1

zhyinch

2020-11-13 67e9f19a27e24c4804ebe321c72951380637fef2

 Src/application/dw_app.c

@@ -44,15 +44,15 @@

/* Delay between frames, in UWB microseconds. See NOTE 4 below. */
/* 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 POLL_TX_TO_RESP_RX_DLY_UUS 150
#define POLL_TX_TO_RESP_RX_DLY_UUS 10
/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
 * frame length of approximately 2.66 ms with above configuration. */
#define RESP_RX_TO_FINAL_TX_DLY_UUS 510

/* Receive response timeout. See NOTE 5 below. */
#define RESP_RX_TIMEOUT_UUS 600
#define RESP_RX_TIMEOUT_UUS 1000

#define DELAY_BETWEEN_TWO_FRAME_UUS 400
#define DELAY_BETWEEN_TWO_FRAME_UUS 240

#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. */
@@ -69,21 +69,22 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4


#define STARTPOLL  DISCPOLL
enum enumtagstate
{
   REGPOLL,
   DISCPOLL,
   GETNEARMSG,
   NEARPOLL,
}tag_state=DISCPOLL;
}tag_state=STARTPOLL;
static dwt_config_t config = {
   2,               /* Channel number. */
   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. */
   0,               /* Use non-standard SFD (Boolean) */
   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. */
@@ -196,6 +197,10 @@
   tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
   tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
   
      memcpy(&tx_poll_msg[GROUP_ID_IDX], &group_id, 1);
   memcpy(&tx_final_msg[GROUP_ID_IDX], &group_id, 1);
   memcpy(&tx_resp_msg[GROUP_ID_IDX], &group_id, 1);
	
   memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 2);
   memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
   memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
@@ -284,16 +289,184 @@
   }
return max_slotpos-1;
}
void MODBUS_Poll(void)
{
   uint32_t frame_len;
   uint32_t final_tx_time;
   u32 start_poll;
   u8 i,getsync_flag=0;
   u8 bat_percent;
   //LED0_ON;
   //dwt_forcetrxoff();
   g_Resttimer=0;
    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;

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;
   if(bat_percent>100)
      bat_percent=100;
   tx_poll_msg[BATTARY_IDX] = bat_percent;//Get_Battary();
//   tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
   tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
//   GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);
   for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
   {
   /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
   tx_poll_msg[ANC_TYPE_IDX] = i;
		
   dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//设置超宽带发送数据长度

   /* Start transmission, indicating that a response is expected so that reception is enabled automatically after the frame is sent and the delay
    * set by dwt_setrxaftertxdelay() has elapsed. */
   dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
//   start_poll = time32_incr;
   /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
   while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
   { 
      IdleTask();
		
   };

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

   if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
   {
      /* Clear good RX frame event and TX frame sent in the DW1000 status register. */
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位

      /* A frame has been received, read it into the local buffer. */
      frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;   //获得接收到的数据长度

      dwt_readrxdata(rx_buffer, frame_len, 0);   //读取接收数据


      /* Check that the frame is the expected response from the companion "DS TWR responder" example.
       * As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
		
      if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据
      { u16 anc_id_recv,rec_com_interval;
         /* Retrieve poll transmission and response reception timestamp. */
         poll_tx_ts = get_tx_timestamp_u64();                              //获得POLL发送时间T1
         resp_rx_ts = get_rx_timestamp_u64();                              //获得RESPONSE接收时间T4
			
         if(getsync_flag==0&&g_com_map[DEV_ROLE])
         {
            getsync_flag=1;
         memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
         memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
         tmp_time=tmp_time+450;
         if(tmp_time>999)
         {
            tmp_time-=999;
            sync_timer++;
            if(sync_timer>=1010)
               {sync_timer=0;}
         }
      //   TIM3->CNT=tmp_time;
      }
      //   memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
         memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
      //   memcpy(&rec_com_interval,&rx_buffer[ANCSEND_INTERVAL],  2);
//         if(rec_com_interval>4&&rec_com_interval!=g_com_map[COM_INTERVAL])
//         {
//            g_com_map[COM_INTERVAL]=rec_com_interval;
//            save_com_map_to_flash();
//         //   delay_ms(100);
//            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
//         }
		
         /* Compute final message transmission time. See NOTE 9 below. */
         final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计算final包发送时间，T5=T4+Treply2
         dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5

         /* Final TX timestamp is the transmission time we programmed plus the TX antenna delay. */
         final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay

         /* Write all timestamps in the final message. See NOTE 10 below. */
         final_msg_set_ts(&tx_final_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
         final_msg_set_ts(&tx_final_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
         final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);

         /* Write and send final message. See NOTE 7 below. */
		
         dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//将发送数据写入DW1000
         dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度
         result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
			
         tag_succ_times++;
			
            LED0_BLINK;
				
               memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
//               if(hex_dist2!=0xffff)
//               {	
//               g_Tagdist[anc_id_recv]=   hex_dist2;
//               g_flag_Taggetdist[anc_id_recv]=0;
//					
//               if(!g_com_map[MODBUS_MODE])
//               {
//               hex_dist2 = hex_dist2;		
//               usart_send[2] = 1;//正常模式
//               usart_send[3] = 17;//数据段长度
//               usart_send[4] = frame_seq_nb;//数据段长度
//               memcpy(&usart_send[5],&dev_id,2);
//               memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);
//				
//               memcpy(&usart_send[9],&hex_dist2,4);
//               usart_send[13] = bat_percent;
//               usart_send[14] = button;
//               checksum = Checksum_u16(&usart_send[2],17);
//               memcpy(&usart_send[19],&checksum,2);
//               UART_PushFrame(usart_send,21);
//               }
//            }
      //         memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
         /* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
         if(result==0)
         {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
         { };
      }
         /* Clear TXFRS event. */
         dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清除标志位

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

         random_delay_tim = 0;
      }
      else
      {
         random_delay_tim = DFT_RAND_DLY_TIM_MS; //如果通讯失败，将间隔时间增加5ms，避开因为多标签同时发送引起的冲突。
      }
   }
   else
   {
      /* Clear RX error events in the DW1000 status register. */
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
      random_delay_tim = DFT_RAND_DLY_TIM_MS;
   }
//   deca_sleep(10);
}
//   dwt_entersleep();


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

}
int32_t mainbase_dist,nearbase_switchdistlist[MAX_NEARBASE_NUM],nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
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;

extern u16 bigslot_num;
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;
int16_t offset=4700,temptimer;
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
void Poll(void)
{
@@ -363,9 +536,17 @@
         tag_succ_times++;      
            LED0_BLINK;
         
                  tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;	
            SetNextPollTime(tyncpoll_time);
                           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)
         {
@@ -403,6 +584,7 @@
      tyncpoll_time=(tagslotpos-1)*slottime;
   }
   mainbase_id=minid;
//   mainbase_id = 0x9804;
}
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
void GetNearMsg(void)
@@ -437,48 +619,55 @@
      {
         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);
         //slottime=ceil((nearbase_num+2)*0.3)+1;
         tyncpoll_time=tagslotpos*slottime;
         //tyncpoll_time=tagslotpos*slottime;
         //tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;	
         tag_state=NEARPOLL;
      }
   }else{
         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
   }
}
extern u8 userkey_state;
uint8_t changemainbase_count=0,gotosleep_flag;
uint32_t frame_len;
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;
    dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);         //设置发送后开启接收，并设定延迟时间
    dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);      
   tag_succ_times = 0;
      //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
	
   if(next_nearbase_num>=MAX_NEARBASE_NUM)
   {
      next_nearbase_num = MAX_NEARBASE_NUM-1;
   }
   HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
   last_nearbase_num=next_nearbase_num;
   nearbase_num=next_nearbase_num;

   recbase_num=0;
   motor_state=0;
//   motor_state=0;
   
   tx_near_msg[BATTARY_IDX] = bat_percent;
   tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
   tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2;
   tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
   tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
   memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
   tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;   
	
   tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;	
   tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;	

   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);   
   dwt_writetxdata(13+2*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(13+2*nearbase_num, 0);//设置超宽带发送数据长度
   dwt_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_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;
@@ -488,7 +677,7 @@
   flag_getresponse=0;
   start_count=HAL_LPTIM_ReadCounter(&hlptim1);
   recbase_num=0;
   timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
   timeout=ceil((float)nearbase_num*SLOT_SCALE)+2;
   end_count=start_count+(timeout<<5);
   if(end_count>=32768)
   {end_count-=32768;}
@@ -500,20 +689,6 @@
            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)
                  {
                     dw_systime=dwt_readsystimestamphi32();
                     if(dw_systime>temp1&&dw_systime<temp2)
                     {
								
                        dwt_forcetrxoff();
                        flag_rxon=0;
                        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;
@@ -525,47 +700,38 @@
               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
                     dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);//设定接收超时时间，0位没有超时时间
                     dwt_rxenable(0);//打开接收
                     frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;   //获得接收到的数据长度
                     dwt_readrxdata(rx_buffer, frame_len, 0);   //读取接收数据
                     dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
                     dwt_rxenable(0);//打开接收

                     if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
                     {   u16 rec_nearbaseid,rec_nearbasepos;
                        poll_tx_ts = get_tx_timestamp_u64();                              //获得POLL发送时间T1
                        resp_rx_ts = get_rx_timestamp_u64();                              //获得RESPONSE接收时间T4   
                        recbase_num++;
                        memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
                        if(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])
                        if(rec_nearbaseid==mainbase_id)
                        {
                           //////////////////////////////////时间同步
                           memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
                           memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
                           current_count=HAL_LPTIM_ReadCounter(&hlptim1);
//                           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;
                              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;
                           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);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                           mainbase_dist=temp_dist;
                           if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
                              motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
                           rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
@@ -573,15 +739,7 @@
                           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]=NEAR_FINAL;
									
                           if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
                           {
                              para_update = 1;
@@ -589,156 +747,140 @@
                              para_len = frame_len-22;
                              memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
                           }
									
                           dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
                           dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
                           flag_getresponse=1;
                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
									
								
                           flag_getresponse=1;								
                           //时间同步
                        tmp_time=tmp_time+450;
                           if(tmp_time>999)
                           {
                              tmp_time-=999;
                              sync_timer++;
                              if(sync_timer>=1000)
                                 {sync_timer=0;}
                           }
                           ancsync_time=((sync_timer)*1000+tmp_time);   
                           last_slotnum=current_slotnum;
                           current_slotnum=((float)sync_timer/g_com_map[COM_INTERVAL])+1;
                           current_slotnum=((float)(sync_timer*10)/(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(tyncpoll_time);

									
                        //   count_offset=sync_count-current_count-143;
                        //   current_slottimes=(ancsync_time-10000)/(g_com_map[COM_INTERVAL]*1000);
                        //   nextpoll_delaytime=tyncpoll_time*1000+g_com_map[COM_INTERVAL]*1000-((ancsync_time)%(g_com_map[COM_INTERVAL]*1000))-4300;
//                           if(abs(ancsync_time-910000)<1000)
//                           {
//                           nextpoll_delaytime+=10000;
//                           }		
//                           if(nextpoll_delaytime<2000)
//                           {
//                              nextpoll_delaytime+=g_com_map[COM_INTERVAL]*1000;
//                           }
//                           lastpoll_count= current_count+(nextpoll_delaytime)/LPTIMER_LSB;
//                           if(lastpoll_count>LPTIMER_1S_COUNT)
//                              lastpoll_count-=LPTIMER_1S_COUNT;
//                           __HAL_LPTIM_COMPARE_SET(&hlptim1, lastpoll_count);
         /////////////////////////////////////////
//                           dwt_setdelayedtrxtime(final_tx_time);
//                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送	
                           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);
                           
                              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);
                           }
									
                           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;
									
                           if(motor_state<(rx_buffer[MOTORSTATE_INDEX]&0xf)&&(rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
                           memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;								
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
                           if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]!=0&&temp_dist!=0)
                           {
                                 motor_state=rx_buffer[MOTORSTATE_INDEX];
                              mainbase_id = rec_nearbaseid;
                              tag_state = GETNEARMSG;
                           }
                        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);
                           }
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);								
                           dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
                           dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
                        

                           //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
                        //   result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送			
                           //dwt_writetxdata(4,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//将发送数据写入DW1000
                        }								
                  }								
                     }
                  }else{
                  dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
                  if(flag_rxon)
                     {dwt_rxenable(0);	
                     }								
                  if(recbase_num!=nearbase_num+1)
                     {dwt_rxenable(0);   }
                     //                  if(flag_rxon)
//                     {
                  //      dwt_rxenable(0);	
//                     }								
                  }         
               //   dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
         }
         dwt_forcetrxoff();
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
         nearbase_num=recbase_num;
      j=0;
         if(exsistbase_list[0]==0)
         {
//          u8 temp_adc,random_value;
//            random_value=0;
//            for(i=0;i<8;i++)
//            {
//               temp_adc=Get_ADC_Value();
//               random_value=random_value|((temp_adc&0x01)<<i);
//            }
            tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;	
            SetNextPollTime(tyncpoll_time);
//            SetNextPollTime(tagslotpos);
         }
      //   tyncpoll_time=0;
         next_nearbase_num=0;
         for(i=0;i<last_nearbase_num+get_newbase;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]--;
            }
         }
//         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++)
         {
            for(j=0;j<last_nearbase_num-1;j++)
            {
               if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
               {
                  u32 temp_dist,temp_id,temp_exsis;
                  temp_dist=true_nearbase_distlist[j];
                  temp_id = true_nearbase_idlist[j];
                  temp_exsis=true_exsistbase_list[i];
                  true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
                  true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
                  true_exsistbase_list[j]=true_exsistbase_list[j+1];
						
                  true_nearbase_distlist[j+1]=temp_dist;
                  true_nearbase_idlist[j+1]=temp_id;
                  true_exsistbase_list[j+1]=temp_exsis;
               }			
            }
         }
			
         report_num=0;
   for (i=0;i<last_nearbase_num;i++)
         {
            nearbaseid_list[i]=true_nearbase_idlist[i];
            nearbase_distlist[i]=true_nearbase_distlist[i];
            if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==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;
         }
//         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++)
//         {
//            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;
//               }			
//            }
//         }

//         if(true_nearbase_distlist[0]<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST&&true_exsistbase_list[0])
//         {
//            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;
//         }
         if(para_update)
         {
         uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
@@ -759,28 +901,117 @@
HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);

}
extern uint8_t module_power,imu_enable,motor_enable;

void Registor_Poll(void)
{
   static u8 regpoll_count=0;
      tag_frequency = REGISTER_FREQUENCY;
      bigslot_num = TOTAL_SLOTNUM/tag_frequency;
      regpoll_count++;
      if(regpoll_count%2)
      {
         if(tagslotpos--<2)
            tagslotpos=TOTAL_SLOTNUM;
      }
      SetNextPollTime(tagslotpos);
      dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);         //设置发送后开启接收，并设定延迟时间
    dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);		

      tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
      tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL;	
      tx_near_msg[REGP_FREQUENCY_INDEX] = 1000/g_com_map[COM_INTERVAL];
      tx_near_msg[REGP_POWER_INDEX] = module_power;
      memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);	
      memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[IMU_THRES],2);
      memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[NOMOVESLEEP_TIME],2);
      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
      dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
   while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
   { 
      IdleTask();
		
   };
      if(status_reg==0xffffffff)
               {
                  NVIC_SystemReset();
               }
               if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
                  {
                     dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位				
                     frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;   //获得接收到的数据长度
                     dwt_readrxdata(rx_buffer, frame_len, 0);   //读取接收数据
                     if (rx_buffer[MESSAGE_TYPE_IDX] == REG_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
                     {   u16 rec_nearbaseid,rec_nearbasepos;
								
                        memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
                        tag_frequency = rx_buffer[REGR_TAGFREQ_INDEX];
                        bigslot_num = TOTAL_SLOTNUM/tag_frequency;
                        tagslotpos = rx_buffer[REGR_TAGSLOTPOS_INDEX];
                           //////////////////////////////////时间同步
                           memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
                           memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
                           current_count=HAL_LPTIM_ReadCounter(&hlptim1);
//                           memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);		
                           tmp_time=tmp_time+450;
                           if(tmp_time>999)
                           {
                              tmp_time-=999;
                              sync_timer++;
                              if(sync_timer>=1010)
                                 {sync_timer=0;}
                           }
                           ancsync_time=((sync_timer)*1000+tmp_time);	
                           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);
                           mainbase_id=rec_nearbaseid;
                           nearbase_num=rx_buffer[NEARBASENUM_INDEX];
                           memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
                           tag_state = NEARPOLL;
                        }
                     }
}
u32 id;
void Tag_App(void)//发送模式(TAG标签)
{
   u32 id;
	
   //LED0_ON;
   id =  dwt_readdevid() ;
       while (DWT_DEVICE_ID != id) 
    {
         Dw1000_Init();
         id =  dwt_readdevid() ;
    }

   g_Resttimer=0;
//   tag_state=DISCPOLL;
   switch(tag_state)
   {
      case REGPOLL:
         LED_LG_ON;		
         Registor_Poll();			
         LED_LG_OFF;
         break;
      case DISCPOLL:
         LED_LG_ON;		
         Poll();
         LED_LG_OFF;
         break;
      case GETNEARMSG:

            GetNearMsg();
	 
         trygetnearmsg_times--;	
         LED_LG_ON;		
            GetNearMsg();	 
      LED_LG_OFF;
      if(trygetnearmsg_times==0)
      {
         tag_state = DISCPOLL;
      }
         break;
      case NEARPOLL:
         //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);