v1.9 增加蜂鸣，测试1标签对10基站稳定

yincheng.zhong

2024-03-08 d67d922c6345042cb3dfaedd621a2120fe808b70

 Src/application/dw_app.c

@@ -3,7 +3,7 @@
 *  @file    main.c
 *  @brief   Double-sided two-way ranging (DS TWR) initiator example code
 *
 *         
 *
 *
 * @attention
 *
@@ -29,7 +29,9 @@
#include <stdio.h>
#include "beep.h"
#include "modbus.h"
#include "CRC.h"

//#define USART_INTEGRATE_OUTPUT
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -42,23 +44,23 @@
 * 1 uus = 512 / 499.2 祍 and 1 祍 = 499.2 * 128 dtu. */
#define UUS_TO_DWT_TIME 65536

/* Delay between frames, in UWB microseconds. See NOTE 4 below. */
/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
#define POLL_TX_TO_RESP_RX_DLY_UUS 150
/* 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 410
///* Delay between frames, in UWB microseconds. See NOTE 4 below. */
///* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
//#define POLL_TX_TO_RESP_RX_DLY_UUS 150
///* 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 410

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

#define DELAY_BETWEEN_TWO_FRAME_UUS 400
//#define DELAY_BETWEEN_TWO_FRAME_UUS 400

#define POLL_RX_TO_RESP_TX_DLY_UUS 420
/* 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 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
@@ -69,141 +71,54 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4

//#define _UWB_4G

enum enumtagstate
{
   DISCPOLL,
   GETNEARMSG,
   NEARPOLL,
}tag_state=GETNEARMSG;
static dwt_config_t config = {
   2,               /* Channel number. */
   DWT_PRF_64M,     /* Pulse repetition frequency. */
   DWT_PLEN_128,    /* Preamble length. */
   DWT_PAC8,        /* Preamble acquisition chunk size. Used in RX only. */
   9,               /* TX preamble code. Used in TX only. */
   9,               /* RX preamble code. Used in RX only. */
   0,               /* Use non-standard SFD (Boolean) */
   DWT_BR_6M8,      /* Data rate. */
   DWT_PHRMODE_STD, /* PHY header mode. */
   (129 + 8 - 8)    /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
#ifdef _UWB_4G
    2,               /* Channel number. */
#else
    5,
#endif
    DWT_PRF_64M,     /* Pulse repetition frequency. */
    DWT_PLEN_128,    /* Preamble length. */
    DWT_PAC8,        /* Preamble acquisition chunk size. Used in RX only. */
    9,               /* TX preamble code. Used in TX only. */
    9,               /* RX preamble code. Used in RX only. */
    1,               /* Use non-standard SFD (Boolean) */
    DWT_BR_6M8,      /* Data rate. */
    DWT_PHRMODE_STD, /* PHY header mode. */
    (129 + 8 - 8)    /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};
static uint8_t tx_poll_msg[20] = {0};
static uint8_t tx_sync_msg[14] = {0};
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;
static uint8_t rx_buffer[100];
static uint64_t poll_tx_ts;
static uint64_t resp_rx_ts;
static uint64_t final_tx_ts;
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



static uint64_t get_tx_timestamp_u64(void)
{
    uint8_t ts_tab[5];
    uint64_t ts = 0;
    int i;
    dwt_readtxtimestamp(ts_tab);
    for (i = 4; i >= 0; i--)
    {
        ts <<= 8;
        ts |= ts_tab[i];
    }
    return ts;
}

static uint64_t get_rx_timestamp_u64(void)
{
    uint8_t ts_tab[5];
    uint64_t ts = 0;
    int i;
    dwt_readrxtimestamp(ts_tab);
    for (i = 4; i >= 0; i--)
    {
        ts <<= 8;
        ts |= ts_tab[i];
    }
    return ts;
}

static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
{
    int i;
    for (i = 0; i < FINAL_MSG_TS_LEN; i++)
    {
        ts_field[i] = (uint8_t) ts;
        ts >>= 8;
    }
}

static void final_msg_get_ts(const uint8_t *ts_field, uint32_t *ts)
{
    int i;
    *ts = 0;
    for (i = 0; i < FINAL_MSG_TS_LEN; i++)
    {
        *ts += ts_field[i] << (i * 8);
    }
}

uint32_t uwbid=0;
void Dw1000_Init(void)
{
   /* Reset and initialise DW1000.
    /* Reset and initialise DW1000.
     * 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
	

	
//    dwt_setinterrupt(  DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);


    /* Apply default antenna delay value. See NOTE 1 below. */
    dwt_setrxantennadelay(RX_ANT_DLY);      //设置接收天线延迟
    dwt_settxantennadelay(TX_ANT_DLY);      //设置发射天线延迟

//    dwt_setrxtimeout(1000);//设定接收超时时间，0位没有超时时间
//   dwt_rxenable(0);//打开接收
//    uwbid=dwt_readdevid();
    /* Set expected response's delay and timeout. See NOTE 4 and 5 below.
     * As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
            //设置接收超时时间
    //设置接收超时时间
}
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, 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) 
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
{
    uint16_t sum = 0;
    uint32_t i;
@@ -214,473 +129,30 @@
}

u16 tag_time_recv[TAG_NUM_IN_SYS];
u8 usart_send[25];
u8 usart_send[100];
u8 battary,button;
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
{
   dwt_configuresleep(0x940, 0x7);
   dwt_entersleep();
    dwt_configuresleep(0x940, 0x7);
    dwt_entersleep();
}
extern uint8_t g_start_send_flag;

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

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)
u32 id;
void UWB_Wkup(void)
{
   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];
void NearPoll(void)
{
	
   uint32_t temp1,temp2,dw_systime;
   uint32_t frame_len;
   uint32_t final_tx_time;
   u32 start_poll;
   u8 i,j,getsync_flag=0,timeout;
    dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);         //设置发送后开启接收，并设定延迟时间
    dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);		
   tag_succ_times = 0;
      //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
   if(next_nearbase_num>=MAX_NEARBASE_NUM)
   {
      next_nearbase_num = MAX_NEARBASE_NUM-1;
   }
   HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
   last_nearbase_num=next_nearbase_num;
   nearbase_num=next_nearbase_num;
   recbase_num=0;
   motor_state=0;
	
   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*0.4)+2;
   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)) //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_UUS*nearbase_num+500) * UUS_TO_DWT_TIME)) >> 8;
                           temp1=final_tx_time-((850*UUS_TO_DWT_TIME)>>8);
                           temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);
                        //   dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
                           final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
                           tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
                           if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
                           {
                              para_update = 1;
                              tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
                              para_len = frame_len-22;
                              memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
                           }
									
                           dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
                           dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
                           flag_getresponse=1;
                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
									
								
                           //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);

									
                        //   count_offset=sync_count-current_count-143;
                        //   current_slottimes=(ancsync_time-10000)/(g_com_map[COM_INTERVAL]*1000);
                        //   nextpoll_delaytime=tyncpoll_time*1000+g_com_map[COM_INTERVAL]*1000-((ancsync_time)%(g_com_map[COM_INTERVAL]*1000))-4300;
//                           if(abs(ancsync_time-910000)<1000)
//                           {
//                           nextpoll_delaytime+=10000;
//                           }		
//                           if(nextpoll_delaytime<2000)
//                           {
//                              nextpoll_delaytime+=g_com_map[COM_INTERVAL]*1000;
//                           }
//                           lastpoll_count= current_count+(nextpoll_delaytime)/LPTIMER_LSB;
//                           if(lastpoll_count>LPTIMER_1S_COUNT)
//                              lastpoll_count-=LPTIMER_1S_COUNT;
//                           __HAL_LPTIM_COMPARE_SET(&hlptim1, lastpoll_count);
         /////////////////////////////////////////
//                           dwt_setdelayedtrxtime(final_tx_time);
//                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送	
                        }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];
                           }
                        if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
                           {
                              para_update = 1;
                              tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
                              para_len = frame_len-22;
                              memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
                           }
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);								
                           dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
                           dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
								

                           //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
                        //   result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送			
                           //dwt_writetxdata(4,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//将发送数据写入DW1000
                        }								
                     }
                  }else{
                  dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
                  if(flag_rxon)
                     {dwt_rxenable(0);	
                     }								
                  }			
               //   dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
         }
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
         nearbase_num=recbase_num;
      j=0;
         if(exsistbase_list[0]==0)
         {
//          u8 temp_adc,random_value;
//            random_value=0;
//            for(i=0;i<8;i++)
//            {
//               temp_adc=Get_ADC_Value();
//               random_value=random_value|((temp_adc&0x01)<<i);
//            }
            tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;	
            SetNextPollTime(tyncpoll_time);
         }
      //   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]==0xa)
            {
               memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
               memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
               report_num++;
            }
         }
         for(i=0;i<MAX_NEARBASE_NUM;i++)
         {
            nearbase_distlist[i]=0x1ffff;
         }
         if(para_update)
         {
         uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
            pack_msgtype = rec_remotepara[0];
            pack_index = rec_remotepara[1];
            pack_length = rec_remotepara[2];
            if(pack_msgtype==2)
            {
                  memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
               //返回一个error状态
               //SendComMap(pack_datalen,pack_index);
               save_com_map_to_flash();
               delay_ms(100);
               NVIC_SystemReset();
            }
         }
   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[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;
   }
}

void Tag_App(void)//发送模式(TAG标签)
{
   u32 id;
   //LED0_ON;
   id =  dwt_readdevid() ;
       while (DWT_DEVICE_ID != id) 
    SPIx_CS_GPIO->BRR = SPIx_CS;
    delay_us(600);
    SPIx_CS_GPIO->BSRR = SPIx_CS;
    id =  dwt_readdevid() ;
    while (0xDECA0130!=id)
    {
         id =  dwt_readdevid() ;
        u8 iderror_count = 0;
        id =  dwt_readdevid() ;
        if(iderror_count++>100)
        {
            printf("UWB芯片ID错误\r\n");
            break;
        }
    }

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

            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;
   }
   dwt_entersleep();
}