XRange_Tag.git - Gitblit

			@@ -69,14 +69,17 @@
			#define FINAL_MSG_FINAL_TX_TS_IDX 18
			#define FINAL_MSG_TS_LEN 4


			#define STARTPOLL REGPOLL//#define SWITCHBASE_DIST
			//#define SWITCHBASE_ZHUANDIAN
			#define SWITCHBASE_DIST
			enum enumtagstate
			{
			REGPOLL,
			DISCPOLL,
			GETNEARMSG,
			NEARPOLL,
			}tag_state=DISCPOLL;
			SINGLEPOLL,
			}tag_state=STARTPOLL;
			static dwt_config_t config = {
			2, /* Channel number. */
			DWT_PRF_64M, /* Pulse repetition frequency. */
			@@ -93,7 +96,7 @@
			static uint8_t tx_sync_msg[14] = {0};
			static uint8_t tx_final_msg[60] = {0};
			static uint8_t tx_resp_msg[22] = {0};
			uint8_t tx_near_msg[80] = {0};
			uint8_t tx_near_msg[180] = {0};

			static uint32_t frame_seq_nb = 0;
			static uint32_t status_reg = 0;
			@@ -244,9 +247,9 @@
			u16 ancid_list[TAG_NUM_IN_SYS];
			u8 nearbase_num;
			u16 mainbase_id;
			int32_t mainbase_dist;
			int32_t mainbase_dist,base_mindist;
			uint8_t trygetnearmsg_times;
			u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
			u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
			u8 FindNearBasePos(u16 baseid)
			{
			u8 i;
			@@ -458,7 +461,7 @@
			delay_ms(30);

			}
			int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
			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;
			u8 anclost_times=0 , mainbase_lost_count=0;
			u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
			u8 flag_finalsend,flag_getresponse,flag_rxon;
			@@ -468,25 +471,55 @@
			u32 rec_tagpos_binary;
			int16_t offset=4700,temptimer;
			u8 motor_state,rec_remotepara_state,rec_remotepara[80];


			#define SINGLEPOLL_BASENUM 15
			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;
			extern float motor_keeptime;
			uint8_t changemainbase_count=0,gotosleep_flag,singlepoll_i;
			uint32_t frame_len;
			int32_t salvebase_mindist;
			int16_t intheight;
			void Poll(void)
			{
			uint32_t frame_len;
			uint32_t final_tx_time;
			u32 start_poll;
			int32_t mindist=999999,minid=-1,temp_dist;
			u8 i,getsync_flag=0;
			u8 i,j,getsync_flag=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;

			for(i=0;i<3;i++)
			frame_seq_nb++;
			intheight+=g_com_map[HEIGHTOFFEST_INDEX];
			for(singlepoll_i=0;singlepoll_i<SINGLEPOLL_BASENUM;singlepoll_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
			nearbase_num = SINGLEPOLL_BASENUM;

			tx_near_msg[BATTARY_IDX] = bat_percent;
			tx_near_msg[BUTTON_IDX] = userkey_state\|stationary_flag<<1\|gotosleep_flag<<2;
			tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
			tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb)>>8;
			tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
			memcpy(&tx_near_msg[NEARBASEID_INDEX],&singlepoll_baseid,nearbase_num*2);
			memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num2],&singlepoll_basedist,nearbase_num4+4);

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

			tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
			tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;

			memcpy(&tx_near_msg[ANCHOR_ID_IDX],&singlepoll_baseid[singlepoll_i],2);
			dwt_writetxdata(28+6*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
			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
			{
			@@ -500,7 +533,7 @@
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG \| SYS_STATUS_TXFRS);//清楚寄存器标志位
			frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
			dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
			if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
			if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&singlepoll_baseid[singlepoll_i],2)) //判断接收到的数据是否是response数据
			{
			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
			@@ -519,10 +552,22 @@
			if(sync_timer>=1010)
			{sync_timer=0;}
			}
			ancsync_time=((sync_timer)*1000+tmp_time);
			last_slotnum=current_slotnum;
			temptimer = sync_timer-10;
			if(temptimer<0)
			{temptimer+=1000;}
			//current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;
			if(current_slotnum==last_slotnum-1)
			{flag_getresponse=1;}
			lastsync_timer=sync_timer;
			//offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
			SetNextPollTime(tagslotpos);
			}

			memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4);
			memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
			singlepoll_basedist[singlepoll_i] = temp_dist;
			/* 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
			@@ -536,25 +581,15 @@
			tag_succ_times++;
			LED0_BLINK;

			ancsync_time=((sync_timer)*1000+tmp_time);
			last_slotnum=current_slotnum;
			temptimer = sync_timer-10;
			if(temptimer<0)
			{temptimer+=1000;}
			current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;
			if(current_slotnum==last_slotnum-1)
			{flag_getresponse=1;}
			lastsync_timer=sync_timer;
			offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
			SetNextPollTime(tagslotpos);


			if(temp_dist<mindist&&temp_dist!=0)
			{
			memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
			tag_state=GETNEARMSG;
			trygetnearmsg_times=5;
			mindist=temp_dist;
			}
			// if(temp_dist<mindist&&temp_dist!=0)
			// {
			// memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
			// tag_state=GETNEARMSG;
			// trygetnearmsg_times=10*tag_frequency;
			// mindist=temp_dist;
			// }
			if(result==0)
			{while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
			{ };
			@@ -565,37 +600,45 @@
			}
			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;
			}
			}

			if(getsync_flag==0)
			{
			tagslotpos--;
			// tagslotpos--;
			if(tagslotpos==0\|\|tagslotpos>max_slotpos)
			{
			tagslotpos=max_slotpos;
			}
			tyncpoll_time=(tagslotpos-1)*slottime;
			}
			mainbase_id=minid;
			//mainbase_id = 0x2;
			// mainbase_id=minid;
			// mainbase_id = 0x4;
			}
			u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
			void GetNearMsg(void)
			{
			u32 start_poll,frame_len;


			u8 nearmsg_i=0;
			for(nearmsg_i=0;nearmsg_i<20;nearmsg_i++)
			{
			nearbase_distlist[nearmsg_i] = 0x1ffff;
			}
			//mainbase_id = 0x9724;
			memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
			memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
			tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;


			dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间
			dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
			dwt_writetxdata(12, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
			@@ -619,52 +662,69 @@
			{
			nearbase_num=rx_buffer[NEARBASENUM_INDEX];
			memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
			tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
			// 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;
			//tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
			tag_state=NEARPOLL;
			}
			}else{
			tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
			// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
			}
			}
			uint8_t changemainbase_count=0,gotosleep_flag;
			uint32_t frame_len;

			void NearPoll(void)
			{

			uint32_t temp1,temp2,dw_systime;
			uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;

			uint32_t final_tx_time;
			u32 start_poll;
			u8 i,j,getsync_flag=0,timeout;
			// 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;
			if(next_nearbase_num>=MAX_NEARBASE_NUM)
			{
			next_nearbase_num = MAX_NEARBASE_NUM-1;
			}
			HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
			// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);

			recbase_num=0;
			motor_state=0;
			// motor_state=0;

			tx_near_msg[BATTARY_IDX] = bat_percent;
			tx_near_msg[BUTTON_IDX] = !GET_USERKEY\|stationary_flag<<1\|gotosleep_flag<<2;
			tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
			tx_near_msg[BUTTON_IDX] = userkey_state\|stationary_flag<<1\|gotosleep_flag<<2;
			tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
			tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
			tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
			memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
			memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num2],&nearbase_distlist,nearbase_num4+4);

			if(intheight!=0)
			intheight+=g_com_map[HEIGHTOFFEST_INDEX];

			memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&intheight,2);
			tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_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(21+2*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
			dwt_writetxfctrl(21+2*nearbase_num, 0);//设置超宽带发送数据长度
			dwt_writetxdata(28+6*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
			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

			// for(i=0;i<nearbase_num+1;i++)
			// {
			// nearbase_distlist[i] = 0x1ffff;
			// }

			tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
			para_update = 0;
			flag_finalsend=0;
			@@ -712,23 +772,31 @@
			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)
			dwt_forcetrxoff();
			final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS) * UUS_TO_DWT_TIME)) >> 8;
			final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
			final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
			final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+nearbase_num*4], resp_rx_ts);
			final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
			tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;

			if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
			{
			tmp_time-=999;
			sync_timer++;
			if(sync_timer>=1010)
			{sync_timer=0;}
			para_update = 1;
			tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
			para_len = frame_len-22;
			memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
			}
			// TIM3->CNT=tmp_time;
			// if(tagslotpos>max_slotpos)
			// tagslotpos=tagslotpos%(max_slotpos+1);
			// tyncpoll_time=(tagslotpos-1)*slottime;
			////////////////////////////

			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);
			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;
			rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
			@@ -736,59 +804,56 @@
			mainbase_lost_count=0;
			flag_finalsend=1;
			memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],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);
			}
			flag_getresponse=1;
			memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
			final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);



			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);
			last_slotnum=current_slotnum;
			// current_slotnum=((float)sync_timer/(SLOTTIME_MS*bigslot_num))+1;
			current_slotnum=((float)(sync_timer10 - tagslotposSLOTTIME_MS)/(SLOTTIME_MS*bigslot_num))+1;
			if(current_slotnum==last_slotnum-1)
			{flag_getresponse=1;}
			lastsync_timer=sync_timer;
			offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
			// SetNextPollTime(tagslotpos);

			SetNextPollTime(tagslotpos);
			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
			{ };}
			break;
			}else{

			rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
			exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
			memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
			nearbase_distlist[rec_nearbasepos]=temp_dist;
			final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], resp_rx_ts);
			if(rec_nearbasepos + 1 == nearbase_num)
			{
			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_FINAL_TX_TS_IDX], final_tx_ts);
			tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
			dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
			dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
			dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
			result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
			if(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
			{ };}
			break;
			memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);
			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;
			}
			#endif

			}
			}
			}else{
			dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG\| SYS_STATUS_ALL_RX_ERR);
			if(recbase_num!=nearbase_num)
			if(recbase_num!=nearbase_num+1)
			{dwt_rxenable(0); }
			// if(flag_rxon)
			// {
			@@ -797,89 +862,31 @@
			}
			// 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);
			j=0;
			if(exsistbase_list[0]==0)
			{
			// SetNextPollTime(tagslotpos);
			}
			// tyncpoll_time=0;
			next_nearbase_num=0;
			for(i=0;i<nearbase_num;i++)
			{
			if(exsistbase_list[i]>0)
			{
			next_nearbase_num++;
			true_exsistbase_list[j]=exsistbase_list[i];
			true_nearbase_idlist[j]=nearbaseid_list[i];
			true_nearbase_distlist[j++]=nearbase_distlist[i];
			exsistbase_list[i]--;
			}
			}

			if(recbase_num<3)
			{next_nearbase_num=next_nearbase_num;}
			last_nearbase_num = next_nearbase_num;
			for(i=0;i<last_nearbase_num-1;i++)
			if(mainbase_lost_count==0)
			{
			for(j=0;j<last_nearbase_num-1;j++)
			#ifdef SWITCHBASE_DIST
			if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
			{
			if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
			changemainbase_count++;
			if(changemainbase_count>tag_frequency*2)
			{
			u32 temp_dist,temp_id,temp_exsis;
			temp_dist=true_nearbase_distlist[j];
			temp_id = true_nearbase_idlist[j];
			temp_exsis=true_exsistbase_list[i];
			true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
			true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
			true_exsistbase_list[j]=true_exsistbase_list[j+1];

			true_nearbase_distlist[j+1]=temp_dist;
			true_nearbase_idlist[j+1]=temp_id;
			true_exsistbase_list[j+1]=temp_exsis;
			}
			mainbase_id = mindist_slavebaseid;
			tag_state = GETNEARMSG;
			}
			}else{
			changemainbase_count = 0;
			}
			}
			if(true_nearbase_distlist[0]<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST&&true_exsistbase_list[0])
			#endif
			}else if(mainbase_lost_count>5*tag_frequency)
			{
			changemainbase_count++;
			}else{
			changemainbase_count = 0;
			}
			if(changemainbase_count>3)
			{
			mainbase_id = true_nearbase_idlist[0];
			tag_state = GETNEARMSG;
			}
			if(mainbase_lost_count>3)
			{
			tag_state = DISCPOLL;
			}
			for (i=0;i<nearbase_num;i++)
			{
			if(nearbaseid_list[i]==0)
			{
			tag_state = GETNEARMSG;
			}

			}
			//串口输出距离
			// report_num=0;
			// for (i=0;i<last_nearbase_num;i++)
			// {
			// nearbaseid_list[i]=true_nearbase_idlist[i];
			// nearbase_distlist[i]=true_nearbase_distlist[i];
			// if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==0xa)
			// {
			// memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
			// memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
			// report_num++;
			// }
			// }
			for(i=0;i<MAX_NEARBASE_NUM;i++)
			{
			nearbase_distlist[i]=0x1ffff;
			}
			tag_state = STARTPOLL;
			}

			if(para_update)
			{
			uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
			@@ -888,16 +895,32 @@
			pack_length = rec_remotepara[2];
			if(pack_msgtype==2)
			{
			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( pack_index == MOTOR_ONTIME_INDEX)
			{
			if(motor_keeptime==0)
			motor_keeptime = rec_remotepara[3];
			}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();
			}
			}
			}
			}
			for(i=0;i<nearbase_num;i++)
			{
			if(nearbaseid_list[i]!=nearbaseid_list2[i])
			{
			tag_state = GETNEARMSG;
			}
			}
			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);
			//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);

			}
			extern uint8_t module_power,imu_enable,motor_enable;
			@@ -924,8 +947,9 @@
			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_writetxdata(21, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
			dwt_writetxfctrl(21, 0);//设置超宽带发送数据长度
			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
			{
			@@ -971,24 +995,41 @@
			{flag_getresponse=1;}
			lastsync_timer=sync_timer;
			offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
			SetNextPollTime(tagslotpos);
			// 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 = NEARPOLL;
			}
			}
			}
			u32 id;
			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);
			GetPressAndHeight();
			intheight = Height*100;
			SPIx_CS_GPIO->BSRR = SPIx_CS;
			id = dwt_readdevid() ;
			while (DWT_DEVICE_ID != id)
			{
			// Dw1000_Init();
			id = dwt_readdevid() ;
			IdleTask();
			if(error_times++>20)
			{
			printf("DW ID ERROR.\r\n");
			SCB->AIRCR = 0X05FA0000\|(unsigned int)0x04; //软复位回到bootloader
			}
			}
			error_times = 0;
			switch(tag_state)
			{
			case REGPOLL:
			@@ -1008,14 +1049,16 @@
			LED_LG_OFF;
			if(trygetnearmsg_times==0)
			{
			tag_state = DISCPOLL;
			tag_state = STARTPOLL;
			}
			break;
			case NEARPOLL:
			//GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);
			case NEARPOLL:
			NearPoll();
			//GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
			break;
			case SINGLEPOLL:
			Poll();
			break;
			}
			userkey_state = !GET_USERKEY;
			dwt_entersleep();
			}