V2.71

yincheng.zhong

2023-10-24 f64e5147dfd5f33e098b97a00ff19d0cd5e58e85

 Src/application/dw_ancapp.c

@@ -28,7 +28,7 @@
extern uint16_t sync_timer;
static int32_t temp_dist;
static u16 tagslotpos;
static u8 recbase_num=0;   
static u8 recbase_num=0;
static int32_t mainbase_dist,nearbase_switchdistlist[MAX_NEARBASE_NUM],nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
static u8 anclost_times=0 , mainbase_lost_count=0;
static u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
@@ -44,12 +44,12 @@

static u8 FindNearBasePos(u16 baseid)
{
   u8 i;
   for(i=0;i<nearbase_num;i++)
   {
      if(baseid==nearbaseid_list[i])
         return i;
   }
    u8 i;
    for(i=0; i<nearbase_num; i++)
    {
        if(baseid==nearbaseid_list[i])
            return i;
    }
}
static uint8_t rx_buffer[100];
static uint64_t poll_tx_ts;
@@ -114,176 +114,178 @@
#define FZ_NEARBASEID_INDEX       11
void FZNearPoll(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;
    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(10);         //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;
    
    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;

    memcpy(&send_buffer[TAG_ID_IDX], &dev_id, 2);
   send_buffer[GROUP_ID_IDX] = group_id;
   send_buffer[BATTARY_IDX] = bat_percent;
   //tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
   send_buffer[SEQUENCE_IDX] = frame_seq_nb++;
   send_buffer[FZ_NEARBASENUM_INDEX] = nearbase_num;
   memcpy(&send_buffer[FZ_NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
   send_buffer[MESSAGE_TYPE_IDX] = NEAR_POLL;	
   memcpy(&send_buffer[ANCHOR_ID_IDX],&mainbase_id,2);	
   dwt_writetxdata(35, send_buffer, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(35, 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;
    send_buffer[GROUP_ID_IDX] = group_id;
    send_buffer[BATTARY_IDX] = bat_percent;
    //tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
    send_buffer[SEQUENCE_IDX] = frame_seq_nb++;
    send_buffer[FZ_NEARBASENUM_INDEX] = nearbase_num;
    memcpy(&send_buffer[FZ_NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
    send_buffer[MESSAGE_TYPE_IDX] = NEAR_POLL;
    memcpy(&send_buffer[ANCHOR_ID_IDX],&mainbase_id,2);
    dwt_writetxdata(35, send_buffer, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
    dwt_writetxfctrl(35, 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;

    neartimout_timer = 0;
   recbase_num=0;
    recbase_num=0;
    start_count=HAL_LPTIM_ReadCounter(&hlptim1);
   timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
    timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
    current_count=HAL_LPTIM_ReadCounter(&hlptim1);
    end_count=start_count+(timeout<<5);
   if(end_count>=32768)
   {end_count-=32768;}
         while(current_count<end_count||current_count>end_count+15000)
         {
               while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
               {
                  if(flag_finalsend)
                  {
                     dw_systime=dwt_readsystimestamphi32();
                     if(dw_systime>temp1&&dw_systime<temp2)
                     {
								
                        dwt_forcetrxoff();
                        flag_rxon=0;
                        dwt_setdelayedtrxtime(final_tx_time);
                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送	
                        flag_finalsend=0;
                        break;
                     }
                  }
							
                   current_count=HAL_LPTIM_ReadCounter(&hlptim1);
                   if(current_count>=end_count&&current_count<end_count+15000)
                        break;
               };
               if(status_reg==0xffffffff)
               {
                  NVIC_SystemReset();
               }
               if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
                  {
                     dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
                     frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;   //获得接收到的数据长度
                     dwt_readrxdata(rx_buffer, frame_len, 0);   //读取接收数据
                     dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
                     dwt_rxenable(0);//打开接收
                     if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX]==group_id) //判断接收到的数据是否是response数据
                     {   u16 rec_nearbaseid,rec_nearbasepos;
                        poll_tx_ts = get_tx_timestamp_u64();                              //获得POLL发送时间T1
                        resp_rx_ts = get_rx_timestamp_u64();                              //获得RESPONSE接收时间T4	
                        recbase_num++;
                        memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
                        if(last_nearbase_num==0)
                        {
                           get_newbase=1;
                           nearbaseid_list[0]=rec_nearbaseid;
                           nearbase_num=1;
                           memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
                        }
                        if(rec_nearbaseid==nearbaseid_list[0])
                        {
                           //////////////////////////////////时间同步
    if(end_count>=32768)
    {
        end_count-=32768;
    }
    while(current_count<end_count||current_count>end_count+15000)
    {
        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)
                {

                        //   TIM3->CNT=tmp_time;
                    dwt_forcetrxoff();
                    flag_rxon=0;
                    dwt_setdelayedtrxtime(final_tx_time);
                    result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
                    flag_finalsend=0;
                    break;
                }
            }

            current_count=HAL_LPTIM_ReadCounter(&hlptim1);
            if(current_count>=end_count&&current_count<end_count+15000)
                break;
        };
        if(status_reg==0xffffffff)
        {
            NVIC_SystemReset();
        }
        if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
        {
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
            frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;   //获得接收到的数据长度
            dwt_readrxdata(rx_buffer, frame_len, 0);   //读取接收数据
            dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
            dwt_rxenable(0);//打开接收
            if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX]==group_id) //判断接收到的数据是否是response数据
            {   u16 rec_nearbaseid,rec_nearbasepos;
                poll_tx_ts = get_tx_timestamp_u64();                              //获得POLL发送时间T1
                resp_rx_ts = get_rx_timestamp_u64();                              //获得RESPONSE接收时间T4
                recbase_num++;
                memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
                if(last_nearbase_num==0)
                {
                    get_newbase=1;
                    nearbaseid_list[0]=rec_nearbaseid;
                    nearbase_num=1;
                    memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
                }
                if(rec_nearbaseid==nearbaseid_list[0])
                {
                    //////////////////////////////////时间同步

                    //   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) ;//final包实际发送时间是计算时间加上发送天线delay
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
                           tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
                                    tx_near_msg[GROUP_ID_IDX] = group_id;
									
                           dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
                           dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
                           flag_getresponse=1;
									
                        }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
                                    
                    ////////////////////////////
                    rec_nearbasepos=0;
                    exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                    memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                    nearbase_distlist[rec_nearbasepos]=temp_dist;
                    if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
                        motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
                    rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;

                           //dwt_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);
         }
                    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) ;//final包实际发送时间是计算时间加上发送天线delay
                    final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
                    final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
                    final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
                    tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
                    tx_near_msg[GROUP_ID_IDX] = group_id;

                    dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
                    dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
                    flag_getresponse=1;

                } 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);
         nearbase_num=recbase_num;
            j=0;
         if(exsistbase_list[0]==0)
         {
            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++)
@@ -291,77 +293,79 @@
//               temp_adc=Get_ADC_Value();
//               random_value=random_value|((temp_adc&0x01)<<i);
//            }
            tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;	
         }
      //   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]--;
            }
         }
        tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
        tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
    }
    //   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]==KEEP_TIMES)
            {
               memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
               memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
               report_num++;
            }
         }
            #ifdef USART_INTEGRATE_OUTPUT	
                usart_send[0] = 0x55;     
                usart_send[1] = 0xAA;              
            usart_send[2] = 4;//正常模式
            usart_send[3] = report_num*6+2;//正常模式
            checksum = Checksum_u16(&usart_send[2],report_num*6+2);
            memcpy(&usart_send[4+report_num*6],&checksum,2);
            USART_puts(usart_send,6+report_num*6);
         #endif
           if(motor_state==2)
         {outside_count=0;
         }else{
            outside_count++;
         }
         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);
            
    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]==KEEP_TIMES)
        {
            memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
            memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
            report_num++;
        }
    }
#ifdef USART_INTEGRATE_OUTPUT
    usart_send[0] = 0x55;
    usart_send[1] = 0xAA;
    usart_send[2] = 4;//正常模式
    usart_send[3] = report_num*6+2;//正常模式
    checksum = Checksum_u16(&usart_send[2],report_num*6+2);
    memcpy(&usart_send[4+report_num*6],&checksum,2);
    USART_puts(usart_send,6+report_num*6);
#endif
    if(motor_state==2)
    {   outside_count=0;
    } else {
        outside_count++;
    }
    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);

}