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WXK

2023-09-15 671f59b69396b30ee80c3ddb57e4cd11b979d642

 Src/application/dw_app.c

@@ -56,7 +56,7 @@

#define DELAY_BETWEEN_TWO_FRAME_UUS 400

#define POLL_RX_TO_RESP_TX_DLY_UUS 470
//#define POLL_RX_TO_RESP_TX_DLY_UUS 470
/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
/* Receive final timeout. See NOTE 5 below. */
@@ -70,17 +70,24 @@
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4

//#define _UWB_4G

static dwt_config_t config = {
   5,               /* Channel number. */
#ifdef _UWB_4G
   2,               /* Channel number. */
#else
    5,
#endif
   DWT_PRF_64M,     /* Pulse repetition frequency. */
   DWT_PLEN_128,    /* Preamble length. */
   DWT_PLEN_64,    /* 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. */
   (65 + 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};
@@ -156,7 +163,7 @@
        *ts += ts_field[i] << (i * 8);
    }
}

uint32_t uwbid=0;
void Dw1000_Init(void)
{
   /* Reset and initialise DW1000.
@@ -170,12 +177,16 @@
    /* Configure DW1000. See NOTE 6 below. */
    dwt_configure(&config);//配置DW1000
   
//    dwt_setinterrupt(  DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);

   
    /* 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

    
//    dwt_setrxtimeout(1000);//设定接收超时时间，0位没有超时时间
//   dwt_rxenable(0);//打开接收
//    uwbid=dwt_readdevid();
    /* 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
@@ -207,7 +218,7 @@
}

u16 tag_time_recv[TAG_NUM_IN_SYS];
u8 usart_send[25];
u8 usart_send[100];
u8 battary,button;
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
@@ -215,500 +226,498 @@
   dwt_configuresleep(0x940, 0x7);
   dwt_entersleep();
}
extern uint8_t g_start_send_flag;
//extern uint8_t g_start_send_flag;

uint16_t g_Resttimer;
uint8_t result;
u8 tag_succ_times=0;
int32_t hex_dist;
u16 checksum;
int8_t tag_delaytime;
extern uint16_t sync_timer;
u16 tmp_time;
int32_t temp_dist;
u16 tagslotpos;
//uint16_t g_Resttimer;
//uint8_t result;
//u8 tag_succ_times=0;
//int32_t hex_dist;
//u16 checksum;
//int8_t tag_delaytime;
//extern uint16_t sync_timer;
//u16 tmp_time;
//int32_t temp_dist;
//u16 tagslotpos;

u16 anclist_num=0,anclist_pos; //list 总数量和当前位置
u16 ancid_list[TAG_NUM_IN_SYS];
u8 nearbase_num;
u16 mainbase_id;
int32_t mainbase_dist;
uint8_t trygetnearmsg_times;
u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
u8 FindNearBasePos(u16 baseid)
{
   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;
}
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;
}
//u16 anclist_num=0,anclist_pos; //list 总数量和当前位置
//u16 ancid_list[TAG_NUM_IN_SYS];
//u8 nearbase_num;
//u16 mainbase_id;
//int32_t mainbase_dist;
//uint8_t trygetnearmsg_times;
//u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
//u8 FindNearBasePos(u16 baseid)
//{
//   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;
//}
//u8 GetRandomSlotPos(uint32_t emptyslot)
//{
//   u8 i,temp_value;
//   temp_value = HAL_LPTIM_ReadCounter(&hlptim1);//GetRandomValue();
//   for(i=temp_value%32;i<max_slotpos;i++)
//   {
//      if(((emptyslot>>i)&0x1)==0)
//      {
//         return i;
//      }
//   }
//	
//      for(i=1;i<max_slotpos;i++)
//   {
//      if(((emptyslot>>i)&0x1)==0)
//      {
//         return i;
//      }
//   }
//return max_slotpos-1;
//}

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

u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
u32 rec_tagpos_binary;
int16_t offset=2700;
u8 current_freq,rec_freq;
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
extern u16 last_lpcount;
float freqlost_count = 0;
void TagFreqProcess(u8 freq)
{
    if(freq>MAX_ANCFREQ||freq==0)
    {
        return;
    }
    if(freq==tag_frequency||freq>tag_frequency)
    {
        tag_frequency = freq;
        freqlost_count = 0;
    }
}
#define FREQ_OFFSET_MULTIPLIER          (998.4e6/2.0/1024.0/131072.0)
#define FREQ_OFFSET_MULTIPLIER_110KB    (998.4e6/2.0/8192.0/131072.0)
//u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
//u32 rec_tagpos_binary;
//int16_t offset=2700;
//u8 current_freq,rec_freq;
//u8 motor_state,rec_remotepara_state,rec_remotepara[80];
//extern u16 last_lpcount;
//float freqlost_count = 0;
//void TagFreqProcess(u8 freq)
//{
//    if(freq>MAX_ANCFREQ||freq==0)
//    {
//        return;
//    }
//    if(freq==tag_frequency||freq>tag_frequency)
//    {
//        tag_frequency = freq;
//        freqlost_count = 0;
//    }
//}
//#define FREQ_OFFSET_MULTIPLIER          (998.4e6/2.0/1024.0/131072.0)
//#define FREQ_OFFSET_MULTIPLIER_110KB    (998.4e6/2.0/8192.0/131072.0)

#define HERTZ_TO_PPM_MULTIPLIER_CHAN_1     (-1.0e6/3494.4e6)
#define HERTZ_TO_PPM_MULTIPLIER_CHAN_2     (-1.0e6/3993.6e6)
#define HERTZ_TO_PPM_MULTIPLIER_CHAN_3     (-1.0e6/4492.8e6)
#define HERTZ_TO_PPM_MULTIPLIER_CHAN_5     (-1.0e6/6489.6e6)
u16 rec_maxrangelen;//rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
float clockOffsetRatio;
double rtd_init, rtd_resp;
double tof,distance;
extern int32_t dwt_readcarrierintegrator(void) ;
uint32_t testtimer2,anc_pollrx[MAX_NEARBASE_NUM],anc_resptx[MAX_NEARBASE_NUM],tag_resprx[MAX_NEARBASE_NUM];
int32_t anc_clockoffset[MAX_NEARBASE_NUM];
int16_t anc_distoffset[MAX_NEARBASE_NUM];
int32_t test2;
uint16_t u16_nearbase_distlist[MAX_NEARBASE_NUM];
uint8_t get_newdist,notenoughdist_count;
void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset)
{
    memcpy(&anc_pollrx[i],pollrx,4);
    memcpy(&anc_resptx[i],resptx,4);
    memcpy(&tag_resprx[i],&resprx,4);
    memcpy(&anc_distoffset[i],distoffset,2);
    anc_clockoffset[i] = test2;
}
void CalculateDists(void)
{
    for(int i=0;i<MAX_NEARBASE_NUM;i++)
    {
        //rec_anc_signalpower[i] = exsistbase_list[i];
      if(exsistbase_list[i]==KEEP_TIMES)
      {
//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_1     (-1.0e6/3494.4e6)
//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_2     (-1.0e6/3993.6e6)
//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_3     (-1.0e6/4492.8e6)
//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_5     (-1.0e6/6489.6e6)
//u16 rec_maxrangelen;//rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
//float clockOffsetRatio;
//double rtd_init, rtd_resp;
//double tof,distance;
//extern int32_t dwt_readcarrierintegrator(void) ;
//uint32_t testtimer2,anc_pollrx[MAX_NEARBASE_NUM],anc_resptx[MAX_NEARBASE_NUM],tag_resprx[MAX_NEARBASE_NUM];
//int32_t anc_clockoffset[MAX_NEARBASE_NUM];
//int16_t anc_distoffset[MAX_NEARBASE_NUM];
//int32_t test2;
//uint16_t u16_nearbase_distlist[MAX_NEARBASE_NUM];
//uint8_t get_newdist,notenoughdist_count;
//void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset)  //写入时间戳信息
//{
//    memcpy(&anc_pollrx[i],pollrx,4);
//    memcpy(&anc_resptx[i],resptx,4);
//    memcpy(&tag_resprx[i],&resprx,4);
//    memcpy(&anc_distoffset[i],distoffset,2);
//    anc_clockoffset[i] = test2;
//}
//void CalculateDists(void)   //计算距离
//{
//    for(int i=0;i<MAX_NEARBASE_NUM;i++)
//    {
//        //rec_anc_signalpower[i] = exsistbase_list[i];
//      if(exsistbase_list[i]==KEEP_TIMES)
//      {

         // exsistbase_list[i]--;
          clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
          rtd_init = tag_resprx[i] - poll_tx_ts;
          rtd_resp = anc_resptx[i] - anc_pollrx[i];
          tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
          distance = tof * SPEED_OF_LIGHT;
          if(distance>-10&&distance<1000)
            nearbase_distlist[i] = distance*100+anc_distoffset[i];
      }else{
         // nearbase_distlist[i] = 0x1ffff;
      }
    
    }
}
float range_lost_time = 0;
u16 rec_nearbaseid,rec_nearbasepos;
void NearPoll(void)
{
	
   uint32_t temp1,temp2,dw_systime;
   uint32_t frame_len;
   uint32_t final_tx_time;
   u32 start_poll;
   u8 i,j,getsync_flag=0,timeout,flag_ancreadpara=0;
    dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);         //设置发送后开启接收，并设定延迟时间
    dwt_setrxtimeout(0);		
   tag_succ_times = 0;
      //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
   if(nearbase_num>=MAX_NEARBASE_NUM)
   {
      nearbase_num = MAX_NEARBASE_NUM-1;
   }
//   HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
//   last_nearbase_num=next_nearbase_num;
//   nearbase_num=next_nearbase_num;
   recbase_num=0;
//   motor_state=0;
    for(uint8_t i=0;i<nearbase_num;i++)
    {
        u16_nearbase_distlist[i] = nearbase_distlist[i];
    }
   tx_near_msg[GROUP_ID_IDX] = group_id;
   tx_near_msg[BATTARY_IDX] = bat_percent;
   tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
   tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
   tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
   memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&u16_nearbase_distlist,nearbase_num*2);
   tx_near_msg[MESSAGE_TYPE_IDX] = MBX_POLL;	
   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);	
   dwt_writetxdata(13+4*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(13+4*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
	
   tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
   para_update = 0;
    get_newbase = 0;
   flag_finalsend=0;
   flag_rxon=1;
   flag_getresponse=0;
   start_count=HAL_LPTIM_ReadCounter(&hlptim1);
   recbase_num=0;
   timeout=nearbase_num*SLOT_SCALE+10;
   end_count=start_count+(timeout<<2);
   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
               {
                  if(flag_finalsend&&flag_ancreadpara)
                  {
                     dw_systime=dwt_readsystimestamphi32();
                     if(dw_systime>temp1&&dw_systime<temp2)
                     {
								
                        dwt_forcetrxoff();
                        flag_rxon=0;
                                if(flag_ancreadpara)
                                {
                                    u16 calCRC;
                                  tx_near_msg[MESSAGE_TYPE_IDX] = MBX_PRAAREPLY;  
                                  memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX],g_com_map,SENDANCPARA_LEN);
                                  calCRC = CRC_Compute((uint8_t*)g_com_map,SENDANCPARA_LEN);
                                  memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX+SENDANCPARA_LEN],&calCRC,2);
                                  dwt_writetxdata(14+SENDANCPARA_LEN, tx_near_msg, 0);//将发送数据写入DW1000
                                  dwt_writetxfctrl(14+SENDANCPARA_LEN, 0);//设定发送数据长度
                                
                        dwt_setdelayedtrxtime(final_tx_time);
                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送	
                                }
                        flag_finalsend=0;
                        break;
                     }
                  }
                     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
                            test2 = dwt_readcarrierintegrator();
                     dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
                     dwt_rxenable(0);//打开接收
                     if (rx_buffer[MESSAGE_TYPE_IDX] == MBX_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX]==group_id) //判断接收到的数据是否是response数据
                     {	
                        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);
                                rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;
                                TagFreqProcess(rx_buffer[TAGFREQ_IDX]);
                                if(rec_remotepara_state != 0)
                                {   
                                    para_update = rec_remotepara_state;
                                    memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],7);
                                    if(para_update==2)
                                    {
                                        flag_ancreadpara = 1;                                     
                                    }
                                }
                        if(last_nearbase_num==0)
                        {
                           get_newbase=1;
                           nearbaseid_list[0]=rec_nearbaseid;
                           nearbase_num=1;
                           memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
                        }
                        if(rec_nearbaseid==nearbaseid_list[0])
                        {
                                     exsistbase_list[0]=KEEP_TIMES;
                                   SetANCTimestap(0,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
//         // exsistbase_list[i]--;
//#ifdef _UWB_4G
//            clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
//#else
//            clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
//#endif
//          rtd_init = tag_resprx[i] - poll_tx_ts;
//          rtd_resp = anc_resptx[i] - anc_pollrx[i];
//          tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
//          distance = tof * SPEED_OF_LIGHT;
//          if(distance>-10&&distance<1000)
//            nearbase_distlist[i] = distance*100+anc_distoffset[i];
//      }else{
//         // nearbase_distlist[i] = 0x1ffff;
//      }
//    
//    }
//}
//extern uint8_t module_power,imu_enable,motor_enable;
//void Registor_Poll(void)
//{
//   static u8 regpoll_count=0;
//    u8 timeout;
//		
//      tx_near_msg[MESSAGE_TYPE_IDX] = MBX_REG;
//        tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
//      tx_near_msg[REGP_FREQUENCY_INDEX] = bat_percent;
//      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[GROUP_ID],2);
//      memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[DIST_OFFSET],2);
//        memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[MAX_REPORT_ANC_NUM],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);//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_count=HAL_LPTIM_ReadCounter(&hlptim1);
//        timeout=50;
//        end_count=start_count+(timeout<<2);
//        while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS)))//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;
//            
//        };	
//               
//}
//float range_lost_time = 0;
//u16 rec_nearbaseid,rec_nearbasepos;
//void NearPoll(void)
//{
//	
//   uint32_t temp1,temp2,dw_systime;
//   uint32_t frame_len;
//   uint32_t final_tx_time;
//   u32 start_poll;
//   u8 i,j,getsync_flag=0,timeout,flag_ancreadpara=0;
//    dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);         //设置发送后开启接收，并设定延迟时间
//    dwt_setrxtimeout(0);		
//   tag_succ_times = 0;
//      //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
//   if(nearbase_num>=MAX_NEARBASE_NUM)
//   {
//      nearbase_num = MAX_NEARBASE_NUM-1;
//   }
//   recbase_num=0;
//    for(uint8_t i=0;i<nearbase_num;i++)   //标签距离32位转成16位
//    {
//        u16_nearbase_distlist[i] = nearbase_distlist[i];
//    }
//   tx_near_msg[GROUP_ID_IDX] = group_id;
//   tx_near_msg[BATTARY_IDX] = bat_percent;
//   tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
//   tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
//   tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
//   memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
//    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&u16_nearbase_distlist,nearbase_num*2);
//   tx_near_msg[MESSAGE_TYPE_IDX] = MBX_POLL;	
//   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);	
//   dwt_writetxdata(13+4*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
//   dwt_writetxfctrl(13+4*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
//	
//   tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
//   para_update = 0;
//    get_newbase = 0;
//   flag_finalsend=0;
//   flag_rxon=1;
//   flag_getresponse=0;
//   start_count=HAL_LPTIM_ReadCounter(&hlptim1);
//   recbase_num=0;
//   timeout=nearbase_num*SLOT_SCALE+10;
//   end_count=start_count+(timeout<<2);
//   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
//               {
//                  if(flag_finalsend&&flag_ancreadpara)
//                  {
//                     dw_systime=dwt_readsystimestamphi32();
//                     if(dw_systime>temp1&&dw_systime<temp2)
//                     {
//								
//                        dwt_forcetrxoff();
//                        flag_rxon=0;
//                                if(flag_ancreadpara)   //只有在读取参数的时候需要回复
//                                {
//                                    u16 calCRC;
//                                  tx_near_msg[MESSAGE_TYPE_IDX] = MBX_PRAAREPLY;  
//                                  memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX],g_com_map,SENDANCPARA_LEN);
//                                  calCRC = CRC_Compute((uint8_t*)g_com_map,SENDANCPARA_LEN);
//                                  memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX+SENDANCPARA_LEN],&calCRC,2);
//                                  dwt_writetxdata(14+SENDANCPARA_LEN, tx_near_msg, 0);//将发送数据写入DW1000
//                                  dwt_writetxfctrl(14+SENDANCPARA_LEN, 0);//设定发送数据长度
//                                
//                        dwt_setdelayedtrxtime(final_tx_time);
//                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送	
//                                }
//                        flag_finalsend=0;
//                        break;
//                     }
//                  }
//                     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
//                            test2 = dwt_readcarrierintegrator();
//                     dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
//                     dwt_rxenable(0);//打开接收
//                     if (rx_buffer[MESSAGE_TYPE_IDX] == MBX_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX]==group_id) //判断接收到的数据是否是response数据
//                     {	
//                        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);
//                                rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;
//                                TagFreqProcess(rx_buffer[TAGFREQ_IDX]);
//                                if(rec_remotepara_state != 0)
//                                {   
//                                    para_update = rec_remotepara_state;
//                                    memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],7);
//                                    if(para_update==2)
//                                    {
//                                        flag_ancreadpara = 1;                                     
//                                    }
//                                }
//                        if(last_nearbase_num==0)
//                        {
//                           get_newbase=1;
//                           nearbaseid_list[0]=rec_nearbaseid;
//                           nearbase_num=1;
//                           memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
//                        }
//                        if(rec_nearbaseid==nearbaseid_list[0])
//                        {
//                                     exsistbase_list[0]=KEEP_TIMES;
//                                   SetANCTimestap(0,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);

                           //////////////////////////////////时间同步
                           memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
                           memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
                           current_count=HAL_LPTIM_ReadCounter(&hlptim1);
//                           memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);		
                           tmp_time=tmp_time+450;
                           if(tmp_time>999)
                           {
                              tmp_time-=999;
                              sync_timer++;
                              if(sync_timer>=1010)
                                 {sync_timer=0;}
                           }
                        //   TIM3->CNT=tmp_time;
//                           if(tagslotpos>max_slotpos)
//                              tagslotpos=tagslotpos%(max_slotpos+1);
//                              tyncpoll_time=(tagslotpos-1)*slottime;
                           ////////////////////////////
                           rec_nearbasepos=0;
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;

                           if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
                              motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
									
									
                           mainbase_lost_count=0;
                           flag_finalsend=1;
                           memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
                           final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+500) * UUS_TO_DWT_TIME)) >> 8;
                           temp1=final_tx_time-((850*UUS_TO_DWT_TIME)>>8);
                           temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);
                        //   dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
                           final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
                           tx_near_msg[MESSAGE_TYPE_IDX]=MBX_FINAL;
                                    tx_near_msg[GROUP_ID_IDX] = group_id;
									
                           dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
                           dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
                           flag_getresponse=1;
                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
									
								
                           //时间同步
//                           ancsync_time=((sync_timer)*1000+tmp_time);	
//                           last_slotnum=current_slotnum;
//                           current_slotnum=((float)sync_timer/g_com_map[COM_INTERVAL])+1;
//                           if(current_slotnum==last_slotnum-1)
//                           {flag_getresponse=1;}
//                           lastsync_timer=sync_timer;
//                           offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
//                           SetNextPollTime(tyncpoll_time);
//                           if(rec_remotepara_state==1)
//                           //////////////////////////////////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)
//                           {
//                                      memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],REMOTEPARA_LEN);
//                              memcpy(&g_com_map[COM_INTERVAL],&rec_remotepara[0],8);
//                              memcpy(&g_com_map[POWER],&rec_remotepara[8],10);
//                                        if(g_com_map[COM_INTERVAL]>0&&g_com_map[COM_INTERVAL]<1000&&g_com_map[POWER]<67&&g_com_map[POWER]>0)
//                              {save_com_map_to_flash();
//                              delay_ms(100);										
//                                        }
//                                        NVIC_SystemReset();
//                           } 
                        }else{
                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                           SetANCTimestap(rec_nearbasepos,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
//                              tmp_time-=999;
//                              sync_timer++;
//                              if(sync_timer>=1010)
//                                 {sync_timer=0;}
//                           }
//                           rec_nearbasepos=0;
//                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;

                           if(rec_nearbasepos>=last_nearbase_num)          //发现新的基站
                           {
                              get_newbase=1;
                              nearbase_num++;
                              nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
                              memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
                           }
									
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
//                           if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
//                              motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
//									
//									
//                           mainbase_lost_count=0;
//                           flag_finalsend=1;
//                           memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
//                           final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+500) * UUS_TO_DWT_TIME)) >> 8;
//                           temp1=final_tx_time-((850*UUS_TO_DWT_TIME)>>8);
//                           temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);
//                        //   dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
//                           final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
//                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
//                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
//                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
//                           tx_near_msg[MESSAGE_TYPE_IDX]=MBX_FINAL;
//                                    tx_near_msg[GROUP_ID_IDX] = group_id;
//									
//                           dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
//                           dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
//                           flag_getresponse=1;
//                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
//                        }else{
//                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
//                           SetANCTimestap(rec_nearbasepos,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);

									
                           if(motor_state<(rx_buffer[MOTORSTATE_INDEX]&0xf)&&(rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
                           {
                                 motor_state=rx_buffer[MOTORSTATE_INDEX];
                           }
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);		
               
                           dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
                           dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
								
//                           if(rec_nearbasepos>=last_nearbase_num)          //发现新的基站
//                           {
//                              get_newbase=1;
//                              nearbase_num++;
//                              nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
//                              memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
//                           }
//									
//                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;

                           //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
                        //   result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送			
                           //dwt_writetxdata(4,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//将发送数据写入DW1000
                        }								
                     }
                  }else{
                  dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
                  if(flag_rxon)
                     {dwt_rxenable(0);	
                     }								
                  }			
               //   dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
         }
            dwt_forcetrxoff();
            dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
            CalculateDists();
            j = 0;
            next_nearbase_num = 0;
         for(i=0;i<nearbase_num;i++)
         {
            if(exsistbase_list[i]>0)
            {	
                    exsistbase_list[i]--;	
               next_nearbase_num++;
               true_exsistbase_list[j]=exsistbase_list[i];
               true_nearbase_idlist[j]=nearbaseid_list[i];			
               true_nearbase_distlist[j++]=nearbase_distlist[i];
					
            }
         }
            nearbase_num = next_nearbase_num;
            if(mainbase_lost_count>1&&exsistbase_list[0] != 0)
         {
                last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
         }
            last_nearbase_num = next_nearbase_num;
         for(i=0;i<last_nearbase_num-1;i++)
         {
            for(j=0;j<last_nearbase_num-1;j++)
            {
               if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
               {
                  u32 temp_dist,temp_id,temp_exsis;
                  temp_dist=true_nearbase_distlist[j];
                  temp_id = true_nearbase_idlist[j];
                  temp_exsis=true_exsistbase_list[i];
                  true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
                  true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
                  true_exsistbase_list[j]=true_exsistbase_list[j+1];
						
                  true_nearbase_distlist[j+1]=temp_dist;
                  true_nearbase_idlist[j+1]=temp_id;
                  true_exsistbase_list[j+1]=temp_exsis;
               }			
            }
         }
			
         report_num=0;
//            if(last_nearbase_num>4)
//									
//                           if(motor_state<(rx_buffer[MOTORSTATE_INDEX]&0xf)&&(rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
//                           {
//                                 motor_state=rx_buffer[MOTORSTATE_INDEX];
//                           }
//                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);		
//               
//                           dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
//                           dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
//                        }								
//                     }
//                  }else{
//                  dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
//                  if(flag_rxon)
//                     {dwt_rxenable(0);	
//                     }								
//                  }			
//               //   dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
//         }
//            dwt_forcetrxoff();
//            dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
//            CalculateDists();
//            j = 0;
//            next_nearbase_num = 0;
//         for(i=0;i<nearbase_num;i++)
//         {
//            if(exsistbase_list[i]>0)
//            {	
//                    exsistbase_list[i]--;	
//               next_nearbase_num++;
//               true_exsistbase_list[j]=exsistbase_list[i];
//               true_nearbase_idlist[j]=nearbaseid_list[i];			
//               true_nearbase_distlist[j++]=nearbase_distlist[i];
//					
//            }
//         }
//            nearbase_num = next_nearbase_num;
//            if(mainbase_lost_count>1&&exsistbase_list[0] != 0)
//         {
//                last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
//         }
//            last_nearbase_num = next_nearbase_num;
//         for(i=0;i<last_nearbase_num-1;i++)
//         {
//            for(j=0;j<last_nearbase_num-1;j++)
//            {
//               if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
//               {
//                  u32 temp_dist,temp_id,temp_exsis;
//                  temp_dist=true_nearbase_distlist[j];
//                  temp_id = true_nearbase_idlist[j];
//                  temp_exsis=true_exsistbase_list[i];
//                  true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
//                  true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
//                  true_exsistbase_list[j]=true_exsistbase_list[j+1];
//						
//                  true_nearbase_distlist[j+1]=temp_dist;
//                  true_nearbase_idlist[j+1]=temp_id;
//                  true_exsistbase_list[j+1]=temp_exsis;
//               }			
//            }
//         }
//			
//         report_num=0;
//   for (i=0;i<last_nearbase_num;i++)
//         {
//            nearbaseid_list[i]=true_nearbase_idlist[i];
//            nearbase_distlist[i]=true_nearbase_distlist[i];
//                exsistbase_list[i] = true_exsistbase_list[i];
//         }
//            
//   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
////HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
//            
//if(para_update==1)
//    {   
//        uint16_t calCRC;
//        calCRC = CRC_Compute(rec_remotepara,5);
//        if(memcmp(&calCRC,&rec_remotepara[5],2)==0)
//        {   uint8_t pack_msgtype,pack_index,pack_length;
//            pack_msgtype = rec_remotepara[0];
//            pack_index = rec_remotepara[1];
//            pack_length = rec_remotepara[2];
//            if(pack_msgtype==2)
//            {
//                last_nearbase_num = 5;
//                if( pack_index == 1)//MOTOR_ONTIME_INDEX)
//                {
//               
//               //     motor_keeptime = rec_remotepara[3];
//                }else if(pack_index == CNT_UPDATE)
//                        {
//                              if(rec_remotepara[3]==2)
//                              {
//                                     EnterUWBUpdateMode();
//                              }
//                        }								
//                           else{
//                    if(pack_index<200)
//                    {
//                        memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
//                        //返回一个error状态
//                        //SendComMap(pack_datalen,pack_index);
//                        save_com_map_to_flash();
//                        delay_ms(100);
//                        NVIC_SystemReset();
//                    }
//                }
//            }
   for (i=0;i<last_nearbase_num;i++)
         {
            nearbaseid_list[i]=true_nearbase_idlist[i];
            nearbase_distlist[i]=true_nearbase_distlist[i];
                exsistbase_list[i] = true_exsistbase_list[i];
         }
//            #ifdef USART_INTEGRATE_OUTPUT	
//                usart_send[0] = 0x55;     
//                usart_send[1] = 0xAA;              
//            usart_send[2] = 4;//正常模式
//            usart_send[3] = report_num*6+2;//正常模式
//            checksum = Checksum_u16(&usart_send[2],report_num*6+2);
//            memcpy(&usart_send[4+report_num*6],&checksum,2);
//            USART_puts(usart_send,6+report_num*6);
//         #endif
            
   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
            
if(para_update==1)
    {   
        uint16_t calCRC;
        calCRC = CRC_Compute(rec_remotepara,5);
        if(memcmp(&calCRC,&rec_remotepara[5],2)==0)
        {   uint8_t pack_msgtype,pack_index,pack_length;
            pack_msgtype = rec_remotepara[0];
            pack_index = rec_remotepara[1];
            pack_length = rec_remotepara[2];
            if(pack_msgtype==2)
            {
                if( pack_index == 1)//MOTOR_ONTIME_INDEX)
                {
               
               //     motor_keeptime = rec_remotepara[3];
                }else if(pack_index == CNT_UPDATE)
                        {
                              if(rec_remotepara[3]==2)
                              {
                                     EnterUWBUpdateMode();
                              }
                        }								
                           else{
                    if(pack_index<200)
                    {
                        memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
                        //返回一个error状态
                        //SendComMap(pack_datalen,pack_index);
                        save_com_map_to_flash();
                        delay_ms(100);
                        NVIC_SystemReset();
                    }
                }
            }
        }
    }
}

u32 id;
void Tag_App(void)//发送模式(TAG标签)
{
	
   //LED0_ON;
   id =  dwt_readdevid() ;
   while (DWT_DEVICE_ID != id) 
    {
        u8 iderror_count = 0;
        id =  dwt_readdevid() ;
        if(iderror_count++>100)
        {
            printf("UWB芯片ID错误");
            break;
        }
    }
    delay_us(100);
   g_Resttimer=0;
   NearPoll();
   dwt_entersleep();
    bat_percent=Get_VDDVlotage();
}
//        }
//    }
//}
//u8 regpoll_count;
//u32 id;
//void Tag_App(void)//发送模式(TAG标签)
//{
//	
//   //LED0_ON;
//   id =  dwt_readdevid() ;
//   while (DWT_DEVICE_ID != id) 
//    {
//        u8 iderror_count = 0;
//        id =  dwt_readdevid() ;
//        if(iderror_count++>100)
//        {
//            printf("UWB芯片ID错误");
//            break;
//        }
//    }
//    delay_us(100);
//   g_Resttimer=0;
//    if(freqlost_count>FREQ_LOST_TIME)
//    {
//        if(regpoll_count++>11) //待机状态1分钟上传一次基站状态
//        {
//            regpoll_count = 0;
//            Registor_Poll();
//        }
//    }else{
//        if(regpoll_count++>59)//测距状态1分钟上传一次基站状态
//        {
//            regpoll_count = 0;
//            Registor_Poll();
//        }
//    }
//   NearPoll();
//   dwt_entersleep();
//    bat_percent=Get_VDDVlotage();
//}