XRange_Tag.git - Gitblit

			@@ -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
			@@ -69,101 +71,99 @@
			#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 = {
			#ifdef _UWB_4G
			2, /* Channel number. */
			#else
			5,
			#endif
			DWT_PRF_64M, /* Pulse repetition frequency. */
			DWT_PLEN_128, /* Preamble length. */
			DWT_PLEN_64, /* 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) */
			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. */
			(65 + 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};
			static uint8_t tx_near_msg[80] = {0};
			//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 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;
			//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_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 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_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);
			}
			}

			//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.
			@@ -177,12 +177,16 @@
			/* 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
			@@ -191,17 +195,17 @@
			{
			//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;
			// 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);
			// 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)
			{
			@@ -214,7 +218,7 @@
			}

			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)
			@@ -222,445 +226,498 @@
			dwt_configuresleep(0x940, 0x7);
			dwt_entersleep();
			}
			extern uint8_t g_start_send_flag;
			//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;
			//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;
			}
			//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;
			//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;
			u32 rec_tagpos_binary;
			int16_t offset=2700;
			u8 motor_state,rec_remotepara_state,rec_remotepara[30];
			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] = Get_Battary();
			//tx_near_msg[BUTTON_IDX] = !READ_KEY0;
			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

			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_UUSnearbase_num+500) UUS_TO_DWT_TIME)) >> 8;
			temp1=final_tx_time-((850*UUS_TO_DWT_TIME)>>8);
			temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);
			// dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
			final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
			final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
			final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
			final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
			tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
			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&&rec_remotepara_state!=g_com_map[REMOTEPARA_STATE])
			{
			g_com_map[REMOTEPARA_STATE]=rec_remotepara_state;
			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);
			save_com_map_to_flash();
			delay_ms(100);
			NVIC_SystemReset();

			}

			// count_offset=sync_count-current_count-143;
			// current_slottimes=(ancsync_time-10000)/(g_com_map[COM_INTERVAL]*1000);
			// nextpoll_delaytime=tyncpoll_time1000+g_com_map[COM_INTERVAL]1000-((ancsync_time)%(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);
			//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;
			// }
			//}
			//#define FREQ_OFFSET_MULTIPLIER (998.4e6/2.0/1024.0/131072.0)
			//#define FREQ_OFFSET_MULTIPLIER_110KB (998.4e6/2.0/8192.0/131072.0)

			//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_1 (-1.0e6/3494.4e6)
			//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_2 (-1.0e6/3993.6e6)
			//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_3 (-1.0e6/4492.8e6)
			//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_5 (-1.0e6/6489.6e6)
			//u16 rec_maxrangelen;//rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
			//float clockOffsetRatio;
			//double rtd_init, rtd_resp;
			//double tof,distance;
			//extern int32_t dwt_readcarrierintegrator(void) ;
			//uint32_t testtimer2,anc_pollrx[MAX_NEARBASE_NUM],anc_resptx[MAX_NEARBASE_NUM],tag_resprx[MAX_NEARBASE_NUM];
			//int32_t anc_clockoffset[MAX_NEARBASE_NUM];
			//int16_t anc_distoffset[MAX_NEARBASE_NUM];
			//int32_t test2;
			//uint16_t u16_nearbase_distlist[MAX_NEARBASE_NUM];
			//uint8_t get_newdist,notenoughdist_count;
			//void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset) //写入时间戳信息
			//{
			// memcpy(&anc_pollrx[i],pollrx,4);
			// memcpy(&anc_resptx[i],resptx,4);
			// memcpy(&tag_resprx[i],&resprx,4);
			// memcpy(&anc_distoffset[i],distoffset,2);
			// anc_clockoffset[i] = test2;
			//}
			//void CalculateDists(void) //计算距离
			//{
			// for(int i=0;i<MAX_NEARBASE_NUM;i++)
			// {
			// //rec_anc_signalpower[i] = exsistbase_list[i];
			// if(exsistbase_list[i]==KEEP_TIMES)
			// {

			// // exsistbase_list[i]--;
			//#ifdef _UWB_4G
			// clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
			//#else
			// clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
			//#endif
			// rtd_init = tag_resprx[i] - poll_tx_ts;
			// rtd_resp = anc_resptx[i] - anc_pollrx[i];
			// tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
			// distance = tof * SPEED_OF_LIGHT;
			// if(distance>-10&&distance<1000)
			// nearbase_distlist[i] = distance*100+anc_distoffset[i];
			// }else{
			// // nearbase_distlist[i] = 0x1ffff;
			// }
			//
			// }
			//}
			//extern uint8_t module_power,imu_enable,motor_enable;
			//void Registor_Poll(void)
			//{
			// static u8 regpoll_count=0;
			// u8 timeout;
			//
			// tx_near_msg[MESSAGE_TYPE_IDX] = MBX_REG;
			// tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2\|imu_enable<<1\|motor_enable;
			// tx_near_msg[REGP_FREQUENCY_INDEX] = bat_percent;
			// tx_near_msg[REGP_POWER_INDEX] = module_power;
			// memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);
			// memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[GROUP_ID],2);
			// memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[DIST_OFFSET],2);
			// memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[MAX_REPORT_ANC_NUM],2);
			// dwt_writetxdata(23, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
			// dwt_writetxfctrl(23, 0);//设置超宽带发送数据长度
			// dwt_starttx(DWT_START_TX_IMMEDIATE);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
			// start_count=HAL_LPTIM_ReadCounter(&hlptim1);
			// timeout=50;
			// end_count=start_count+(timeout<<2);
			// while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS)))//不断查询芯片状态直到成功接收或者发生错误
			// {
			// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			// if(current_count>=end_count&&current_count<end_count+15000)
			// break;
			//
			// };
			//
			//}
			//float range_lost_time = 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(0);
			// tag_succ_times = 0;
			// //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
			// if(nearbase_num>=MAX_NEARBASE_NUM)
			// {
			// nearbase_num = MAX_NEARBASE_NUM-1;
			// }
			// recbase_num=0;
			// for(uint8_t i=0;i<nearbase_num;i++) //标签距离32位转成16位
			// {
			// u16_nearbase_distlist[i] = nearbase_distlist[i];
			// }
			// 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);
			// memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num2],&u16_nearbase_distlist,nearbase_num2);
			// tx_near_msg[MESSAGE_TYPE_IDX] = MBX_POLL;
			// memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
			// dwt_writetxdata(13+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(13+4*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+10;
			// end_count=start_count+(timeout<<2);
			// 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&&flag_ancreadpara)
			// {
			// dw_systime=dwt_readsystimestamphi32();
			// if(dw_systime>temp1&&dw_systime<temp2)
			// {
			//
			// dwt_forcetrxoff();
			// flag_rxon=0;
			// if(flag_ancreadpara) //只有在读取参数的时候需要回复
			// {
			// 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
			}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

			// }
			// 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
			// test2 = dwt_readcarrierintegrator();
			// 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])
			// {
			// exsistbase_list[0]=KEEP_TIMES;
			// SetANCTimestap(0,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);

			// //////////////////////////////////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;}
			// }
			// rec_nearbasepos=0;
			// exsistbase_list[rec_nearbasepos]=KEEP_TIMES;

			//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);
			// 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);
			// }else{
			// rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
			// SetANCTimestap(rec_nearbasepos,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);

			// 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;

			//
			// 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
			// }
			// }
			// }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_forcetrxoff();
			// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG\| SYS_STATUS_ALL_RX_ERR);
			// CalculateDists();
			// j = 0;
			// next_nearbase_num = 0;
			// for(i=0;i<nearbase_num;i++)
			// {
			// if(exsistbase_list[i]>0)
			// {
			// exsistbase_list[i]--;
			// next_nearbase_num++;
			// true_exsistbase_list[j]=exsistbase_list[i];
			// true_nearbase_idlist[j]=nearbaseid_list[i];
			// true_nearbase_distlist[j++]=nearbase_distlist[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;
			}

			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)
			{
			id = dwt_readdevid() ;
			}

			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();
			}
			// }
			// nearbase_num = next_nearbase_num;
			// if(mainbase_lost_count>1&&exsistbase_list[0] != 0)
			// {
			// last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
			// }
			// 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];
			// exsistbase_list[i] = true_exsistbase_list[i];
			// }
			//
			// 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();
			// }
			// }
			// }
			// }
			// }
			//}
			//u8 regpoll_count;
			//u32 id;
			//void Tag_App(void)//发送模式(TAG标签)
			//{
			//
			// //LED0_ON;
			// id = dwt_readdevid() ;
			// while (DWT_DEVICE_ID != id)
			// {
			// u8 iderror_count = 0;
			// id = dwt_readdevid() ;
			// if(iderror_count++>100)
			// {
			// printf("UWB芯片ID错误");
			// break;
			// }
			// }
			// delay_us(100);
			// g_Resttimer=0;
			// if(freqlost_count>FREQ_LOST_TIME)
			// {
			// if(regpoll_count++>11) //待机状态1分钟上传一次基站状态
			// {
			// regpoll_count = 0;
			// Registor_Poll();
			// }
			// }else{
			// if(regpoll_count++>59)//测距状态1分钟上传一次基站状态
			// {
			// regpoll_count = 0;
			// Registor_Poll();
			// }
			// }
			// NearPoll();
			// dwt_entersleep();
			// bat_percent=Get_VDDVlotage();
			//}