文件重新排版

yincheng.zhong

2023-08-16 aceee9b89a9a012321ef68357e7ddd94684b14b3

 Src/application/dw_ds_anc.c

@@ -58,18 +58,18 @@
extern uint16_t g_Resttimer;
int32_t filter_dist,g_Tagdist[TAG_NUM_IN_SYS];
double LOS(dwt_rxdiag_t *dia) {
     F1 = dia->firstPathAmp1;
     F2 = dia->firstPathAmp2;
     F3 = dia->firstPathAmp3;
     N = dia->rxPreamCount;
     C = dia->maxGrowthCIR;
    
    F1 = dia->firstPathAmp1;
    F2 = dia->firstPathAmp2;
    F3 = dia->firstPathAmp3;
    N = dia->rxPreamCount;
    C = dia->maxGrowthCIR;

    firstpath_power=10* log10((F1*F1+F2*F2+F3*F3)/(N*N))-A;
    rx_power=10*log10(C*B/(N*N))-A;

 //   min_power =  - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
//   min_power =  - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
    return min_power;
  }
}
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
    if(GPIO_Pin==GPIO_PIN_8)
@@ -126,53 +126,53 @@
}
void TagListUpdate(void)
{
   uint16_t i,j=0,temp[TAG_NUM_IN_SYS];
   for(i=0;i<taglist_num;i++)
   {
      if(tagofflinetime[i]++<5)
      {
         tagid_list[j]=tagid_list[i];
         tagofflinetime[j++]=tagofflinetime[i];
      }
   }
   taglist_num=j;
    uint16_t i,j=0,temp[TAG_NUM_IN_SYS];
    for(i=0; i<taglist_num; i++)
    {
        if(tagofflinetime[i]++<5)
        {
            tagid_list[j]=tagid_list[i];
            tagofflinetime[j++]=tagofflinetime[i];
        }
    }
    taglist_num=j;
}
uint16_t CmpTagInList(uint16_t tagid)
{uint16_t i;
   for(i=0;i<taglist_num;i++)
   {
      if(memcmp(&tagid,&tagid_list[i],2)==0)
         break;
   }
   return i;
{   uint16_t i;
    for(i=0; i<taglist_num; i++)
    {
        if(memcmp(&tagid,&tagid_list[i],2)==0)
            break;
    }
    return i;
}
uint8_t uwb_rec_userdata[16];
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos) //0 mainbase  1 first near_base
{
   uint8_t motorstate;
			
          
            memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);
    uint8_t motorstate;

		
         memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);
         poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2

         resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
         dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
         dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
         dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
         if(new_tagid)
         {
            tagdist_list[taglist_pos]=0x1ffff;
            memcpy(&send_buffer[DIST_IDX], &tagdist_list[taglist_pos], 4);
         }else{
            memcpy(&send_buffer[DIST_IDX], &tagdist_list[taglist_pos], 4);
         }
         motorstate =0;
    memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);


    memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);
    poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2

    resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
    dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
    dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
    dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
    if(new_tagid)
    {
        tagdist_list[taglist_pos]=0x1ffff;
        memcpy(&send_buffer[DIST_IDX], &tagdist_list[taglist_pos], 4);
    } else {
        memcpy(&send_buffer[DIST_IDX], &tagdist_list[taglist_pos], 4);
    }
    motorstate =0;
//            if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1]||tagdist_list[taglist_pos]<0)
//            {
//               motorstate =0; 
//               motorstate =0;
//            }
//            else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
//         {
@@ -189,289 +189,289 @@
//               motorstate =0;
//            }
//         }
            send_buffer[GROUP_ID_IDX] = group_id;
         //send_buffer[MAINBASE_INDEX]=flag_syncbase;
         send_buffer[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
         send_buffer[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
         send_buffer[MOTORSTATE_INDEX]&=0x0f;
    send_buffer[GROUP_ID_IDX] = group_id;
    //send_buffer[MAINBASE_INDEX]=flag_syncbase;
    send_buffer[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
    send_buffer[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
    send_buffer[MOTORSTATE_INDEX]&=0x0f;
//         if(remotesend_state)
//         {
//             memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
//            dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//写入发送数据
//            dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度		
//            dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度
//         }else{
         dwt_writetxdata(24, send_buffer, 0);//写入发送数据
         dwt_writetxfctrl(24, 0);//设定发送长度
      //   }
         result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
    dwt_writetxdata(24, send_buffer, 0);//写入发送数据
    dwt_writetxfctrl(24, 0);//设定发送长度
    //   }
    result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收

			
         if(result==0)
         {
            while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
         { };
      }else{
             if(g_com_map[MODBUS_ID1]==1)
                {
                 #ifdef DBGMSG_OUTPUT
                dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
                SendDbgMsg(dbgmsg,dbgmsg_len);
                #endif
                }
         result++;
      }
        if(!(status_reg& SYS_STATUS_RXFCG))
        {
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
            dwt_rxenable(0);

    if(result==0)
    {
        while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
         { };
        { };
    } else {
        if(g_com_map[MODBUS_ID1]==1)
        {
#ifdef DBGMSG_OUTPUT
            dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
            SendDbgMsg(dbgmsg,dbgmsg_len);
#endif
        }
	
         if (status_reg & SYS_STATUS_RXFCG)//接收成功
         {
				
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位
            frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//数据长度
            dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
         if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2)) //抢占anchor 失败
         {
                  if(g_com_map[MODBUS_ID1]==1)
                {
                 #ifdef DBGMSG_OUTPUT
        result++;
    }
    if(!(status_reg& SYS_STATUS_RXFCG))
    {
        dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
        dwt_rxenable(0);
        while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
        { };
    }

    if (status_reg & SYS_STATUS_RXFCG)//接收成功
    {

        dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位
        frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//数据长度
        dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
        if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2)) //抢占anchor 失败
        {
            if(g_com_map[MODBUS_ID1]==1)
            {
#ifdef DBGMSG_OUTPUT
                dbgmsg_len = sprintf(dbgmsg,"%s errormsg:%x",__debug_info__,rx_buffer[MESSAGE_TYPE_IDX]);
                SendDbgMsg(dbgmsg,dbgmsg_len);
                #endif
                }
            return 1;
         }
         if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)&&group_id==rx_buffer[GROUP_ID_IDX]) //判断是否为Final包
            {

                    
               resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
               final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
               final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5
               final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+ancrec_nearbasepos*4], &resp_rx_ts);
               final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);

                   // testtime[0] = time32_incr*1000+TIM3->CNT;
               poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使用32位数据计算
               resp_tx_ts_32 = (uint32_t)resp_tx_ts;
               final_rx_ts_32 = (uint32_t)final_rx_ts;
               Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
               Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
               Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
               Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
               tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//计算公式
               tof = tof_dtu * DWT_TIME_UNITS;
               distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
#ifdef DW3000 
                    dist_no_bias = distance;     
#else                    
               dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数
#endif
               dist_cm = dist_no_bias * 1000; //dis 为单位为cm的距离	
               dwt_readdiagnostics(&d1);
               LOS(&d1);					
               /*--------------------------以下为非测距逻辑------------------------*/
               //dist_cm=33000;
            //   LED0_BLINK; //每成功一次通讯则闪烁一次
//                UWBLED_BLINK;
               dis_after_filter=dist_cm;
               hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
            }
            return 1;
        }
        if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)&&group_id==rx_buffer[GROUP_ID_IDX]) //判断是否为Final包
        {

                        if(recpoll_len==rec_nearbase_num*4+15)
                        {
                            hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10-rec_antdelay*10;
                        }
                    
               g_flag_Taggetdist[taglist_pos]=0;
                    
               if(hex_dist>-100000&&hex_dist<2000000)
               {
                  if(abs(hex_dist-his_dist[taglist_pos])<10000)
                  {
                     flag_tag_distsmooth[taglist_pos] =1;
                  }else{
                     flag_tag_distsmooth[taglist_pos] =0;
                  }
               if(abs(hex_dist-his_dist[taglist_pos])<10000||misdist_num[taglist_pos]>3)
               {
                  uint16_t checksum;
                        g_Resttimer=0;
                      //  IWDG_Feed();
                  #ifdef TDFILTER
                  NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
                  filter_dist = pos_predict[taglist_pos]/10;
                        filter_speed = vel_predict[taglist_pos]/10;
                        newmeasure = 1;
                  #else
                  filter_dist=hex_dist/10;
                  #endif
                  misdist_num[taglist_pos]=0;
                        tagdist_list[taglist_pos] = filter_dist;	
                        his_dist[taglist_pos]=hex_dist;	
                        if(hex_dist>0)
                  {
                            g_Tagdist[taglist_pos]=hex_dist/10;	
                        }else{
                            g_Tagdist[taglist_pos]= 0x2ffff;
                        }

            resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
            final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
            final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5
            final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+ancrec_nearbasepos*4], &resp_rx_ts);
            final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);

            // testtime[0] = time32_incr*1000+TIM3->CNT;
            poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使用32位数据计算
            resp_tx_ts_32 = (uint32_t)resp_tx_ts;
            final_rx_ts_32 = (uint32_t)final_rx_ts;
            Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
            Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
            Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
            Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
            tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//计算公式
            tof = tof_dtu * DWT_TIME_UNITS;
            distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
#ifdef DW3000
            dist_no_bias = distance;
#else
            dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数
#endif
            dist_cm = dist_no_bias * 1000; //dis 为单位为cm的距离
            dwt_readdiagnostics(&d1);
            LOS(&d1);
            /*--------------------------以下为非测距逻辑------------------------*/
            //dist_cm=33000;
            //   LED0_BLINK; //每成功一次通讯则闪烁一次
//                UWBLED_BLINK;
            dis_after_filter=dist_cm;
            hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;

            if(recpoll_len==rec_nearbase_num*4+15)
            {
                hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10-rec_antdelay*10;
            }

            g_flag_Taggetdist[taglist_pos]=0;

            if(hex_dist>-100000&&hex_dist<2000000)
            {
                if(abs(hex_dist-his_dist[taglist_pos])<10000)
                {
                    flag_tag_distsmooth[taglist_pos] =1;
                } else {
                    flag_tag_distsmooth[taglist_pos] =0;
                }
                if(abs(hex_dist-his_dist[taglist_pos])<10000||misdist_num[taglist_pos]>3)
                {
                    uint16_t checksum;
                    g_Resttimer=0;
                    //  IWDG_Feed();
#ifdef TDFILTER
                    NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
                    filter_dist = pos_predict[taglist_pos]/10;
                    filter_speed = vel_predict[taglist_pos]/10;
                    newmeasure = 1;
#else
                    filter_dist=hex_dist/10;
#endif
                    misdist_num[taglist_pos]=0;
                    tagdist_list[taglist_pos] = filter_dist;
                    his_dist[taglist_pos]=hex_dist;
                    if(hex_dist>0)
                    {
                        g_Tagdist[taglist_pos]=hex_dist/10;
                    } else {
                        g_Tagdist[taglist_pos]= 0x2ffff;
                    }
                    usart_send[0]=0x55;
                    usart_send[1]=0xAA;    
               usart_send[2] = 1;//正常模式 
               usart_send[3] = 17+14;//数据段长度
               usart_send[4] = frame_seq_nb2;//数据段长度
               memcpy(&usart_send[5],&tag_id_recv,2);
               memcpy(&usart_send[7],&dev_id,2);			
                    usart_send[1]=0xAA;
                    usart_send[2] = 1;//正常模式
                    usart_send[3] = 17+14;//数据段长度
                    usart_send[4] = frame_seq_nb2;//数据段长度
                    memcpy(&usart_send[5],&tag_id_recv,2);
                    memcpy(&usart_send[7],&dev_id,2);
                    if(tagdist_list[taglist_pos]<=0)
                        tagdist_list[taglist_pos]=0x2ffff;
               memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
               usart_send[13] = battary;
               usart_send[14] = button;
               usart_send[15] = firstpath_power;
               usart_send[16] = rx_power;                   
                    memcpy(&usart_send[17],&uwb_rec_userdata,16);  
               checksum = Checksum_u16(&usart_send[2],31);
               memcpy(&usart_send[33],&checksum,2);                   
                    memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
                    usart_send[13] = battary;
                    usart_send[14] = button;
                    usart_send[15] = firstpath_power;
                    usart_send[16] = rx_power;
                    memcpy(&usart_send[17],&uwb_rec_userdata,16);
                    checksum = Checksum_u16(&usart_send[2],31);
                    memcpy(&usart_send[33],&checksum,2);
                    USART_puts(usart_send,35);
               }else{
                         if(g_com_map[MODBUS_ID1]==1)
                         {
                        #ifdef DBGMSG_OUTPUT
                    dbgmsg_len = sprintf(dbgmsg,"%s errordist:%d",__debug_info__,hex_dist);
                    SendDbgMsg(dbgmsg,dbgmsg_len);
                    #endif
                         }  
                                        
               //   printf("%d",hex_dist);
                  misdist_num[taglist_pos]++;
               }
            }
         }
         }else{
                if(g_com_map[MODBUS_ID1]==1)
                {
                 #ifdef DBGMSG_OUTPUT
                dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
                SendDbgMsg(dbgmsg,dbgmsg_len);
                #endif
                } else {
                    if(g_com_map[MODBUS_ID1]==1)
                    {
#ifdef DBGMSG_OUTPUT
                        dbgmsg_len = sprintf(dbgmsg,"%s errordist:%d",__debug_info__,hex_dist);
                        SendDbgMsg(dbgmsg,dbgmsg_len);
#endif
                    }

                    //   printf("%d",hex_dist);
                    misdist_num[taglist_pos]++;
                }
          
               //printf("%x/n",status_reg);
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
            }
        }
    } else {
        if(g_com_map[MODBUS_ID1]==1)
        {
#ifdef DBGMSG_OUTPUT
            dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
            SendDbgMsg(dbgmsg,dbgmsg_len);
#endif
        }

        //printf("%x/n",status_reg);
        dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
    }
}
void Anchor_App(void)
{
	
   u8 send_len,i;
   u16 tempid;
   uint32_t rec_syncid;
	
   dwt_setinterrupt(  DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0);

    u8 send_len,i;
    u16 tempid;
    uint32_t rec_syncid;

    dwt_setinterrupt(  DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0);
//   delay_us(t23);
//    HAL_NVIC_DisableIRQ(EXTI9_5_IRQn);
    status_reg  = dwt_read32bitreg(SYS_STATUS_ID);
   if (status_reg & SYS_STATUS_RXFCG)//成功接收
      { uint16_t tag_recv_interval;
      float temp_tagpos;
	
    if (status_reg & SYS_STATUS_RXFCG)//成功接收
    {   uint16_t tag_recv_interval;
        float temp_tagpos;

      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
      frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度

        dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
        frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
        recpoll_len = frame_len;
      dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
      memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
      //将收到的tag_id分别写入各次通讯的包中，为多标签通讯服务，防止一次通讯中接收到不同ID标签的数据
      memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
       if(group_id== rx_buffer[GROUP_ID_IDX])
       {
      switch(rx_buffer[MESSAGE_TYPE_IDX])
      {		
         case NEAR_POLL:	
        dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
        memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
        //将收到的tag_id分别写入各次通讯的包中，为多标签通讯服务，防止一次通讯中接收到不同ID标签的数据
        memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
        if(group_id== rx_buffer[GROUP_ID_IDX])
        {
            switch(rx_buffer[MESSAGE_TYPE_IDX])
            {
            case NEAR_POLL:
                frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
                battary = rx_buffer[BATTARY_IDX];
                button = rx_buffer[BUTTON_IDX];
                rec_nearbase_num=rx_buffer[FZ_NEARBASENUM_INDEX];                
            memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
                rec_nearbase_num=rx_buffer[FZ_NEARBASENUM_INDEX];
                memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
                memcpy(&rec_ancidlist,&rx_buffer[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
                memcpy(&rec_ancdistlist,&rx_buffer[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
                memcpy(&rec_antdelay,&rx_buffer[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
                memcpy(&uwb_rec_userdata,&rx_buffer[POLL_USERDATA_IDX],16);
            #ifdef USART_ALL_OUTPUT
                    usart_send[2] = 0x0c;//正常模式 
               usart_send[3] = 8+rec_nearbase_num*4;//数据段长度
               usart_send[4] = frame_seq_nb2;//数据段长度
                  usart_send[5] = battary;
               usart_send[6] = button;
                    usart_send[7] = rec_nearbase_num;
               memcpy(&usart_send[8],&tag_id_recv,2);
               memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);				
               memcpy(&usart_send[10+rec_nearbase_num*2],&rec_ancdistlist,2*rec_nearbase_num);
               checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
               memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
               UART_PushFrame(usart_send,12+rec_nearbase_num*4);
            #endif
            taglist_pos=CmpTagInList(tag_id_recv);
            if(taglist_pos==taglist_num)
            {
               taglist_pos=taglist_num;
               tagid_list[taglist_num++]=tag_id_recv;
					
               new_tagid=1;
            }else{
               new_tagid=0;
            }
            tagofflinetime[taglist_pos]=0;
                temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
            tagpos_rec[(uint8_t)temp_tagpos]=1;
				
			
            if(rec_nearbase_num>ancidlist_num)
               {
                  ancidlist_num=rec_nearbase_num;
                  memcpy(ancidlist_rec,&rx_buffer[FZ_NEARBASEID_INDEX],rec_nearbase_num*2);
               }
					
            for(i=0;i<rec_nearbase_num;i++)
            {
                memcpy(&tempid,&rx_buffer[FZ_NEARBASEID_INDEX+i*2],2);
               if(tempid==dev_id)
               {
                  seize_anchor=0;  //非抢占。已存在列表中
                  Anchor_RecNearPoll(i);	
                  break;
               }						
            }
               if(i==rec_nearbase_num)
               {
                  seize_anchor=1;   //抢占anchor
                  Anchor_RecNearPoll(i);	
               }

				
            break;	
       default:
          //      poscount++;
            break;                    
      }	
    }
   }else{
                if(g_com_map[MODBUS_ID1]==1)
#ifdef USART_ALL_OUTPUT
                usart_send[2] = 0x0c;//正常模式
                usart_send[3] = 8+rec_nearbase_num*4;//数据段长度
                usart_send[4] = frame_seq_nb2;//数据段长度
                usart_send[5] = battary;
                usart_send[6] = button;
                usart_send[7] = rec_nearbase_num;
                memcpy(&usart_send[8],&tag_id_recv,2);
                memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);
                memcpy(&usart_send[10+rec_nearbase_num*2],&rec_ancdistlist,2*rec_nearbase_num);
                checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
                memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
                UART_PushFrame(usart_send,12+rec_nearbase_num*4);
#endif
                taglist_pos=CmpTagInList(tag_id_recv);
                if(taglist_pos==taglist_num)
                {
                 #ifdef DBGMSG_OUTPUT
                dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
                SendDbgMsg(dbgmsg,dbgmsg_len);
                #endif
                }
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR | SYS_STATUS_RXFCG | SYS_STATUS_ALL_TX);
                    taglist_pos=taglist_num;
                    tagid_list[taglist_num++]=tag_id_recv;

   }
       dwt_forcetrxoff();
    dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR | SYS_STATUS_RXFCG | SYS_STATUS_ALL_TX);
       dwt_setinterrupt(  DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
      dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
        dwt_rxenable(0);
                    new_tagid=1;
                } else {
                    new_tagid=0;
                }
                tagofflinetime[taglist_pos]=0;
                temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
                tagpos_rec[(uint8_t)temp_tagpos]=1;


                if(rec_nearbase_num>ancidlist_num)
                {
                    ancidlist_num=rec_nearbase_num;
                    memcpy(ancidlist_rec,&rx_buffer[FZ_NEARBASEID_INDEX],rec_nearbase_num*2);
                }

                for(i=0; i<rec_nearbase_num; i++)
                {
                    memcpy(&tempid,&rx_buffer[FZ_NEARBASEID_INDEX+i*2],2);
                    if(tempid==dev_id)
                    {
                        seize_anchor=0;  //非抢占。已存在列表中
                        Anchor_RecNearPoll(i);
                        break;
                    }
                }
                if(i==rec_nearbase_num)
                {
                    seize_anchor=1;   //抢占anchor
                    Anchor_RecNearPoll(i);
                }


                break;
            default:
                //      poscount++;
                break;
            }
        }
    } else {
        if(g_com_map[MODBUS_ID1]==1)
        {
#ifdef DBGMSG_OUTPUT
            dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
            SendDbgMsg(dbgmsg,dbgmsg_len);
#endif
        }
        dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR | SYS_STATUS_RXFCG | SYS_STATUS_ALL_TX);

    }
    dwt_forcetrxoff();
    dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR | SYS_STATUS_RXFCG | SYS_STATUS_ALL_TX);
    dwt_setinterrupt(  DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
    dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
    dwt_rxenable(0);
}