国新智能V1.7

yincheng.zhong

2024-01-29 4691492f913d0730703f8fcdacd0a02d455d65a1

 Src/application/dw_app.c

@@ -76,8 +76,8 @@
    DISCPOLL,
    GETNEARMSG,
    NEARPOLL,
} tag_state=GETNEARMSG;
static dwt_config_t config = {
} tag_state=NEARPOLL;
dwt_config_t config = {
    5,               /* Channel number. */
    DWT_PRF_64M,     /* Pulse repetition frequency. */
    DWT_PLEN_128,    /* Preamble length. */
@@ -164,7 +164,14 @@
        *ts += ts_field[i] << (i * 8);
    }
}

void SetNLOSNTMSettings(void)
{
    uint8_t temp;
    temp = 7;
    dwt_writetodevice(LDE_IF_ID,LDE_CFG1_OFFSET,1,&temp);
    dwt_write16bitoffsetreg(LDE_IF_ID,LDE_CFG2_OFFSET,3);
    // NTM = dwt_read32bitoffsetreg(LDE_IF_ID,LDE_CFG1_OFFSET) & LDE_CFG1_NSTDEV_MASK;
}
void Dw1000_Init(void)
{
    /* Reset and initialise DW1000.
@@ -177,7 +184,7 @@

    /* Configure DW1000. See NOTE 6 below. */
    dwt_configure(&config);//配置DW1000

   // SetNLOSNTMSettings();


    /* Apply default antenna delay value. See NOTE 1 below. */
@@ -285,6 +292,32 @@
    }
    return max_slotpos-1;
}
uint32_t rec_tagpos_binary;
extern uint16_t current_slotnum,total_slotnum;
uint16_t  target_time,last_time;
uint32_t tagpos_binary;
void SetNextPollTime(uint16_t time)
{
   current_slotnum++;
   if(current_slotnum==total_slotnum)
      current_slotnum-=total_slotnum;
   //time=5;
   target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time);

   last_time=target_time;
   if(target_time>=990&&target_time<992)
   {
      current_slotnum++;
   target_time+=g_com_map[COM_INTERVAL];
   tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
   tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;	
   }	
   if(target_time>=1000)
   {target_time-=1000;}
   if(target_time<0)
   {target_time+=1000;}

}

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;
@@ -292,7 +325,7 @@
u8 flag_finalsend,flag_getresponse,flag_rxon;
uint16_t current_count,start_count,end_count,lastsync_timer;
int16_t target_offsettime = 850;
u32 target_time=100;
//u32 target_time=100;
u8 pd_i;
u32 temptime,delaytime,expect_anctime;
int32_t error_time;
@@ -366,11 +399,11 @@
    __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
    last_lpcount = lpcount;
}
u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len;
u32 rec_tagpos_binary;
int16_t offset=2700;
extern int16_t g_commap_antdelay;
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
//u8 motor_state,rec_remotepara_state,rec_remotepara[80];
u16 sync_anc_id = 0xffff,sync_anc_losttime = 0;
int32_t ancsync_time,tpos;
void SyncAncUpdate(u16 ancid,int32_t anctime,u16 slotpos)
@@ -383,370 +416,370 @@
      sync_anc_id = ancid;   
   }
}
void NearPoll(void)
{
//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;
    //
    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;
      if(sync_anc_losttime++>10)
      {
         sync_anc_id = 0xffff;
      }
//   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[NEARBASEID_INDEX+nearbase_num*4],&g_commap_antdelay,2);
    memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
    dwt_writetxdata(15+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(15+4*nearbase_num, 0);//设置超宽带发送数据长度
		
      current_count=HAL_LPTIM_ReadCounter(&hlptim1);		
      while(current_count<poll_startcount||current_count>poll_startcount+16384)
      {
         current_count=HAL_LPTIM_ReadCounter(&hlptim1);
         if(current_count<poll_startcount-300)
         {
            break;
         }
      }
		
    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
      HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
    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)
                {
//    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;
//    //
//    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;
//      if(sync_anc_losttime++>10)
//      {
//         sync_anc_id = 0xffff;
//      }
////   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[NEARBASEID_INDEX+nearbase_num*4],&g_commap_antdelay,2);
//    memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
//    dwt_writetxdata(15+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(15+4*nearbase_num, 0);//设置超宽带发送数据长度
//		
//      current_count=HAL_LPTIM_ReadCounter(&hlptim1);		
//      while(current_count<poll_startcount||current_count>poll_startcount+16384)
//      {
//         current_count=HAL_LPTIM_ReadCounter(&hlptim1);
//         if(current_count<poll_startcount-300)
//         {
//            break;
//         }
//      }
//		
//    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
//      HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
//    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(&rec_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);																			
                              SyncAncUpdate(rec_nearbaseid,ancsync_time,rec_tagslotpos);
                    //   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;
//                    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(&rec_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);																			
//                              SyncAncUpdate(rec_nearbaseid,ancsync_time,rec_tagslotpos);
//                    //   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_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;
                    tx_near_msg[GROUP_ID_IDX] = group_id;
//                    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;
//                    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);
//                    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 {
                             memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
                    memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
                    current_count=HAL_LPTIM_ReadCounter(&hlptim1);
                              memcpy(&rec_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);																			
                              SyncAncUpdate(rec_nearbaseid,ancsync_time,rec_tagslotpos);
										
                    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;
//                    //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 {
//                             memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
//                    memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
//                    current_count=HAL_LPTIM_ReadCounter(&hlptim1);
//                              memcpy(&rec_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);																			
//                              SyncAncUpdate(rec_nearbaseid,ancsync_time,rec_tagslotpos);
//										
//                    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
//                    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(sync_anc_losttime!=0)
      {
         NextSlotDelayMs(0);
      }
    //   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]--;
        }
    }
//                    //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(sync_anc_losttime!=0)
//      {
//         NextSlotDelayMs(0);
//      }
//    //   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];
//    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;
            }
        }
    }
//                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
//    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);
      HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, 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;
//    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);
//      HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, 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);
//    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;
    }
}
//    /* 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)
{
@@ -772,7 +805,7 @@
        break;
    case GETNEARMSG:

        GetNearMsg();
//        GetNearMsg();

        break;
    case NEARPOLL: