XRange_Tag.git - Gitblit

			@@ -15,6 +15,7 @@
			*/

			#include <string.h>
			#include <math.h>
			#include "dw_app.h"
			#include "deca_device_api.h"
			#include "deca_regs.h"
			@@ -29,6 +30,7 @@
			#include "beep.h"
			#include "modbus.h"

			#define USART_INTEGRATE_OUTPUT
			/------------------------------------ Marcos ------------------------------------------/
			/* Inter-ranging delay period, in milliseconds. */
			#define RNG_DELAY_MS 100
			@@ -46,15 +48,19 @@
			#define POLL_TX_TO_RESP_RX_DLY_UUS 150
			/* 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 800
			#define RESP_RX_TO_FINAL_TX_DLY_UUS 410

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

			#define POLL_RX_TO_RESP_TX_DLY_UUS 420
			#define DELAY_BETWEEN_TWO_FRAME_UUS 400

			#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. */
			#define FINAL_RX_TIMEOUT_UUS 4300


			#define SPEED_OF_LIGHT 299702547

			@@ -64,29 +70,13 @@
			#define FINAL_MSG_FINAL_TX_TS_IDX 18
			#define FINAL_MSG_TS_LEN 4

			#define SYNC_SEQ_IDX 5

			#define GROUP_ID_IDX 0
			#define ANCHOR_ID_IDX 1
			#define TAG_ID_IDX 5
			#define MESSAGE_TYPE_IDX 9
			#define DIST_IDX 10
			//Poll
			#define ANC_TYPE_IDX 14
			#define BATTARY_IDX 15
			#define BUTTON_IDX 16
			#define SEQUENCE_IDX 17
			//respose
			#define ANCTIMEMS 14
			#define ANCTIMEUS 16

			#define POLL 0x01
			#define RESPONSE 0x02
			#define FINAL 0x03
			#define SYNC 0x04

			/------------------------------------ Variables ------------------------------------------/
			/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
			enum enumtagstate
			{
			DISCPOLL,
			GETNEARMSG,
			NEARPOLL,
			}tag_state=NEARPOLL;
			static dwt_config_t config = {
			2, /* Channel number. */
			DWT_PRF_64M, /* Pulse repetition frequency. */
			@@ -99,67 +89,34 @@
			DWT_PHRMODE_STD, /* PHY header mode. */
			(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
			};

			/* Frames used in the ranging process. See NOTE 2 below. */
			static uint8_t tx_poll_msg[20] = {0};
			static uint8_t tx_sync_msg[14] = {0};
			//static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
			static uint8_t tx_final_msg[24] = {0};

			//static uint8_t rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
			static uint8_t tx_resp_msg[20] = {0};
			//static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};

			/* Frame sequence number, incremented after each transmission. */
			static uint32_t frame_seq_nb = 0,frame_seq_nb2=0;

			/* Hold copy of status register state here for reference, so reader can examine it at a breakpoint. */
			static uint8_t tx_final_msg[60] = {0};
			static uint8_t tx_resp_msg[22] = {0};
			uint8_t tx_near_msg[80] = {0};

			static uint32_t frame_seq_nb = 0;
			static uint32_t status_reg = 0;

			/* Buffer to store received response message.
			* Its size is adjusted to longest frame that this example code is supposed to handle. */
			#define RX_BUF_LEN 24
			static uint8_t rx_buffer[RX_BUF_LEN];

			/* Time-stamps of frames transmission/reception, expressed in device time units.
			* As they are 40-bit wide, we need to define a 64-bit int type to handle them. */
			static uint8_t rx_buffer[100];
			static uint64_t poll_tx_ts;
			static uint64_t resp_rx_ts;
			static uint64_t final_tx_ts;

			/* Length of the common part of the message (up to and including the function code, see NOTE 2 below). */
			static uint64_t poll_rx_ts;
			static uint64_t resp_tx_ts;
			static uint64_t final_rx_ts;

			static double tof;

			int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
			uint32_t tag_id = 0;
			uint32_t tag_id_recv = 0;
			uint32_t anc_id_recv = 0;
			uint8_t random_delay_tim = 0;

			double distance, dist_no_bias, dist_cm;

			uint32_t g_UWB_com_interval = 0;
			float dis_after_filter; //当前距离值
			LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器

			int32_t g_Tagdist[TAG_NUM_IN_SYS];
			uint8_t g_flag_Taggetdist[256];
			/------------------------------------ Functions ------------------------------------------/


			/*! ------------------------------------------------------------------------------------------------------------------
			* @fn get_tx_timestamp_u64()
			*
			* @brief Get the TX time-stamp in a 64-bit variable.
			* /!\ This function assumes that length of time-stamps is 40 bits, for both TX and RX!
			*
			* @param none
			*
			* @return 64-bit value of the read time-stamp.
			*/
			static uint64_t get_tx_timestamp_u64(void)
			{
			uint8_t ts_tab[5];
			@@ -174,16 +131,6 @@
			return ts;
			}

			/*! ------------------------------------------------------------------------------------------------------------------
			* @fn get_rx_timestamp_u64()
			*
			* @brief Get the RX time-stamp in a 64-bit variable.
			* /!\ This function assumes that length of time-stamps is 40 bits, for both TX and RX!
			*
			* @param none
			*
			* @return 64-bit value of the read time-stamp.
			*/
			static uint64_t get_rx_timestamp_u64(void)
			{
			uint8_t ts_tab[5];
			@@ -198,17 +145,6 @@
			return ts;
			}

			/*! ------------------------------------------------------------------------------------------------------------------
			* @fn final_msg_set_ts()
			*
			* @brief Fill a given timestamp field in the final message with the given value. In the timestamp fields of the final
			* message, the least significant byte is at the lower address.
			*
			* @param ts_field pointer on the first byte of the timestamp field to fill
			* ts timestamp value
			*
			* @return none
			*/
			static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
			{
			int i;
			@@ -228,23 +164,6 @@
			ts += ts_field[i] << (i 8);
			}
			}
			void TagDistClear(void)
			{
			static uint16_t clear_judge_cnt;
			uint16_t i;
			if(clear_judge_cnt++>1000) //设定1S分频，每秒进一次。判断标志位大于等于2，2s没收到数据就把数据变成0xffff，不触发警报。
			{
			clear_judge_cnt=0;
			for(i=0;i<255;i++)
			{
			g_flag_Taggetdist[i]++;
			if(g_flag_Taggetdist[i]>=20)
			{
			g_Tagdist[i]=0xffff;
			}
			}
			}
			}

			void Dw1000_Init(void)
			{
			@@ -252,9 +171,9 @@
			* For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
			* performance. */
			Reset_DW1000();//重启DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
			Spi_ChangePrescaler(SPIx_PRESCALER_SLOW); //设置为快速模式
			Spi_ChangePrescaler(SPIx_PRESCALER_SLOW); //设置为快速模式
			dwt_initialise(DWT_LOADUCODE);//初始化DW1000
			Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //设置为快速模式
			Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //设置为快速模式

			/* Configure DW1000. See NOTE 6 below. */
			dwt_configure(&config);//配置DW1000
			@@ -272,15 +191,18 @@
			void Dw1000_App_Init(void)
			{
			//g_com_map[DEV_ID] = 0x0b;
			//tag_state=DISCPOLL;
			tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
			tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
			tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
			tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;

			memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 4);
			memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 4);
			memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 4);
			memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 4);
			memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 2);
			memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
			memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
			memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 2);
			memcpy(&tx_near_msg[ANCHOR_ID_IDX], &dev_id, 2);
			memcpy(&tx_near_msg[TAG_ID_IDX], &dev_id, 2);
			}
			uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
			{
			@@ -292,225 +214,442 @@
			return sum;
			}

			uint16_t tag_time_recv[TAG_NUM_IN_SYS];
			uint8_t usart_send[25];
			uint8_t battary,button;
			u16 tag_time_recv[TAG_NUM_IN_SYS];
			u8 usart_send[25];
			u8 battary,button;
			extern uint8_t g_pairstart;
			void tag_sleep_configuraion(void)
			{
			dwt_configuresleep(0x940, 0x7);
			dwt_entersleep();
			}
			uint8_t g_start_send_flag;
			uint8_t g_start_sync_flag;
			void SyncPoll(uint8_t sync_seq)
			{
			g_start_sync_flag=1;
			dwt_forcetrxoff();
			tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
			dwt_writetxdata(sizeof(tx_sync_msg), tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
			dwt_writetxfctrl(sizeof(tx_sync_msg), 0);//设置超宽带发送数据长度
			dwt_starttx(DWT_START_TX_IMMEDIATE);
			}
			extern uint8_t g_start_send_flag;

			uint16_t g_Resttimer;
			uint8_t result;
			uint8_t tag_succ_times=0;
			int32_t hex_dist,hex_dist2;
			uint16_t checksum;
			u8 tag_succ_times=0;
			int32_t hex_dist;
			u16 checksum;
			int8_t tag_delaytime;
			extern uint16_t sync_timer;
			uint16_t tmp_time,current_slottimes;
			uint32_t time32_incr;
			int32_t ancsync_time;
			uint32_t frame_len;
			int32_t count_offset,nextpoll_delaytime;
			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;
			}

			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 motor_state,rec_remotepara_state,rec_remotepara[80];
			extern u16 last_lpcount;
			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(10000);
			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;
			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);
			tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
			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_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;
			flag_finalsend=0;
			flag_rxon=1;
			flag_getresponse=0;
			start_count=HAL_LPTIM_ReadCounter(&hlptim1);
			recbase_num=0;
			timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
			end_count=start_count+(timeout<<5);
			if(end_count>=32768)
			{end_count-=32768;}
			mainbase_dist=100000;
			mainbase_lost_count++;
			current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			while(current_count<end_count\|\|current_count>end_count+15000)
			{
			current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG \| SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
			{
			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;
			};
			if(status_reg==0xffffffff)
			{
			NVIC_SystemReset();
			}
			if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
			{
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG \| SYS_STATUS_TXFRS);//清楚寄存器标志位
			frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
			dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
			dwt_setrxtimeout(0);//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)&&rx_buffer[GROUP_ID_IDX]==group_id) //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])
			{
			//////////////////////////////////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;
			memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
			nearbase_distlist[rec_nearbasepos]=temp_dist;
			if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
			motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
			rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;

			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_UUSnearbase_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;
			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)
			// {
			// 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);

			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;
			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)
			{
			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


			//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);
			}
			if(mainbase_lost_count>tag_frequency*BASELOST_STOPMOTOR_TIME)
			{motor_state=0; }
			dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG\| SYS_STATUS_ALL_RX_ERR);
			nearbase_num=recbase_num;
			j=0;
			if(mainbase_lost_count>1)
			{
			last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
			}
			// 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]--;
			}
			}

			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]==KEEP_TIMES)
			{
			memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
			memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
			report_num++;
			}
			}
			#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

			for(i=0;i<MAX_NEARBASE_NUM;i++)
			{
			nearbase_distlist[i]=0x1ffff;
			}
			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);

			}
			u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
			void GetNearMsg(void)
			{
			u32 start_poll,frame_len;
			if(nearmsg_mainbase)
			{nearmsg_mainbase=0;
			}else{
			nearmsg_mainbase=1;
			}
			memcpy(&tx_near_msg[ANCHOR_ID_IDX],&nearmsg_mainbase,2);
			memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
			tx_near_msg[GROUP_ID_IDX] = group_id;
			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
			dwt_writetxfctrl(12, 0);//设置超宽带发送数据长度
			dwt_starttx(DWT_START_TX_IMMEDIATE\| DWT_RESPONSE_EXPECTED);

			/* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
			while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG \| SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
			{
			};
			if(status_reg==0xffffffff)
			{
			NVIC_SystemReset();
			}
			if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
			{
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG \| SYS_STATUS_TXFRS);//清楚寄存器标志位
			frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
			dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
			if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
			{
			nearbase_num=rx_buffer[NEARBASENUM_INDEX];
			memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
			tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
			//tagslotpos=rx_buffer[TAGSLOTPOS];
			memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
			//slottime=ceil((nearbase_num+2)*0.3)+1;
			tyncpoll_time=tagslotpos*slottime;
			tag_state=NEARPOLL;
			}
			}else{
			tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
			}
			}
			u32 id;
			void Tag_App(void)//发送模式(TAG标签)
			{

			uint32_t final_tx_time;
			uint32_t start_poll,id;
			uint8_t i,getsync_flag=0;
			//LED0_ON;
			//dwt_forcetrxoff();
			id = dwt_readdevid() ;
			while (DWT_DEVICE_ID != id)
			{
			id = dwt_readdevid() ;
			}

			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;
			tx_poll_msg[BATTARY_IDX] = bat_percent;
			//tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
			tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;

			for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
			// tag_state=DISCPOLL;
			switch(tag_state)
			{
			/* 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
			case DISCPOLL:
			// Poll();
			break;
			case GETNEARMSG:

			/* 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. */
			result=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
			{
			status_reg = dwt_read32bitreg(SYS_STATUS_ID);
			// if(time32_incr - start_poll>20)
			// NVIC_SystemReset();
			// IdleTask();

			};

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

			break;
			case NEARPOLL:
			//GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);
			NearPoll();
			//GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
			break;
			}

			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[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
			{ uint16_t anc_id_recv,current_count;
			/* 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);
			/* 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

			ancsync_time=((sync_timer+0)*1000+tmp_time);
			current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			// count_offset=sync_count-current_count-143;
			// current_slottimes=(ancsync_time-10000)/(g_com_map[COM_INTERVAL]*1000);
			nextpoll_delaytime=tyncpoll_time1000+g_com_map[COM_INTERVAL]1000-((ancsync_time-10000)%(g_com_map[COM_INTERVAL]*1000))-5150;
			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);

			// printf("ancsync_time: %u \r\n ",ancsync_time);
			// printf("current_slottimes: %u ",current_slottimes);
			// printf("nextpoll_delaytime: %u ",nextpoll_delaytime);
			// printf("current_count: %u ",current_count);
			// printf("lastpoll_count: %u",lastpoll_count);


			tag_succ_times++;


			memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
			// g_Tagdist[anc_id_recv]= hex_dist;
			// g_flag_Taggetdist[anc_id_recv]=0;
			if(!g_com_map[MODBUS_MODE])
			{
			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] = battary;
			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);
			}
			bat_percent=Get_Battary_UWB();
			dwt_entersleep();
			// if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM])
			// {
			// //poll_timer +=time32_incr&0x7+3;
			// }
			//HAL_PWR_EnterSLEEPMode(PWR_MAINREGULATOR_ON, PWR_SLEEPENTRY_WFI);
			/* Execute a delay between ranging exchanges. */

			}