电池标签L051工程
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2023-08-10 f91c026378ada7cf97de4cc28c4e3bea38fee9b2 
 Src/application/dw_app.c


@@ -47,7 +47,7 @@


#define POLL_TX_TO_RESP_RX_DLY_UUS 10


/* 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 510


#define RESP_RX_TO_FINAL_TX_DLY_UUS 1000




/* Receive response timeout. See NOTE 5 below. */


#define RESP_RX_TIMEOUT_UUS 4000


@@ -81,9 +81,9 @@


    SINGLEPOLL,


}tag_state=STARTPOLL;


static dwt_config_t config = {


   2,               /* Channel number. */


   5,               /* Channel number. */


   DWT_PRF_64M,     /* Pulse repetition frequency. */


   DWT_PLEN_64,    /* Preamble length. */


   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. */


@@ -473,7 +473,7 @@


u8 motor_state,rec_remotepara_state,rec_remotepara[80];






#define SINGLEPOLL_BASENUM 15


#define SINGLEPOLL_BASENUM 5


uint16_t singlepoll_baseid[20]={0x8166,0x9804,0x9689,0x9686,0x8279,0x9815,0x9803,0x9814,0x9687,0x9774,0x8278,0x9743,0x9688,0x9771,0x8277};


int32_t singlepoll_basedist[20];




@@ -483,39 +483,43 @@


uint32_t frame_len;


int32_t salvebase_mindist;


int16_t intheight;


void Poll(void)


static uint8_t send_buffer[200];


void DiscPoll(void)


{


   uint32_t frame_len;


   uint32_t final_tx_time;


   u32 start_poll;


   int32_t mindist=999999,minid=-1,temp_dist;


   int32_t minddist=0x1ffff,minid=-1,temp_dist;


   u8 i,j,getsync_flag=0;


    u16 mindist_ancid,random_delay_tim,tempval;


    


    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;


   frame_seq_nb++;


    intheight+=g_com_map[HEIGHTOFFEST_INDEX];


   for(singlepoll_i=0;singlepoll_i<SINGLEPOLL_BASENUM;singlepoll_i++)


   for(uint8_t singlepoll_i=0;singlepoll_i<10;singlepoll_i++)


   {


   /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */


    nearbase_num = SINGLEPOLL_BASENUM;


        


        tx_near_msg[BATTARY_IDX] = bat_percent;


   tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2;


   tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;


    tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb)>>8;


   tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;


   memcpy(&tx_near_msg[NEARBASEID_INDEX],&singlepoll_baseid,nearbase_num*2);


    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&singlepoll_basedist,nearbase_num*4+4);


    


    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6],&intheight,2);


   tx_near_msg[MESSAGE_TYPE_IDX] = SPOLL;	


	


   tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;	


   tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;	


       




   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&singlepoll_baseid[singlepoll_i],2);	


   dwt_writetxdata(28+6*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去


   /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */


    nearbase_num = 0;


        


   // send_buffer[BATTARY_IDX] = bat_percent;


   //send_buffer[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1|gotosleep_flag<<2;


   send_buffer[SEQUENCE_IDX] = frame_seq_nb;


    send_buffer[SEQUENCEH_IDX] = (frame_seq_nb)>>8;


   send_buffer[NEARBASENUM_INDEX] = nearbase_num;


     


//   memcpy(&send_buffer[NEARBASEID_INDEX],&singlepoll_baseid,nearbase_num*2);


//    memcpy(&send_buffer[NEARBASEID_INDEX+nearbase_num*2],&singlepoll_basedist,nearbase_num*4+4);


//    intheight+=g_com_map[HEIGHTOFFEST_INDEX];


 //   memcpy(&send_buffer[NEARBASEID_INDEX+nearbase_num*6],&intheight,2);


   send_buffer[MESSAGE_TYPE_IDX] = DISCOVERPOLL;	


//   singlepoll_basedist[singlepoll_i]= 0x1ffff;


   send_buffer[NEARP_TAGFREQ_INDEX] = tag_frequency;	


   send_buffer[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;	


    send_buffer[ANCHOR_ID_IDX] = singlepoll_i;


   memcpy(&send_buffer[TAG_ID_IDX],&dev_id,2);	


   dwt_writetxdata(28+6*nearbase_num, send_buffer, 0);//将Poll包数据传给DW1000，将在开启发送时传出去


   dwt_writetxfctrl(28+6*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




@@ -533,63 +537,55 @@


      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] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&singlepoll_baseid[singlepoll_i],2)) //判断接收到的数据是否是response数据


        


      if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //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         


         if(getsync_flag==0)


         {


            getsync_flag=1;


                           memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);


                           memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);


                           current_count=HAL_LPTIM_ReadCounter(&hlptim1);


                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;}


                           }


                                    ancsync_time=((sync_timer)*1000+tmp_time);	


//                           last_slotnum=current_slotnum;


//                           temptimer = sync_timer-10;


//                           if(temptimer<0)


//                           {temptimer+=1000;}


//                           //current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;


//                           if(current_slotnum==last_slotnum-1)


//                           {flag_getresponse=1;}


//                           lastsync_timer=sync_timer;


                           //offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;


//                           SetNextPollTime(tagslotpos);


                tmp_time=tmp_time+450;


                if(tmp_time>999)


                {


                    tmp_time-=999;


                    sync_timer++;


                    if(sync_timer>=1010)


                        {sync_timer=0;}


                }




                //offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;


//                SetNextPollTime(tagslotpos);


      }


			


         memcpy(&send_buffer[NEARBASEID_INDEX+singlepoll_i*2],&rx_buffer[ANCHOR_ID_IDX],2);


         memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4);


         memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);


            singlepoll_basedist[singlepoll_i] = temp_dist;


         memcpy(&send_buffer[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);


           // singlepoll_basedist[singlepoll_i] = temp_dist;


       // memcpy(&singlepoll_baseid[singlepoll_i], &rx_buffer[ANCHOR_ID_IDX], 2);


            


            if(temp_dist<minddist)


            {


                minddist = temp_dist;


                memcpy(&mindist_ancid,&rx_buffer[ANCHOR_ID_IDX],2);


                


            }


            send_buffer[MESSAGE_TYPE_IDX] = DISCOVERFINAL;	


         /* Compute final message transmission time. See NOTE 9 below. */


         final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计算final包发送时间，T5=T4+Treply2


         final_tx_time = (resp_rx_ts + (600 * UUS_TO_DWT_TIME)) >> 8;//计算final包发送时间，T5=T4+Treply2


         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_final_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_final_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);


         final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);


         dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//将发送数据写入DW1000


         dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度


         final_msg_set_ts(&send_buffer[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据


         final_msg_set_ts(&send_buffer[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);


         final_msg_set_ts(&send_buffer[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);


         dwt_writetxdata(25,send_buffer, 0);//将发送数据写入DW1000


         dwt_writetxfctrl(25, 0);//设定发送数据长度


         result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送         


         tag_succ_times++;		


            LED0_BLINK;


         




		


//         if(temp_dist<mindist&&temp_dist!=0)


//         {


//            memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);


//            tag_state=GETNEARMSG;


//            trygetnearmsg_times=10*tag_frequency;


//            mindist=temp_dist;


//         }


 


         if(result==0)


         {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成


         { };


@@ -610,16 +606,23 @@


   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);


      random_delay_tim = DFT_RAND_DLY_TIM_MS;


   }


   // delay_ms(1);


}


    if(minddist!=0x1ffff&&minddist!=0)


    {


         trygetnearmsg_times = 0;


            tag_state = GETNEARMSG;


            mainbase_id = mindist_ancid;   


    }


   


   if(getsync_flag==0)


   {


//   tagslotpos--;


         if(tagslotpos==0||tagslotpos>max_slotpos)


      {		


         tagslotpos=max_slotpos;	


      }


      tyncpoll_time=(tagslotpos-1)*slottime;


//         if(tagslotpos==0||tagslotpos>max_slotpos)


//      {		


//         tagslotpos=max_slotpos;	


//      }


//      tyncpoll_time=(tagslotpos-1)*slottime;


   }


//   mainbase_id=minid;


//   mainbase_id = 0x4;


@@ -715,10 +718,10 @@


    {


        nearbase_distlist[nearmsg_i] = 0x1ffff;


    }


//mainbase_id = 0x9818;


//mainbase_id = 0x1;


   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);


   memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);


   tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;


   tx_near_msg[MESSAGE_TYPE_IDX] = POS_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


@@ -749,7 +752,7 @@


      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


      if (rx_buffer[MESSAGE_TYPE_IDX] == POS_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);


@@ -766,20 +769,48 @@


//         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;


   }


}


void SendHuiZongData(void)


{


                usart_send[2] = 0x0c;//正常模式 


               usart_send[3] = 15+8*(nearbase_num+1);//数据段长度


               memcpy(&usart_send[4],&dev_id,2);


                    usart_send[6] = frame_seq_nb;


                    usart_send[7] = frame_seq_nb>>8;


               usart_send[8] = bat_percent;


                    usart_send[9] = tx_near_msg[BUTTON_IDX];




                    memcpy(&usart_send[10],&intheight,2);


               usart_send[12] = tag_frequency;


                    usart_send[13] = tagslotpos;


                    usart_send[14] = 0;


                    usart_send[15] = 0;


               usart_send[16] = nearbase_num+1;


                    memcpy(&usart_send[17],&mainbase_id,2);


                    memcpy(&usart_send[19],&nearbaseid_list,2*nearbase_num);


                    memcpy(&usart_send[19+nearbase_num*2],&nearbase_distlist,4*nearbase_num+4);


                memcpy(&usart_send[19+nearbase_num*6+4],&rec_anc_signalpower,2*nearbase_num+2);


                    


               checksum = Checksum_u16(&usart_send[2],23+8*nearbase_num);


               memcpy(&usart_send[25+8*nearbase_num],&checksum,2);


               USART_puts(usart_send,27+8*nearbase_num);


               //HexToAsciiSendUDP(usart_send,27+8*nearbase_num);


}


uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;


uint8_t motor_flag;


void NearPoll(void)


{


   


   uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;




    static u8 notenoughdist_count=0;


   uint32_t final_tx_time;


   u32 start_poll;


   u8 i,j,getsync_flag=0,timeout;


   u8 i,j,getsync_flag=0,timeout,get_newdist;


   // USART_putc(current_slotnum);


    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;


   salvebase_mindist=999999;


    get_newdist = 0;


   if(next_nearbase_num>=MAX_NEARBASE_NUM)


   {


      next_nearbase_num = MAX_NEARBASE_NUM-1;


@@ -790,22 +821,28 @@




   recbase_num=0;


//   motor_state=0;


    if(motor_state!=0&&motor_state!=3)


    {


        motor_flag = 1;


    }else{


        motor_flag = 0;


    }


   


   tx_near_msg[BATTARY_IDX] = bat_percent;


   tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2;


   tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;


   tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;


  tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;


    tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;


   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_num*2],&nearbase_distlist,nearbase_num*4+4);


  memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);


    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);


    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);




    


    if(intheight!=0)


    intheight+=g_com_map[HEIGHTOFFEST_INDEX];


    


    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);


   tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;	


   tx_near_msg[MESSAGE_TYPE_IDX] = POS_POLL;	


   


   tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;   


   tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;   


@@ -865,7 +902,7 @@


                     dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间


                     dwt_rxenable(0);//打开接收


                     //HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);


                     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


                     if (rx_buffer[MESSAGE_TYPE_IDX] == POS_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   


@@ -883,7 +920,7 @@


                           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+nearbase_num*4], 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[MESSAGE_TYPE_IDX]=POS_FINAL;


                           rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;


                        if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))


                           {


@@ -899,6 +936,10 @@


                           userkey_state = !GET_USERKEY;




                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);


                                    if(temp_dist!=nearbase_distlist[0])


                                    {


                                        get_newdist++;


                                    }


                           mainbase_dist=temp_dist;


                                    nearbase_distlist[0] = temp_dist;


                                    base_mindist = temp_dist;


@@ -951,6 +992,10 @@


                                    if(frame_len==28)


                                    memcpy(&rec_anc_signalpower[rec_nearbasepos+1],&rx_buffer[ANC_SIGNALPOWER],2);


                           memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);


                                    if(temp_dist!=nearbase_distlist[rec_nearbasepos+1])


                                    {


                                        get_newdist++;


                                    }


                           nearbase_distlist[rec_nearbasepos+1]=temp_dist;   //   nearbase_distlist[1]对应   rec_nearbaseid[0]的距离               


                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);


                           if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]==1)


@@ -963,7 +1008,7 @@


                             {


                                            mainbase_id = rec_nearbaseid;


                                            tag_state = GETNEARMSG;


                                                                  trygetnearmsg_times = 0;


                                 trygetnearmsg_times = 0;


                                        }


                                    #endif




@@ -1004,7 +1049,7 @@


         #endif


         }else if(mainbase_lost_count>5*tag_frequency)


         {


            tag_state = STARTPOLL;


            tag_state = DISCPOLL;


         }   


         if(mainbase_lost_count!=0)


         {


@@ -1027,7 +1072,17 @@


               {


                        if(motor_keeptime==0)


                            motor_keeptime = rec_remotepara[3];


               }else{


               }else if( pack_index == 2*COM_INTERVAL)


                    {


                        if(memcmp(&g_com_map[COM_INTERVAL],&rec_remotepara[3],2)!=0)


                        {


                            memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);


                            save_com_map_to_flash();


                            tag_frequency = 1000/g_com_map[COM_INTERVAL];


                            bigslot_num = TOTAL_SLOTNUM/tag_frequency;


                        }


                    }


                    else{


                        if(pack_index<200)


                        {


                            memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);


@@ -1040,6 +1095,16 @@


               }


            }


         }


            if(get_newdist>=2)


            {


                notenoughdist_count = 0;


            }else{


                if(notenoughdist_count++>10)


                {


                    notenoughdist_count = 0;


                    tag_state = DISCPOLL;


                }


            }


         for(i=0;i<nearbase_num;i++)


         {


                if(nearbaseid_list[i]!=nearbaseid_list2[i])


@@ -1049,6 +1114,7 @@


                           nearbaseid_list0[i]=1;


                }


         }


        //    SendHuiZongData();


   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);




@@ -1134,7 +1200,7 @@


                           memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);


                           memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);


                           if(tagslotpos!=255)


                           tag_state = NEARPOLL;


                           tag_state = DISCPOLL;


                        }


                     }


}


@@ -1170,7 +1236,7 @@


         break;


      case DISCPOLL:


         LED_LG_ON;      


         Poll();


         DiscPoll();


         LED_LG_OFF;


         break;


      case GETNEARMSG:


@@ -1185,13 +1251,15 @@


         break;


      case NEARPOLL:   


         NearPoll();


         GetPressAndHeight();


         intheight = Height*100;


         //GetPressAndHeight();


         //intheight = Height*100;


         break;


        case SINGLEPOLL:


            Poll();


          //  Poll();


            break;


   }


    FZNearPoll();


    dwt_forcetrxoff();


     userkey_state = !GET_USERKEY;


   dwt_entersleep();


}