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WXK

2024-03-24 5b8bde9ae08b29e4ce6d04149fe0cb78e0c5d68c

 Src/application/dw_ancapp.c

@@ -42,6 +42,7 @@
#define RESP_MSG_ANC_DISTOFFSET  34
#define MBX_ANC_NUM_IN_SYS       50
#define QUIT_SLOT_TIME    5
uint8_t lora_yingda_flag;
static uint64_t resp_tx_ts;
static uint64_t final_rx_ts;
static uint32_t status_reg,resp_tx_time,tagpos_binary;
@@ -51,7 +52,8 @@
static uint8_t flag_syncbase,sync_seq,synclost_timer,temp_nearbaspos;
static uint16_t sync_timer;
static uint8_t send_buffer[150];
static uint8_t frame_seq_nb2,battary,button,ancidlist_num;
static uint8_t battary,button,ancidlist_num;
uint8_t frame_seq_nb2;
uint8_t rec_nearbase_num;
static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS],rec_ancdistlist[TAG_NUM_IN_SYS];
static int16_t rec_antdelay;
@@ -81,18 +83,18 @@
extern uint16_t g_Resttimer;
static int32_t filter_dist,g_Tagdist[TAG_NUM_IN_SYS];
double LOS(dwt_rxdiag_t *dia) {
     F1 = dia->firstPathAmp1;
     F2 = dia->firstPathAmp2;
     F3 = dia->firstPathAmp3;
     N = dia->rxPreamCount;
     C = dia->maxGrowthCIR;
    
    F1 = dia->firstPathAmp1;
    F2 = dia->firstPathAmp2;
    F3 = dia->firstPathAmp3;
    N = dia->rxPreamCount;
    C = dia->maxGrowthCIR;

    firstpath_power=10* log10((F1*F1+F2*F2+F3*F3)/(N*N))-A;
    rx_power=10*log10(C*B/(N*N))-A;

 //   min_power =  - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
//   min_power =  - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
    return min_power;
  }
}
static uint64_t get_tx_timestamp_u64(void)
{
    uint8_t ts_tab[5];
@@ -142,26 +144,26 @@
}
void TagListUpdate(void)
{
   uint16_t i,j=0,temp[TAG_NUM_IN_SYS];
   for(i=0;i<taglist_num;i++)
   {
      if(tagofflinetime[i]++<QUIT_SLOT_TIME)
      {
         tagid_list[j]=tagid_list[i];
         tagofflinetime[j++]=tagofflinetime[i];
      }
   }
   taglist_num=j;
    uint16_t i,j=0,temp[TAG_NUM_IN_SYS];
    for(i=0; i<taglist_num; i++)
    {
        if(tagofflinetime[i]++<QUIT_SLOT_TIME)
        {
            tagid_list[j]=tagid_list[i];
            tagofflinetime[j++]=tagofflinetime[i];
        }
    }
    taglist_num=j;
}
uint16_t CmpTagInList(uint16_t tagid)
{uint16_t i;
   for(i=0;i<taglist_num;i++)
   {
      if(memcmp(&tagid,&tagid_list[i],2)==0)
         break;
   }
{   uint16_t i;
    for(i=0; i<taglist_num; i++)
    {
        if(memcmp(&tagid,&tagid_list[i],2)==0)
            break;
    }
    tagofflinetime[i] = 0;
   return i;
    return i;
}
static void resp_msg_set_ts(uint8_t *ts_field, const uint64_t ts)
{
@@ -178,102 +180,49 @@
u16 basesystimer,uwb_losttimer;
uint8_t remotesend_state,remotesend_index;
uint16_t random_time;
u32 value;
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos) //0 mainbase  1 first near_base
{
    uint8_t motorstate;
//         tmp_time=TIM3->CNT;
            temp_nearbaspos = ancrec_nearbasepos;
            memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);
         memcpy(&send_buffer[ANCTIMEMS],&basesystimer,2);
    temp_nearbaspos = ancrec_nearbasepos;
    memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);
    memcpy(&send_buffer[ANCTIMEMS],&basesystimer,2);
//         memcpy(&send_buffer[ANCTIMEUS],&tmp_time,2);
         send_buffer[TAGFREQ_IDX] = tag_frequency;
         memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);
         poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
    send_buffer[TAGFREQ_IDX] = tag_frequency;
    memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);
    poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2

    if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式
    {
        random_time = (GetLPTime()%100);
           resp_tx_time = (poll_rx_ts+((random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
  
    }else{
           resp_tx_time = (poll_rx_ts + ((rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
    }
            dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
         dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
         dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
            resp_tx_ts = (((uint64_t)(resp_tx_time & 0xFFFFFFFEUL)) << 8) ;
        resp_tx_time = (poll_rx_ts+((/*value+*/random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。

            /* Write all timestamps in the final message. See NOTE 8 below. */
            resp_msg_set_ts(&send_buffer[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts);
            resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts);
            memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&g_com_map[DIST_OFFSET],2);
         if(new_tagid)
         {
            tagdist_list[taglist_pos]=0x1ffff;
            memcpy(&send_buffer[DIST_IDX], &tagdist_list[taglist_pos], 4);
         }else{
            memcpy(&send_buffer[DIST_IDX], &tagdist_list[taglist_pos], 4);
         }
         motorstate =0;
            if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1]||tagdist_list[taglist_pos]<0)
            {
               motorstate =0; 
            }
            else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
         {
            if(flag_tag_distsmooth[taglist_pos])
            {motorstate =2;
            }else{
               motorstate =0;
            }
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
         {
            if(flag_tag_distsmooth[taglist_pos])
            {motorstate =1;
               }else{
               motorstate =0;
            }
         }
            send_buffer[GROUP_ID_IDX] = group_id;
    } else {
        resp_tx_time = (poll_rx_ts + ((/*value+ */rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
    }
    dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
    //dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
    //dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
    resp_tx_ts = (((uint64_t)(resp_tx_time & 0xFFFFFFFEUL)) << 8) ;

    /* Write all timestamps in the final message. See NOTE 8 below. */
    resp_msg_set_ts(&send_buffer[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts);
    resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts);
    memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&g_com_map[DIST_OFFSET],2);


    send_buffer[GROUP_ID_IDX] = group_id;
//         send_buffer[MAINBASE_INDEX]=flag_syncbase;
         send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
         send_buffer[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
         send_buffer[MOTORSTATE_INDEX]&=0x0f;
            remotesend_state = 0;
          
//            for(uint8_t i=0;i<PWTAG_MAXGROUPNUM;i++)
//            {
//                if(pwtag[i].remain_time!=0)
//                {
//                if(pwtag[i].id==tag_id_recv)
//                {   
//                    uint16_t calCRC;
//                    uint8_t remotetag_para[10],remotetag_paralen;
//                    remotesend_state=1;
//                    remotesend_index = i;
//                    if(pwtag[i].index==200)
//                    {remotesend_state = 2;}
//                    send_buffer[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
//                    remotetag_paralen = 2+3+2;
//                    remotetag_para[0] = 2;
//                    remotetag_para[1] = pwtag[i].index;
//                    remotetag_para[2] = 2;
//                    memcpy(&remotetag_para[3],&pwtag[i].value,2);
//                    calCRC = CRC_Compute(remotetag_para,5);
//                    memcpy(&remotetag_para[5],&calCRC,2);
//                    memcpy(&send_buffer[REMOTEPARA_INDEX],remotetag_para,remotetag_paralen);
//                    dwt_writetxdata(24+remotetag_paralen, send_buffer, 0);//写入发送数据
//                    dwt_writetxfctrl(24+remotetag_paralen, 0);//设定发送长度		
//                    
//                    //finalsend = 1;
//                    break;
//                }				
//            }
//        }
            
            dwt_writetxdata(38, send_buffer, 0);//写入发送数据
            dwt_writetxfctrl(38, 0);//设定发送长度
            result = dwt_starttx(DWT_START_TX_DELAYED);
    send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
    send_buffer[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
    send_buffer[MOTORSTATE_INDEX]&=0x0f;
    remotesend_state = 0;

    dwt_forcetrxoff();
    dwt_writetxdata(38, send_buffer, 0);//写入发送数据
    dwt_writetxfctrl(38, 0);//设定发送长度
    result = dwt_starttx(DWT_START_TX_DELAYED);
//           if(remotesend_state==0)
//           {
//                dwt_writetxdata(38, send_buffer, 0);//写入发送数据
@@ -281,296 +230,81 @@
//               result = dwt_starttx(DWT_START_TX_DELAYED);
////               uwb_timeout = 0;
//               if(result == 0)
             uwb_timeout=lp_time;
               while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS )))///不断查询芯片状态直到接收成功或者出现错误
         {
//        current_time=HAL_LPTIM_ReadCounter(&hlptim1);
//        if(current_time>end_time||current_time<end_time+15000)
//            break;
                    if(lp_time-uwb_timeout>2)
                        break;
            };
//           }else{
//         result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
//               {
    uwb_timeout=lp_time;
    while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & SYS_STATUS_TXFRS ))///不断查询芯片状态直到接收成功或者出现错误
    {

			
//         if(result==0)
//         {
//            while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
//         { };
//      }else{
//             if(g_com_map[MODBUS_ID1]==1)
//                {
//                 #ifdef DBGMSG_OUTPUT
//                    printf("发送超时");
//                #endif
//                }
//         result++;
//      }
//                if(!(status_reg& SYS_STATUS_RXFCG))
//                        current_time=HAL_LPTIM_ReadCounter(&hlptim1);
//        if(current_time>end_time+((32768/1000)*3)||current_time<end_time+15000)
//        {
//            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
////        printf("debug2 timec:%d timee:%d\r\n",current_time,end_time);
//        break;}
        if(lp_time-uwb_timeout>2)
            break;
    };
//        }
//            dwt_rxenable(0);
//        while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
//         { };
//        }
	
//         if (status_reg & SYS_STATUS_RXFCG)//接收成功
//         {
//				
//            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位
//            frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//数据长度
//            dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
//                if(rx_buffer[MESSAGE_TYPE_IDX] == MBX_PRAAREPLY)
//                {                 
//                    u16 calCRC,recCRC,rec_commap[SENDANCPARA_LEN];
//                    calCRC = CRC_Compute(&rx_buffer[MESSAGE_PARAREPLY_IDX],SENDANCPARA_LEN);
//                    memcpy(&recCRC,&rx_buffer[MESSAGE_PARAREPLY_IDX+SENDANCPARA_LEN],2);
//                    if(memcmp(&recCRC,&calCRC,2)==0)
//                    {
//                        uint8_t buffer_len,datalen,tempindex;
//                        char send_buffer[200];
//                        memcpy(rec_commap,&rx_buffer[MESSAGE_PARAREPLY_IDX],SENDANCPARA_LEN);
//                        pwtag[remotesend_index].remain_time = 0;
//                        buffer_len = sprintf(send_buffer,"$replypara_anchor,");
//                        datalen = sprintf(&send_buffer[buffer_len],"%x,",pwtag[remotesend_index].id);
//                        buffer_len += datalen;
//                        for(uint16_t i=0;i<SENDANCPARA_LEN/2;i++)
//                        {
//                            datalen = sprintf(&send_buffer[buffer_len],"%d,",rec_commap[i]);
//                            buffer_len += datalen;
//                        }
//                        send_buffer[buffer_len++] = 'e';
//                        send_buffer[buffer_len++] = 'n';
//                        send_buffer[buffer_len++] = 'd';
//                        send_buffer[buffer_len++] = 0x0d;
//                        send_buffer[buffer_len++] = 0x0a;
//                        UDPClient_Uploadhex((uint8_t*)send_buffer,buffer_len);
//                    
//                    }                  
//                }
//         if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2)) //抢占anchor 失败
//         {
//                  if(g_com_map[MODBUS_ID1]==1)
//                {
//                #ifdef DBGMSG_OUTPUT
//                printf("抢占失败");       
//                #endif
//                }
//            return 1;
//         }
//         if (rx_buffer[MESSAGE_TYPE_IDX] == MBX_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)&&group_id==rx_buffer[GROUP_ID_IDX]) //判断是否为Final包
//            {

//                    
//               resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
//               final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
//               final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5
//               final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+ancrec_nearbasepos*4], &resp_rx_ts);
//               final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);

//                   // testtime[0] = time32_incr*1000+TIM3->CNT;
//               poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使用32位数据计算
//               resp_tx_ts_32 = (uint32_t)resp_tx_ts;
//               final_rx_ts_32 = (uint32_t)final_rx_ts;
//               Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
//               Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
//               Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
//               Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
//               tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//计算公式
//               tof = tof_dtu * DWT_TIME_UNITS;
//               distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
//#ifdef DW3000 
//                    dist_no_bias = distance;     
//#else                    
//               dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数
//#endif
//               dist_cm = dist_no_bias * 1000; //dis 为单位为cm的距离	
////               dwt_readdiagnostics(&d1);
////               LOS(&d1);					
//               /*--------------------------以下为非测距逻辑------------------------*/
//               //dist_cm=33000;
//            //   LED0_BLINK; //每成功一次通讯则闪烁一次
////                UWBLED_BLINK;
//                    uwb_losttimer = 0;
//               dis_after_filter=dist_cm;
//               hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;

//                        if(recpoll_len==rec_nearbase_num*4+15)
//                        {
//                            hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10-rec_antdelay*10;
//                        }
//                    
//               g_flag_Taggetdist[taglist_pos]=0;
//                    
//               if(hex_dist>-100000&&hex_dist<2000000)
//               {
//                  if(abs(hex_dist-his_dist[taglist_pos])<10000)
//                  {
//                     flag_tag_distsmooth[taglist_pos] =1;
//                  }else{
//                     flag_tag_distsmooth[taglist_pos] =0;
//                  }
//               if(abs(hex_dist-his_dist[taglist_pos])<10000||misdist_num[taglist_pos]>3)
//               {
//                  uint16_t checksum;
//                        g_Resttimer=0;
//                      //  IWDG_Feed();
//                  #ifdef TDFILTER
//                  NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
//                  filter_dist = pos_predict[taglist_pos]/10;
//                        filter_speed = vel_predict[taglist_pos]/10;
//                        newmeasure = 1;
//                  #else
//                  filter_dist=hex_dist/10;
//                  #endif
//                  misdist_num[taglist_pos]=0;
//                        tagdist_list[taglist_pos] = filter_dist;	
//                        his_dist[taglist_pos]=hex_dist;	
//                        if(hex_dist>0)
//                  {
//                            g_Tagdist[taglist_pos]=hex_dist/10;	
//                        }else{
//                            g_Tagdist[taglist_pos]= 0x2ffff;
//                        }
//            #ifdef USART_SINGLE_OUTPUT
//                    usart_send[0]=0x55;
//                    usart_send[1]=0xAA;    
//               usart_send[2] = 1;//正常模式 
//               usart_send[3] = 17;//数据段长度
//               usart_send[4] = frame_seq_nb2;//数据段长度
//               memcpy(&usart_send[5],&tag_id_recv,2);
//               memcpy(&usart_send[7],&dev_id,2);			
//                    if(tagdist_list[taglist_pos]<=0)
//                        tagdist_list[taglist_pos]=0x2ffff;
//               memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
//               usart_send[13] = battary;
//               usart_send[14] = button;
//               usart_send[15] = firstpath_power;
//               usart_send[16] = rx_power;
//               checksum = Checksum_u16(&usart_send[2],17);
//               memcpy(&usart_send[19],&checksum,2);                   
//               //HexToAsciiSendUDP(usart_send,21);
//                #ifdef DBGMSG_OUTPUT
//                    if(g_com_map[MODBUS_ID1]==1)
//                    {
//                    printf("测距成功%d",g_Tagdist[taglist_pos]);   
//                    }                    
//                #endif
//                 //    PushAnchorDataArray(tag_id_recv,tagdist_list[taglist_pos],battary);  
//                    if(uwbled == LEDOFF )
//                    {uwbled = BLUE;
//                    }else{
//                        uwbled = LEDOFF;
//                    }                        
//                      if(DBG_GetMode() == DBG_MODE_CFG||DBG_GetMode() == DBG_MODE_CHARGE)      
//                     {
//                         UART_HandleTypeDef *pstUartHandle = HIDO_NULL;
//                         Uart_GetHandle(UART_ID_DBG, (HIDO_VOID **)&pstUartHandle);
//                      //   HAL_UART_Transmit(pstUartHandle, usart_send, 21, 1000);
//                     }
//            #else		
//               memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
//               memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
//               anc_report_num++;
//            #endif
//               }else{
//                         if(g_com_map[MODBUS_ID1]==1)
//                         {
//                            #ifdef DBGMSG_OUTPUT
//                                printf("测距错误");
//                            #endif
//                         }  
//                                        
//               //   printf("%d",hex_dist);
//                  misdist_num[taglist_pos]++;
//               }
//            }
//              if(remotesend_state == 1)
//              {
//                    uint8_t buffer_len,datalen,tempindex;
//                    char send_buffer[100];
//                    pwtag[remotesend_index].remain_time = 0;
//                                    if(pwtag[remotesend_index].index==ANCHOR_UPDATE)
//                                 {
//                                    if(pwtag[remotesend_index].value == 2)
//                                    {
//                                       StartAnchorUpdateProcess(pwtag[remotesend_index].id);
//                                    }
//                                 }
//                    buffer_len = sprintf(send_buffer,"$confirmwrite_anchor,");
//                    datalen = sprintf(&send_buffer[buffer_len],"%x,1",pwtag[remotesend_index].id);
//                    buffer_len += datalen;
//                    send_buffer[buffer_len++] = 0x0d;
//                    send_buffer[buffer_len++] = 0x0a;
//                    UDPClient_Uploadhex((uint8_t*)send_buffer,buffer_len);
//              }
//         }
//         }else{
//                if(g_com_map[MODBUS_ID1]==1)
//                {
//                 #ifdef DBGMSG_OUTPUT
//                    printf("final状态错误:%x",status_reg);
//                #endif
//                }
//          
//               //printf("%x/n",status_reg);
//            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
//         }
//        }
}

uint16_t target_tagid[12] = {0x1316,0x1394,0x1265,0x1318,0x1306,0x1304,0x1376,0x1312,0x1277,0x1388,0x1140,0x1392};
uint16_t Lora_tx_ancid[50];
uint16_t Lora_tx_ancdist[50];
uint8_t Lora_tx_anc_electricity[50];
uint8_t Lora_tx_ancnum=0;
uint8_t break_flag ;
uint16_t RX_TIMEOUTs_UWB;
void Anchor_App(void)
{
	
   u8 send_len,i;
   u16 tempid;
   uint32_t rec_syncid;
   uint16_t checksum;
    

    u8 send_len,i;
    u16 tempid;
    uint32_t rec_syncid;
    uint16_t checksum;
    uint8_t kk;

    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



    start_time=HAL_LPTIM_ReadCounter(&hlptim1);
        end_time=start_time+((32768/1000)*20);
        if(end_time>=30000)
       {end_time-=30000;}
        current_time=HAL_LPTIM_ReadCounter(&hlptim1);
    end_time=start_time+((32768/1000)*2);
    if(end_time>=32768)
    {
        end_time-=32768;
    }
    current_time=HAL_LPTIM_ReadCounter(&hlptim1);
    while(current_time<end_time||current_time>end_time+15000)
    {
        current_time=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接收成功或者出现错误
        {
            current_time=HAL_LPTIM_ReadCounter(&hlptim1);
   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
//   g_start_sync_flag=0;
            if(current_time>=end_time&&current_time<end_time+15000)
                break;
        };

   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
        if (status_reg & SYS_STATUS_RXFCG && status_reg!=0xffffffff)//成功接收
        {
            uint16_t tag_recv_interval;
            float temp_tagpos;

//   GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);	
             uwb_timeout=lp_time;
   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接收成功或者出现错误
   { 
//        current_time=HAL_LPTIM_ReadCounter(&hlptim1);
//        if(current_time>end_time||current_time<end_time+15000)
//            break;
//      IdleTask();
            if(lp_time-uwb_timeout>2)
            break;
   };
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);	
 //   delay_us(g_com_map[NEARBASE_ID2]);
	
//   status_reg  = dwt_read32bitreg(SYS_STATUS_ID);
//    dwt_setinterrupt(  DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0);
   if (status_reg & SYS_STATUS_RXFCG)//成功接收
      { uint16_t tag_recv_interval;
      float temp_tagpos;
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
                        
      frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
        recpoll_len = frame_len;
      dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
      memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
      //将收到的tag_id分别写入各次通讯的包中，为多标签通讯服务，防止一次通讯中接收到不同ID标签的数据
      memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);      
      switch(rx_buffer[MESSAGE_TYPE_IDX])
      {uint8_t target_tagi;
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);
            frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
            recpoll_len = frame_len;
            dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
            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);
            memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
            //将收到的tag_id分别写入各次通讯的包中，为多标签通讯服务，防止一次通讯中接收到不同ID标签的数据
            memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);

//        HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET);
//        printf("ID %x\r\n",tag_id_recv);
            switch(rx_buffer[MESSAGE_TYPE_IDX])
            {   uint8_t target_tagi;
            case MBX_REG:
//                dwt_readdiagnostics(&d1);
//                LOS(&d1);
@@ -585,108 +319,123 @@
//                memcpy(&usart_send[22],&checksum,2);
//                HexToAsciiSendUDP(usart_send,24);
                break;
         case MBX_POLL:
              if(group_id==rx_buffer[GROUP_ID_IDX])
              {      
                dwt_readdiagnostics(&d1);
                LOS(&d1);
                if(firstpath_power<-100)
            case MBX_POLL:
                if(group_id==rx_buffer[GROUP_ID_IDX])
                {
                    break;
                }
                frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
                battary = rx_buffer[BATTARY_IDX];
                button = rx_buffer[BUTTON_IDX];
                rec_nearbase_num=rx_buffer[FZ_NEARBASENUM_INDEX];                
            memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
                memcpy(&rec_ancidlist,&rx_buffer[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
                memcpy(&rec_ancdistlist,&rx_buffer[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
                memcpy(&rec_antdelay,&rx_buffer[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
                uwb_losttimer = 0;
//                wltag_state=RANGE;
                for(u8 i=0;i<rec_nearbase_num;i++)
                {
                    if(rec_ancidlist[i] == dev_id)
//                printf("timec:%d timee:%d\r\n",current_time,end_time);
                    dwt_readdiagnostics(&d1);
                    LOS(&d1);
                    if(firstpath_power<-100)
                    {
//                        PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],-(int8_t)firstpath_power);  
                        
                       // PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);  
                        break;
                    }
                    frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
                    battary = rx_buffer[BATTARY_IDX];
                    button = rx_buffer[BUTTON_IDX];
                    rec_nearbase_num=rx_buffer[FZ_NEARBASENUM_INDEX];
                    memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
                    memcpy(&rec_ancidlist,&rx_buffer[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
                    memcpy(&rec_ancdistlist,&rx_buffer[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
                    memcpy(&rec_antdelay,&rx_buffer[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
                    uwb_losttimer = 0;
//                wltag_state=RANGE;
                    for(u8 i=0; i<rec_nearbase_num; i++)
                    {
                        if(rec_ancidlist[i] == dev_id)
                        {
                            for(kk=0; kk<Lora_tx_ancnum; kk++)
                            {
                                if(Lora_tx_ancid[kk]==tag_id_recv)
                                {
//                          Lora_tx_ancnum--;
                                    Lora_tx_ancdist[kk]=rec_ancdistlist[i];
                                    Lora_tx_anc_electricity[kk]=battary;
                                    break_flag=1;
                                    break;
                                }
                            }
                            if(break_flag)
                            {
                                break_flag=0;
                                break;
                            }
                            Lora_tx_ancid[Lora_tx_ancnum]=tag_id_recv;
                            Lora_tx_ancdist[Lora_tx_ancnum]=rec_ancdistlist[i];
                            Lora_tx_anc_electricity[Lora_tx_ancnum]=battary;
//                        printf("接收到uwb测距:%d",Lora_tx_ancdist[0]);
                            Lora_tx_ancnum++;
                            RX_TIMEOUTs_UWB++;
                        }
                    }
////            #ifdef USART_ALL_OUTPUT
//                    usart_send[2] = 0x12;//正常模式
//               usart_send[3] = 8+rec_nearbase_num*4;//数据段长度
//                    memcpy(&usart_send[4],&tag_id_recv,2);
//               usart_send[6] = frame_seq_nb2;//包序
//                    power_and_key=battary<<1;//把按键跟电量2合1，发出去
//                    power_and_key=power_and_key+button;
//                    memcpy(usart_send+7,&power_and_key,1);
//                    usart_send[8] = lora_yingda_flag;//lora等待应答位
//                    usart_send[9] = rec_nearbase_num;//lora等待应答位
////                    usart_send[9] = lora_yingda_flag;
//               memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);
//               memcpy(&usart_send[10+rec_nearbase_num*2],&rec_ancdistlist,2*rec_nearbase_num);
//               checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
//               memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
////               UART_PushFrame(usart_send,12+rec_nearbase_num*4);
////            #endif

                    taglist_pos=CmpTagInList(tag_id_recv);
                    if(taglist_num>=TAG_NUM_IN_SYS)
                        break;
                    if(taglist_pos==taglist_num)
                    {
                        taglist_pos=taglist_num;
                        tagid_list[taglist_num++]=tag_id_recv;

                        new_tagid=1;
                    } else {
                        new_tagid=0;
                    }
                    temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
                    tagpos_rec[(uint8_t)temp_tagpos]=1;


                    if(rec_nearbase_num>ancidlist_num)
                    {
                        ancidlist_num=rec_nearbase_num;
                        memcpy(ancidlist_rec,&rx_buffer[FZ_NEARBASEID_INDEX],rec_nearbase_num*2);
                    }

                    for(i=0; i<rec_nearbase_num; i++)
                    {
                        memcpy(&tempid,&rx_buffer[FZ_NEARBASEID_INDEX+i*2],2);
                        if(tempid==dev_id)
                        {
                            seize_anchor=0;  //非抢占。已存在列表中
                            Anchor_RecNearPoll(i);
                            break;
                        }
                    }

                    if(i==rec_nearbase_num)
                    {
                        seize_anchor=1;   //抢占anchor
                        Anchor_RecNearPoll(i);
                    }
                }
//            #ifdef USART_ALL_OUTPUT
                    usart_send[2] = 0x0c;//正常模式 
               usart_send[3] = 8+rec_nearbase_num*4;//数据段长度
               usart_send[4] = frame_seq_nb2;//数据段长度
                  usart_send[5] = battary;
               usart_send[6] = button;
                    usart_send[7] = rec_nearbase_num;
               memcpy(&usart_send[8],&tag_id_recv,2);
               memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);				
               memcpy(&usart_send[10+rec_nearbase_num*2],&rec_ancdistlist,2*rec_nearbase_num);
               checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
               memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
//               UART_PushFrame(usart_send,12+rec_nearbase_num*4);
//            #endif

            taglist_pos=CmpTagInList(tag_id_recv);
                if(taglist_num>=TAG_NUM_IN_SYS)
                    break;
            if(taglist_pos==taglist_num)
            {
               taglist_pos=taglist_num;
               tagid_list[taglist_num++]=tag_id_recv;
					
               new_tagid=1;
            }else{
               new_tagid=0;
            }
                temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
            tagpos_rec[(uint8_t)temp_tagpos]=1;
				
			
            if(rec_nearbase_num>ancidlist_num)
               {
                  ancidlist_num=rec_nearbase_num;
                  memcpy(ancidlist_rec,&rx_buffer[FZ_NEARBASEID_INDEX],rec_nearbase_num*2);
               }
					
            for(i=0;i<rec_nearbase_num;i++)
            {
                memcpy(&tempid,&rx_buffer[FZ_NEARBASEID_INDEX+i*2],2);
               if(tempid==dev_id)
               {
                  seize_anchor=0;  //非抢占。已存在列表中
                  Anchor_RecNearPoll(i);	
                  break;
               }						
            }
               if(i==rec_nearbase_num)
               {
                  seize_anchor=1;   //抢占anchor
                  Anchor_RecNearPoll(i);	
               }
                }
				
            break;		
      }	
    
   }else{
//                if(g_com_map[MODBUS_ID1]==1)
//                {
//                if(g_com_map[MODBUS_ID1]==1)
//                {
//                 #ifdef DBGMSG_OUTPUT
//                    if(g_com_map[MODBUS_ID1]==1)
//                         {
//                            printf("POLL状态错误:%x",status_reg);
//                         }
//                #endif
//                }
//                }
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
   }
    
                break;
            }

        } else {
//        printf("debug4 timec:%d timee:%d\r\n",current_time,end_time);
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
            dwt_rxenable(0);
        }
    }
        dwt_forcetrxoff();
    dwt_forcetrxoff();
    dwt_entersleep();

        }
}