOVERFINAL;
			/* Compute final message transmission time. See NOTE 9 below. */
			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(&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


			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
			{
			// singlepoll_basedist[singlepoll_i] = 0x1ffff;
			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
			{
			// singlepoll_basedist[singlepoll_i] = 0x1ffff;
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			random_delay_tim = DFT_RAND_DLY_TIM_MS;
			}
			// delay_ms(1);
			}
			else
			{
			// singlepoll_basedist[singlepoll_i] = 0x1ffff;
			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
			{
			// singlepoll_basedist[singlepoll_i] = 0x1ffff;
			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;
			trygetnearmsg_times = 0;
			tag_state = GETNEARMSG;
			mainbase_id = mindist_ancid;
			GetNearMsg();
			}

			if(getsync_flag==0)
			{

			if(getsync_flag==0)
			{
			// tagslotpos--;
			// if(tagslotpos==0\|\|tagslotpos>max_slotpos)
			// {
			// tagslotpos=max_slotpos;
			// {
			// tagslotpos=max_slotpos;
			// }
			// tyncpoll_time=(tagslotpos-1)*slottime;
			}
			}
			// mainbase_id=minid;
			// mainbase_id = 0x4;
			}
			@@ -642,26 +648,26 @@
			extern u16 slotpos_intoatl, slotpos;
			void NextPollDelay(u32 anchor_time)
			{
			//tagslotpos = 0;
			error_time = anchor_time-expect_anctime;
			if(error_time<2000&&error_time>0)
			clockoffset += (target_offsettime-error_time)*0.1;
			for(pd_i=0;pd_i<tag_frequency;pd_i++)
			//tagslotpos = 0;
			error_time = anchor_time-expect_anctime;
			if(error_time<2000&&error_time>0)
			clockoffset += (target_offsettime-error_time)*0.1;
			for(pd_i=0; pd_i<tag_frequency; pd_i++)
			{
			slotpos_intoatl = pd_i*bigslot_num+tagslotpos;
			temptime = (slotpos_intoatlSLOTTIME_MS+100)100;
			if(anchor_time<temptime-5000)
			{
			current_slotnum = pd_i;
			delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
			expect_anctime = temptime;
			{
			current_slotnum = pd_i;
			delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
			expect_anctime = temptime;
			return ;
			}
			}
			temptime = (tagslotposSLOTTIME_MS+100+10000)100;
			expect_anctime = temptime-1000000;
			expect_anctime = temptime-1000000;
			delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
			return ;
			return ;
			}
			u16 lpcount,poll_startcount,last_lpcount;
			u16 waketopolltimeus = 3200;
			@@ -672,519 +678,534 @@
			NextPollDelay(anchor_time);
			current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			lpcount = current_count+delaytime/LPTIMER_LSB+(10-nearbase_num)*8;
			poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
			if(poll_startcount>=32768)
			{
			poll_startcount -=32768;
			}
			if(lpcount>=32768)
			{
			lpcount -=32768;
			}
			poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
			if(poll_startcount>=32768)
			{
			poll_startcount -=32768;
			}
			if(lpcount>=32768)
			{
			lpcount -=32768;
			}
			__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
			last_lpcount = lpcount;
			}
			last_lpcount = lpcount;
			}

			void NextSlotDelayMs(int16_t delayms)
			{
			current_slotnum++;
			if(current_slotnum>=tag_frequency)
			{
			current_slotnum = 0;
			lpcount = last_lpcount+31457/tag_frequency+1311+32.767delayms;//(float)(delayms+40)32.767 ;//(200/tag_frequency+delayms)4.81000/LPTIMER_LSB
			}else{
			lpcount = last_lpcount+31457/tag_frequency+32.767delayms;//(float)(200/tag_frequency48+delayms10)3.3 ;
			}
			if(lpcount>=32768)
			{
			lpcount -=32768;
			}
			poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
			if(poll_startcount>=32768)
			{
			poll_startcount -=32768;
			}
			__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
			last_lpcount = lpcount;
			current_slotnum++;
			if(current_slotnum>=tag_frequency)
			{
			current_slotnum = 0;
			lpcount = last_lpcount+31457/tag_frequency+1311+32.767delayms;//(float)(delayms+40)32.767 ;//(200/tag_frequency+delayms)4.81000/LPTIMER_LSB
			} else {
			lpcount = last_lpcount+31457/tag_frequency+32.767delayms;//(float)(200/tag_frequency48+delayms10)3.3 ;
			}
			if(lpcount>=32768)
			{
			lpcount -=32768;
			}
			poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
			if(poll_startcount>=32768)
			{
			poll_startcount -=32768;
			}
			__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
			last_lpcount = lpcount;
			}

			u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
			void GetNearMsg(void)
			{
			u32 start_poll,frame_len;
			u32 start_poll,frame_len;
			u8 nearmsg_i=0;
			NextSlotDelayMs(0);
			for(nearmsg_i=0;nearmsg_i<20;nearmsg_i++)
			NextSlotDelayMs(0);
			for(nearmsg_i=0; nearmsg_i<20; nearmsg_i++)
			{
			nearbase_distlist[nearmsg_i] = 0x1ffff;
			}
			//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] = 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
			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
			current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			while(current_count<poll_startcount\|\|current_count>poll_startcount+16384)
			{
			current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			if(current_count<poll_startcount-300)
			{
			break;
			}
			}
			dwt_starttx(DWT_START_TX_IMMEDIATE\| DWT_RESPONSE_EXPECTED);
			NextSlotDelayMs(0);
			/* 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] == 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);
			// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
			//tagslotpos=rx_buffer[TAGSLOTPOS];
			memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
			memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
			//slottime=ceil((nearbase_num+2)*0.3)+1;
			//tyncpoll_time=tagslotpos*slottime;
			//tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
			tag_state=NEARPOLL;
			}
			}else{
			// 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(&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] = POS_MSG;

			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_num2],&nearbase_distlist,4nearbase_num+4);
			memcpy(&usart_send[19+nearbase_num6+4],&rec_anc_signalpower,2nearbase_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);

			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
			current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			while(current_count<poll_startcount\|\|current_count>poll_startcount+16384)
			{
			current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			if(current_count<poll_startcount-300)
			{
			break;
			}
			}
			dwt_starttx(DWT_START_TX_IMMEDIATE\| DWT_RESPONSE_EXPECTED);
			NextSlotDelayMs(0);
			/* 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] == 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);
			// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
			//tagslotpos=rx_buffer[TAGSLOTPOS];
			memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
			memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
			//slottime=ceil((nearbase_num+2)*0.3)+1;
			//tyncpoll_time=tagslotpos*slottime;
			//tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
			tag_state=NEARPOLL;
			}
			} else {
			// 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_num2],&nearbase_distlist,4nearbase_num+4);
			// memcpy(&usart_send[19+nearbase_num6+4],&rec_anc_signalpower,2nearbase_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);
			//}
			uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
			uint8_t motor_flag;
			void NearPoll(void)
			{

			uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;

			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,get_newdist;
			// USART_putc(current_slotnum);
			uint32_t final_tx_time;
			u32 start_poll;
			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;
			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;
			}
			if(nearbase_num>10)
			{nearbase_num = 10;}
			if(next_nearbase_num>=MAX_NEARBASE_NUM)
			{
			next_nearbase_num = MAX_NEARBASE_NUM-1;
			}
			if(nearbase_num>10)
			{
			nearbase_num = 10;
			}
			// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);

			recbase_num=0;
			recbase_num=0;
			// motor_state=0;
			if(motor_state!=0&&motor_state!=3)
			{
			motor_flag = 1;
			}else{
			} else {
			motor_flag = 0;
			}

			tx_near_msg[BATTARY_IDX] = bat_percent;
			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[BATTARY_IDX] = bat_percent;
			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;
			memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
			tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
			memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
			memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num2],&nearbase_distlist,nearbase_num4+4);
			memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num6+4],&rec_anc_signalpower,nearbase_num2+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] = 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
			current_count=HAL_LPTIM_ReadCounter(&hlptim1);

			while(current_count<poll_startcount\|\|current_count>poll_startcount+16384)
			{
			current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			if(current_count<poll_startcount-300)
			{
			break;
			}
			}
			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
			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] = 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
			current_count=HAL_LPTIM_ReadCounter(&hlptim1);

			while(current_count<poll_startcount\|\|current_count>poll_startcount+16384)
			{
			current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			if(current_count<poll_startcount-300)
			{
			break;
			}
			}
			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
			// HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
			// for(i=0;i<nearbase_num+1;i++)
			// {
			// nearbase_distlist[i] = 0x1ffff;
			// }

			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*SLOT_SCALE)+3;
			end_count=start_count+(timeout<<5);
			if(end_count>=32768)
			{end_count-=32768;}
			mainbase_dist=100000;
			mainbase_lost_count++;
			current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			while(current_count<end_count\|\|current_count>end_count+15000)
			{
			current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			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
			{
			current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			if(current_count>=end_count&&current_count<end_count+15000)
			break;
			};
			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
			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] == 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
			recbase_num++;
			memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
			if(rec_nearbaseid==mainbase_id)
			{
			//////////////////////////////////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]=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
			userkey_state = !GET_USERKEY;

			memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
			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)
			{
			memcpy(&rec_maxrangelen,&rx_buffer[MAXRANGE_DISTANCE],2);
			memcpy(&rec_anc_signalpower[0],&rx_buffer[ANC_SIGNALPOWER],2);
			if(mainbase_dist>rec_maxrangelen&&mainbase_dist>0&&rec_maxrangelen!=0)
			{
			if(outrange_times++>OUTRANGE_RESTARTTIMES)
			{
			// tag_state = STARTPOLL;
			}
			}else{
			outrange_times = 0;
			}
			}



			mainbase_lost_count=0;
			flag_finalsend=1;
			memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);


			flag_getresponse=1;
			//时间同步
			tmp_time=tmp_time+450;
			if(tmp_time>999)
			{
			tmp_time-=999;
			sync_timer++;
			if(sync_timer>=1000)
			{sync_timer=0;}
			}
			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
			{ };}
			//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)
			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)
			{
			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;
			}
			#endif

			}
			}
			// HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
			}else{
			dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG\| SYS_STATUS_ALL_RX_ERR);
			if(recbase_num!=nearbase_num+1)
			{dwt_rxenable(0); }
			// if(flag_rxon)
			// {
			// dwt_rxenable(0);
			// }
			}
			// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG\| SYS_STATUS_ALL_RX_ERR);
			}
			if(flag_finalsend!=1)
			{flag_finalsend = 2;}
			dwt_forcetrxoff();
			dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG\| SYS_STATUS_ALL_RX_ERR);
			// HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
			if(mainbase_lost_count==0)
			{
			#ifdef SWITCHBASE_DIST
			if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
			{
			changemainbase_count++;
			if(changemainbase_count>tag_frequency*2)
			{
			mainbase_id = mindist_slavebaseid;
			tag_state = GETNEARMSG;
			trygetnearmsg_times = 0;
			}
			}else{
			changemainbase_count = 0;
			}
			#endif
			}else if(mainbase_lost_count>5*tag_frequency)
			{
			tag_state = DISCPOLL;
			}
			if(mainbase_lost_count!=0)
			{
			if(mainbase_lost_count<=tag_frequency*1)
			{NextSlotDelayMs(0);
			}else{
			NextSlotDelayMs(0);
			}
			}

			if(para_update)
			{

			pack_msgtype = rec_remotepara[0];
			pack_index = rec_remotepara[1];
			pack_length = rec_remotepara[2];
			if(pack_msgtype==2)
			{
			if( pack_index == MOTOR_ONTIME_INDEX)
			{
			if(motor_keeptime==0)
			motor_keeptime = rec_remotepara[3];
			}else if( pack_index == 2*COM_INTERVAL)
			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*SLOT_SCALE)+3;
			end_count=start_count+(timeout<<5);
			if(end_count>=32768)
			{
			end_count-=32768;
			}
			mainbase_dist=100000;
			mainbase_lost_count++;
			current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			while(current_count<end_count\|\|current_count>end_count+15000)
			{
			current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			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
			{
			current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			if(current_count>=end_count&&current_count<end_count+15000)
			break;
			};
			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
			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] == 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
			recbase_num++;
			memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
			if(rec_nearbaseid==mainbase_id)
			{
			//////////////////////////////////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]=POS_FINAL;
			rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
			if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
			{
			if(memcmp(&g_com_map[COM_INTERVAL],&rec_remotepara[3],2)!=0)
			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);
			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)
			{
			memcpy(&rec_maxrangelen,&rx_buffer[MAXRANGE_DISTANCE],2);
			memcpy(&rec_anc_signalpower[0],&rx_buffer[ANC_SIGNALPOWER],2);
			if(mainbase_dist>rec_maxrangelen&&mainbase_dist>0&&rec_maxrangelen!=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;
			if(outrange_times++>OUTRANGE_RESTARTTIMES)
			{
			// tag_state = STARTPOLL;
			}
			} else {
			outrange_times = 0;
			}
			}
			else{
			if(pack_index<200)



			mainbase_lost_count=0;
			flag_finalsend=1;
			memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);


			flag_getresponse=1;
			//时间同步
			tmp_time=tmp_time+450;
			if(tmp_time>999)
			{
			tmp_time-=999;
			sync_timer++;
			if(sync_timer>=1000)
			{
			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();
			sync_timer=0;
			}
			}
			}
			}
			if(get_newdist>=2)
			{
			notenoughdist_count = 0;
			}else{
			if(notenoughdist_count++>10)
			{
			notenoughdist_count = 0;
			tag_state = DISCPOLL;
			}
			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
			{ };
			}
			//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)
			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)
			{
			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;
			GetNearMsg();
			}
			#endif

			}
			}
			for(i=0;i<nearbase_num;i++)
			{
			if(nearbaseid_list[i]!=nearbaseid_list2[i])
			// HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
			} else {
			dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG\| SYS_STATUS_ALL_RX_ERR);
			if(recbase_num!=nearbase_num+1)
			{
			dwt_rxenable(0);
			}
			// if(flag_rxon)
			// {
			// dwt_rxenable(0);
			// }
			}
			// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG\| SYS_STATUS_ALL_RX_ERR);
			}
			if(flag_finalsend!=1)
			{
			flag_finalsend = 2;
			}
			dwt_forcetrxoff();
			dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG\| SYS_STATUS_ALL_RX_ERR);
			// HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
			if(mainbase_lost_count==0)
			{
			#ifdef SWITCHBASE_DIST
			if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
			{
			changemainbase_count++;
			if(changemainbase_count>=3)
			{
			mainbase_id = mindist_slavebaseid;
			tag_state = GETNEARMSG;
			trygetnearmsg_times = 0;
			GetNearMsg();
			}
			} else {
			changemainbase_count = 0;
			}
			#endif
			} else if(mainbase_lost_count>3*tag_frequency)
			{
			tag_state = DISCPOLL;
			}
			if(mainbase_lost_count!=0)
			{
			if(mainbase_lost_count<=tag_frequency*1)
			{ NextSlotDelayMs(0);
			} else {
			NextSlotDelayMs(0);
			}
			}

			if(para_update)
			{

			pack_msgtype = rec_remotepara[0];
			pack_index = rec_remotepara[1];
			pack_length = rec_remotepara[2];
			if(pack_msgtype==2)
			{
			if( pack_index == MOTOR_ONTIME_INDEX)
			{
			if(motor_keeptime==0)
			motor_keeptime = rec_remotepara[3];
			} else if( pack_index == 2*COM_INTERVAL)
			{
			if(memcmp(&g_com_map[COM_INTERVAL],&rec_remotepara[3],2)!=0)
			{
			tag_state = GETNEARMSG;
			trygetnearmsg_times = 0;
			nearbaseid_list0[i]=1;
			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;
			}
			}
			// SendHuiZongData();
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR\| SYS_STATUS_TXFRS \|SYS_STATUS_RXFCG);
			}
			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();
			}
			}
			}
			}
			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;
			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);

			}
			extern uint8_t module_power,imu_enable,motor_enable;
			void Registor_Poll(void)
			{
			static u8 regpoll_count=0;
			mainbase_lost_count = 0;
			tag_frequency = REGISTER_FREQUENCY;
			bigslot_num = TOTAL_SLOTNUM/tag_frequency;
			regpoll_count++;
			if(regpoll_count%2)
			{
			if(tagslotpos--<2)
			tagslotpos=TOTAL_SLOTNUM;
			}
			//SetNextPollTime(tagslotpos);
			NextSlotDelayMs(-2);

			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);
			static u8 regpoll_count=0;
			mainbase_lost_count = 0;
			tag_frequency = REGISTER_FREQUENCY;
			bigslot_num = TOTAL_SLOTNUM/tag_frequency;
			regpoll_count++;
			if(regpoll_count%2)
			{
			if(tagslotpos--<2)
			tagslotpos=TOTAL_SLOTNUM;
			}
			//SetNextPollTime(tagslotpos);
			NextSlotDelayMs(-2);

			tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2\|imu_enable<<1\|motor_enable;
			tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL;
			tx_near_msg[REGP_FREQUENCY_INDEX] = 1000/g_com_map[COM_INTERVAL];
			tx_near_msg[REGP_POWER_INDEX] = module_power;
			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);
			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);

			tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2\|imu_enable<<1\|motor_enable;
			tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL;
			tx_near_msg[REGP_FREQUENCY_INDEX] = 1000/g_com_map[COM_INTERVAL];
			tx_near_msg[REGP_POWER_INDEX] = module_power;
			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);
			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
			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
			{
			IdleTask();

			};
			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] == 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];
			//////////////////////////////////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)
			{
			tmp_time-=999;
			sync_timer++;
			if(sync_timer>=1010)
			{sync_timer=0;}
			}
			ancsync_time=((sync_timer)*1000+tmp_time);
			SetLPTimer(ancsync_time);
			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
			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
			{
			IdleTask();

			};
			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] == 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];
			//////////////////////////////////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)
			{
			tmp_time-=999;
			sync_timer++;
			if(sync_timer>=1010)
			{
			sync_timer=0;
			}
			}
			ancsync_time=((sync_timer)*1000+tmp_time);
			SetLPTimer(ancsync_time);
			// last_slotnum=current_slotnum;
			// temptimer = sync_timer-10;
			// if(temptimer<0)
			@@ -1195,69 +1216,70 @@
			// lastsync_timer=sync_timer;
			// offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
			// SetNextPollTime(tagslotpos);
			mainbase_id=rec_nearbaseid;
			nearbase_num=rx_buffer[NEARBASENUM_INDEX];
			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 = DISCPOLL;
			}
			}
			mainbase_id=rec_nearbaseid;
			nearbase_num=rx_buffer[NEARBASENUM_INDEX];
			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 = 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)

			//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();
			// 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
			SCB->AIRCR = 0X05FA0000\|(unsigned int)0x04; //软复位回到bootloader
			}
			}
			error_times = 0;
			switch(tag_state)
			{
			case REGPOLL:
			LED_LG_ON;
			Registor_Poll();
			LED_LG_OFF;
			break;
			case DISCPOLL:
			LED_LG_ON;
			DiscPoll();
			LED_LG_OFF;
			break;
			case GETNEARMSG:
			trygetnearmsg_times++;
			LED_LG_ON;
			GetNearMsg();
			LED_LG_OFF;
			if(trygetnearmsg_times>5)
			{
			tag_state = STARTPOLL;
			}
			break;
			case NEARPOLL:
			NearPoll();
			//GetPressAndHeight();
			//intheight = Height*100;
			break;
			case SINGLEPOLL:
			// Poll();
			break;
			}
			userkey_state = !GET_USERKEY;
			dwt_entersleep();
			switch(tag_state)
			{
			case REGPOLL:
			LED_LG_ON;
			Registor_Poll();
			LED_LG_OFF;
			break;
			case DISCPOLL:
			LED_LG_ON;
			DiscPoll();
			LED_LG_OFF;
			break;
			case GETNEARMSG:
			trygetnearmsg_times++;
			LED_LG_ON;
			GetNearMsg();
			LED_LG_OFF;
			if(trygetnearmsg_times>5)
			{
			tag_state = STARTPOLL;
			}
			break;
			case NEARPOLL:
			NearPoll();
			//GetPressAndHeight();
			//intheight = Height*100;
			break;
			case SINGLEPOLL:
			// Poll();
			break;
			}
			FZNearPoll();
			userkey_state = !GET_USERKEY;
			dwt_entersleep();
			}