XRange_Tag.git - Gitblit

			@@ -3,7 +3,7 @@
			* @file main.c
			* @brief Double-sided two-way ranging (DS TWR) initiator example code
			*
			*
			*
			*
			* @attention
			*
			@@ -44,23 +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 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 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
			@@ -70,134 +70,55 @@
			#define FINAL_MSG_RESP_RX_TS_IDX 14
			#define FINAL_MSG_FINAL_TX_TS_IDX 18
			#define FINAL_MSG_TS_LEN 4

			//#define _UWB_4G

			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. */
			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. */
			#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;
			@@ -208,454 +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)
			{
			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 current_freq,rec_freq;
			u8 motor_state,rec_remotepara_state,rec_remotepara[80];
			extern u16 last_lpcount;
			float freqlost_count = 0;
			void TagFreqProcess(u8 freq)
			{
			if(freq>MAX_ANCFREQ\|\|freq==0)
			{
			return;
			}
			if(freq==tag_frequency\|\|freq>tag_frequency)
			{
			tag_frequency = freq;
			freqlost_count = 0;
			}
			}
			u16 rec_nearbaseid,rec_nearbasepos;
			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,flag_ancreadpara=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(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] = MBX_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;
			get_newbase = 0;
			flag_finalsend=0;
			flag_rxon=1;
			flag_getresponse=0;
			start_count=HAL_LPTIM_ReadCounter(&hlptim1);
			recbase_num=0;
			timeout=nearbase_num*SLOT_SCALE+4;
			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;
			if(flag_ancreadpara)
			{
			u16 calCRC;
			tx_near_msg[MESSAGE_TYPE_IDX] = MBX_PRAAREPLY;
			memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX],g_com_map,SENDANCPARA_LEN);
			calCRC = CRC_Compute((uint8_t*)g_com_map,SENDANCPARA_LEN);
			memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX+SENDANCPARA_LEN],&calCRC,2);
			dwt_writetxdata(14+SENDANCPARA_LEN, tx_near_msg, 0);//将发送数据写入DW1000
			dwt_writetxfctrl(14+SENDANCPARA_LEN, 0);//设定发送数据长度
			}
			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] == MBX_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
			{
			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);
			rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;
			TagFreqProcess(rx_buffer[TAGFREQ_IDX]);
			if(rec_remotepara_state != 0)
			{
			para_update = rec_remotepara_state;
			memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],7);
			if(para_update==2)
			{
			flag_ancreadpara = 1;
			}
			}
			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;


			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]=MBX_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;
			// tyncpoll_time=0;
			next_nearbase_num=0;
			j = 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(mainbase_lost_count>1&&exsistbase_list[0] != 0)
			{
			last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
			}
			if(nearbase_num==4)
			{nearbase_num=4;}
			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;
			if(last_nearbase_num>4)
			{
			last_nearbase_num = 5;
			}
			for (i=0;i<last_nearbase_num;i++)
			{
			nearbaseid_list[i]=true_nearbase_idlist[i];
			nearbase_distlist[i]=true_nearbase_distlist[i];
			}
			// #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);
			if(para_update==1)
			{
			uint16_t calCRC;
			calCRC = CRC_Compute(rec_remotepara,5);
			if(memcmp(&calCRC,&rec_remotepara[5],2)==0)
			{ uint8_t pack_msgtype,pack_index,pack_length;
			pack_msgtype = rec_remotepara[0];
			pack_index = rec_remotepara[1];
			pack_length = rec_remotepara[2];
			if(pack_msgtype==2)
			{
			if( pack_index == 1)//MOTOR_ONTIME_INDEX)
			{

			// motor_keeptime = rec_remotepara[3];
			}else if(pack_index == CNT_UPDATE)
			{
			if(rec_remotepara[3]==2)
			{
			EnterUWBUpdateMode();
			}
			}
			else{
			if(pack_index<200)
			{
			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();
			}
			}
			}
			}
			}
			}

			u32 id;
			void Tag_App(void)//发送模式(TAG标签)
			void UWB_Wkup(void)
			{

			//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)
			{
			u8 iderror_count = 0;
			id = dwt_readdevid() ;
			if(iderror_count++>100)
			{
			printf("UWB芯片ID错误");
			printf("UWB芯片ID错误\r\n");
			break;
			}
			}
			delay_us(100);
			g_Resttimer=0;
			NearPoll();
			dwt_entersleep();
			bat_percent=Get_VDDVlotage();
			}