1.修改定位通讯标志位，不会和其他系统干扰。 2.2.需要配合定位基站V2.111使用

yincheng.zhong

2022-10-25 f953be595ef8c2d17c533405e26093b2049f469a

 Src/application/dw_app.c

@@ -47,10 +47,10 @@
#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 1000
#define RESP_RX_TIMEOUT_UUS 4000

#define DELAY_BETWEEN_TWO_FRAME_UUS 240

@@ -69,18 +69,21 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4

#define STARTPOLL  REGPOLL
#define STARTPOLL  REGPOLL//#define SWITCHBASE_DIST
#define SWITCHBASE_ZHUANDIAN
#define SWITCHBASE_DIST
enum enumtagstate
{
   REGPOLL,
   DISCPOLL,
   GETNEARMSG,
   NEARPOLL,
    SINGLEPOLL,
}tag_state=STARTPOLL;
static dwt_config_t config = {
   2,               /* 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. */
@@ -93,7 +96,7 @@
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};
 uint8_t tx_near_msg[180] = {0};

static uint32_t frame_seq_nb = 0;   
static uint32_t status_reg = 0;
@@ -244,9 +247,9 @@
u16 ancid_list[TAG_NUM_IN_SYS];
u8 nearbase_num;
u16 mainbase_id;
int32_t mainbase_dist;
int32_t mainbase_dist,base_mindist;
uint8_t trygetnearmsg_times;
u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list0[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
u8 FindNearBasePos(u16 baseid)
{
   u8 i;
@@ -458,7 +461,7 @@
      delay_ms(30);

}
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;
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;
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;
@@ -468,25 +471,59 @@
u32 rec_tagpos_binary;
int16_t offset=4700,temptimer;
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
void Poll(void)


#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];

extern u8 userkey_state;
extern float motor_keeptime;
uint8_t changemainbase_count=0,gotosleep_flag,singlepoll_i;
uint32_t frame_len;
int32_t salvebase_mindist;
int16_t intheight;
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;
   u8 i,getsync_flag=0;
   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;
	
   for(i=0;i<3;i++)
   frame_seq_nb++;
   for(uint8_t singlepoll_i=0;singlepoll_i<10;singlepoll_i++)
   {
       

   /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
   tx_poll_msg[ANC_TYPE_IDX] = i;	
   dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//设置超宽带发送数据长度
    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

   
   /* 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
   { 
@@ -500,6 +537,7 @@
      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] == 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
@@ -507,54 +545,47 @@
         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;}
                           }
                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);
         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;
         
                           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);
		
         if(temp_dist<mindist&&temp_dist!=0)
         {
            memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
            tag_state=GETNEARMSG;
            trygetnearmsg_times=5;
            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
         { };
@@ -565,43 +596,149 @@
      }
      else
      {
           //  singlepoll_basedist[singlepoll_i] = 0x1ffff;
         random_delay_tim = DFT_RAND_DLY_TIM_MS; //如果通讯失败，将间隔时间增加5ms，避开因为多标签同时发送引起的冲突。
      }
   }
   else
   {
     //   singlepoll_basedist[singlepoll_i] = 0x1ffff;
   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;
//   tagslotpos--;
//         if(tagslotpos==0||tagslotpos>max_slotpos)
//      {		
//         tagslotpos=max_slotpos;	
//      }
//      tyncpoll_time=(tagslotpos-1)*slottime;
   }
   mainbase_id=minid;
   //mainbase_id = 0x1;
//   mainbase_id=minid;
//   mainbase_id = 0x4;
}
int16_t target_offsettime = 850;
//#define TAGET_OFFSETTIME 940
#define MAX_NEARBASE_ANCNUM 11
u16 rec_maxrangelen,rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
u8 outrange_times;
extern u32 synctimer;
u32 target_time=100;
u8 pd_i;
u32 temptime,delaytime,expect_anctime;
int32_t error_time;
u16 delaycount;
int16_t poll_offsettime=-6900,clockoffset;
extern u16 slotpos_intoatl, slotpos;
void NextPollDelay(u32 anchor_time)
{
      //tagslotpos = 0;
      error_time = anchor_time-expect_anctime;
   if(error_time<2000&&error_time>0)
      clockoffset += (target_offsettime-error_time)*0.1;
    for(pd_i=0;pd_i<tag_frequency;pd_i++)
    {
        slotpos_intoatl = pd_i*bigslot_num+tagslotpos;
        temptime = (slotpos_intoatl*SLOTTIME_MS+100)*100;
        if(anchor_time<temptime-5000)
        { 
               current_slotnum = pd_i;
            delaytime = temptime-anchor_time+poll_offsettime+clockoffset;  
                  expect_anctime = temptime;
            return ;
        }
    }
    temptime = (tagslotpos*SLOTTIME_MS+100+10000)*100;
      expect_anctime = temptime-1000000;
    delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
   return ;
}
u16 lpcount,poll_startcount,last_lpcount;
u16 waketopolltimeus = 3200;
#define BASENUM_COMTIME 244
u32 last_anchor_time;
void SetLPTimer(u32 anchor_time)
{
    NextPollDelay(anchor_time);
    current_count=HAL_LPTIM_ReadCounter(&hlptim1);
    lpcount = current_count+delaytime/LPTIMER_LSB+(10-nearbase_num)*8;
      poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
      if(poll_startcount>=32768)
      {
      poll_startcount -=32768;
      }
      if(lpcount>=32768)
      {
      lpcount -=32768;
      }
    __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
      last_lpcount = lpcount;
   }

void NextSlotDelayMs(int16_t delayms)
{
   current_slotnum++;
   if(current_slotnum>=tag_frequency)
   {	
      current_slotnum = 0;		
      lpcount = last_lpcount+31457/tag_frequency+1311+32.767*delayms;//(float)(delayms+40)*32.767 ;//(200/tag_frequency+delayms)*4.8*1000/LPTIMER_LSB
   }else{
      lpcount = last_lpcount+31457/tag_frequency+32.767*delayms;//(float)(200/tag_frequency*48+delayms*10)*3.3 ;
   }
            if(lpcount>=32768)
            {
            lpcount -=32768;
            }		
            poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
      if(poll_startcount>=32768)
      {
      poll_startcount -=32768;
      }
         __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
            last_lpcount = lpcount;
}

u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
void GetNearMsg(void)
{
   u32 start_poll,frame_len;


    u8 nearmsg_i=0;
   NextSlotDelayMs(0);
    for(nearmsg_i=0;nearmsg_i<20;nearmsg_i++)
    {
        nearbase_distlist[nearmsg_i] = 0x1ffff;
    }
//mainbase_id = 0x9818;
   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
  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
      current_count=HAL_LPTIM_ReadCounter(&hlptim1);
      while(current_count<poll_startcount||current_count>poll_startcount+16384)
      {
         current_count=HAL_LPTIM_ReadCounter(&hlptim1);
         if(current_count<poll_startcount-300)
         {
            break;
         }
      }
   dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);

      NextSlotDelayMs(0);		
   /* 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
   {
@@ -615,61 +752,121 @@
      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);
      //   tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
         //tagslotpos=rx_buffer[TAGSLOTPOS];
         memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
         memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
         //slottime=ceil((nearbase_num+2)*0.3)+1;
         //tyncpoll_time=tagslotpos*slottime;
         //tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;   
         tag_state=NEARPOLL;
      }
   }else{
         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
//         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
   }
}
extern u8 userkey_state;
uint8_t changemainbase_count=0,gotosleep_flag;
uint32_t frame_len;
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;

   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;
   }
   HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
   if(nearbase_num>10)
   {nearbase_num = 10;}
//   HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);

   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[SEQUENCE_IDX] = frame_seq_nb++;
   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[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[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] = POS_POLL;	
   
   tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;   
   tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;   

   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);   
   dwt_writetxdata(21+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(21+2*nearbase_num, 0);//设置超宽带发送数据长度
   dwt_writetxdata(29+8*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(29+8*nearbase_num, 0);//设置超宽带发送数据长度
            current_count=HAL_LPTIM_ReadCounter(&hlptim1);
		
      while(current_count<poll_startcount||current_count>poll_startcount+16384)
      {
         current_count=HAL_LPTIM_ReadCounter(&hlptim1);
         if(current_count<poll_startcount-300)
         {
            break;
         }
      }
   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
	
//   HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
//    for(i=0;i<nearbase_num+1;i++)
//    {
//        nearbase_distlist[i] = 0x1ffff;
//    }
    
   tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
   para_update = 0;
   flag_finalsend=0;
@@ -677,7 +874,7 @@
   flag_getresponse=0;
   start_count=HAL_LPTIM_ReadCounter(&hlptim1);
   recbase_num=0;
   timeout=ceil((float)nearbase_num*SLOT_SCALE)+2;
   timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
   end_count=start_count+(timeout<<5);
   if(end_count>=32768)
   {end_count-=32768;}
@@ -700,12 +897,12 @@
               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
                     dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);//设定接收超时时间，0位没有超时时间
                     dwt_rxenable(0);//打开接收
                     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_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
                     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] == 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   
@@ -717,81 +914,107 @@
                           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;
                           ////////////////////////////
									
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           mainbase_dist=temp_dist;
                           if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
                              motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
                              dwt_forcetrxoff();
                           final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS) * UUS_TO_DWT_TIME)) >> 8;
                           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+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]=POS_FINAL;
                           rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
									
                           mainbase_lost_count=0;
                           flag_finalsend=1;
                           memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
									
                           if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
                        if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
                           {
                              para_update = 1;
                              tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
                              para_len = frame_len-22;
                              memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
                           }
                           flag_getresponse=1;
                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
								
                           //时间同步
                           ancsync_time=((sync_timer)*1000+tmp_time);	
                           last_slotnum=current_slotnum;
                           current_slotnum=((float)(sync_timer*10)/(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);

                        }else{
									
                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);									
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;								
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], resp_rx_ts);								
                        if(rec_nearbasepos + 1 == nearbase_num)
                        {
                           dwt_forcetrxoff();
                           final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS) * UUS_TO_DWT_TIME)) >> 8;
                           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_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
                           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   
                           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;
                           if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
                              motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
                                    if(frame_len==28)
                                     {
                                         memcpy(&rec_maxrangelen,&rx_buffer[MAXRANGE_DISTANCE],2);
                                         memcpy(&rec_anc_signalpower[0],&rx_buffer[ANC_SIGNALPOWER],2);
                                         if(mainbase_dist>rec_maxrangelen&&mainbase_dist>0&&rec_maxrangelen!=0)
                                         {
                                             if(outrange_times++>OUTRANGE_RESTARTTIMES)
                                             {
                                               // tag_state = STARTPOLL;
                                             }
                                         }else{
                                             outrange_times = 0;
                                         }
                                     }
                                 
									
									
                           mainbase_lost_count=0;
                           flag_finalsend=1;
                           memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
		

                           flag_getresponse=1;								
                           //时间同步
                        tmp_time=tmp_time+450;
                           if(tmp_time>999)
                           {
                              tmp_time-=999;
                              sync_timer++;
                              if(sync_timer>=1000)
                                 {sync_timer=0;}
                           }
                           ancsync_time=((sync_timer)*1000+tmp_time);	
                           SetLPTimer(ancsync_time);
                           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
                                 { };}								
                                 { };}			
//HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);											
                              break;
                        }else{
									
                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);									
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                                    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)
                           {
                              salvebase_mindist = temp_dist;
                              mindist_slavebaseid = rec_nearbaseid;
                           }
								
                           #ifdef SWITCHBASE_ZHUANDIAN
                                       if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]>1&&temp_dist>0)
                             {
                                            mainbase_id = rec_nearbaseid;
                                            tag_state = GETNEARMSG;
                                 trygetnearmsg_times = 0;
                                        }
                                    #endif

                  }                        
                     }
         //            HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
                  }else{
                  dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
                  if(recbase_num!=nearbase_num+1)
@@ -803,115 +1026,94 @@
                  }         
               //   dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
         }
            if(flag_finalsend!=1)
            {flag_finalsend = 2;}
         dwt_forcetrxoff();
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
      j=0;
         if(exsistbase_list[0]==0)
         dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
//         HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
         if(mainbase_lost_count==0)
         {
//            SetNextPollTime(tagslotpos);
         }
      //   tyncpoll_time=0;
         next_nearbase_num=0;
         for(i=0;i<nearbase_num;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++)
            #ifdef SWITCHBASE_DIST
            if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
            {
               if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
               changemainbase_count++;
               if(changemainbase_count>tag_frequency*2)
               {
                  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;
               }			
                              mainbase_id = mindist_slavebaseid;
                              tag_state = GETNEARMSG;
                              trygetnearmsg_times = 0;
               }
            }else{
               changemainbase_count = 0;
            }
         }
         if(true_nearbase_distlist[0]<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST&&true_exsistbase_list[0])
         #endif
         }else if(mainbase_lost_count>5*tag_frequency)
         {
            changemainbase_count++;		
         }else{
            changemainbase_count = 0;
         }
         if(changemainbase_count>3)
         //   tag_state = DISCPOLL;
         }	
         if(mainbase_lost_count!=0)
         {
            mainbase_id = true_nearbase_idlist[0];
            tag_state = GETNEARMSG;
         }
         if(mainbase_lost_count>3)
         {
            tag_state = DISCPOLL;
         }
            for (i=0;i<nearbase_num;i++)
   {
      if(nearbaseid_list[i]==0)
      {
         tag_state = GETNEARMSG;
      }
	
   }
//串口输出距离			
//         report_num=0;
//   for (i=0;i<last_nearbase_num;i++)
//         {
//            nearbaseid_list[i]=true_nearbase_idlist[i];
//            nearbase_distlist[i]=true_nearbase_distlist[i];
//            if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==0xa)
//            {
//               memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
//               memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
//               report_num++;
//            }
//         }
         for(i=0;i<MAX_NEARBASE_NUM;i++)
         {
            nearbase_distlist[i]=0x1ffff;
         }
            if(mainbase_lost_count<=tag_frequency*1)
            {NextSlotDelayMs(0);
            }else{
               NextSlotDelayMs(0);
            }
         }	

         if(para_update)
         {
         uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
			
            pack_msgtype = rec_remotepara[0];
            pack_index = rec_remotepara[1];
            pack_length = rec_remotepara[2];
            if(pack_msgtype==2)
            {
                  memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
               //返回一个error状态
               //SendComMap(pack_datalen,pack_index);
               save_com_map_to_flash();
               delay_ms(100);
               NVIC_SystemReset();
               if( pack_index == MOTOR_ONTIME_INDEX)
               {
                       // if(motor_keeptime==0)
                            motor_keeptime = rec_remotepara[3];
               }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();
                        }
               }
            }
         }
            if(get_newdist>2)
            {
                notenoughdist_count = 0;
            }else{
                if(notenoughdist_count++>3)
                {
                    notenoughdist_count = 0;
             //       tag_state = DISCPOLL;
                }
            }
         for(i=0;i<nearbase_num;i++)
         {
                if(nearbaseid_list[i]!=nearbaseid_list2[i])
                {
                    tag_state = GETNEARMSG;
                           trygetnearmsg_times = 0;
                           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);
//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);

}
extern uint8_t module_power,imu_enable,motor_enable;

void Registor_Poll(void)
{
   static u8 regpoll_count=0;
   mainbase_lost_count = 0;
      tag_frequency = REGISTER_FREQUENCY;
      bigslot_num = TOTAL_SLOTNUM/tag_frequency;
      regpoll_count++;
@@ -920,7 +1122,9 @@
         if(tagslotpos--<2)
            tagslotpos=TOTAL_SLOTNUM;
      }
      SetNextPollTime(tagslotpos);
      //SetNextPollTime(tagslotpos);
      NextSlotDelayMs(-2);
		
      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);      

@@ -931,8 +1135,9 @@
      memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);   
      memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[IMU_THRES],2);
      memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[NOMOVESLEEP_TIME],2);
      dwt_writetxdata(21, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
      dwt_writetxfctrl(21, 0);//设置超宽带发送数据长度
    memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[HEIGHTOFFEST_INDEX],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 | 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
   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
   { 
@@ -968,34 +1173,50 @@
                              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;
                           ancsync_time=((sync_timer)*1000+tmp_time);																			
                           SetLPTimer(ancsync_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);
                           mainbase_id=rec_nearbaseid;
                           nearbase_num=rx_buffer[NEARBASENUM_INDEX];
                           memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
                           tag_state = NEARPOLL;
                           memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
                           if(tagslotpos!=255)
                           tag_state = DISCPOLL;
                        }
                     }
}
u32 id;
u32 id,error_times=0;

extern float Height;
void Tag_App(void)//发送模式(TAG标签)
{
   
   //LED0_ON;
   SPIx_CS_GPIO->BRR = SPIx_CS;
   delay_us(700);
   SPIx_CS_GPIO->BSRR = SPIx_CS;
   id =  dwt_readdevid() ;
       while (DWT_DEVICE_ID != id) 
    {
      //   Dw1000_Init();
         id =  dwt_readdevid() ;
        IdleTask();	
        if(error_times++>20)
        {
            printf("DW ID ERROR.\r\n");
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
        }
    }
    error_times = 0;
   switch(tag_state)
   {
      case REGPOLL:
@@ -1005,24 +1226,28 @@
         break;
      case DISCPOLL:
         LED_LG_ON;      
         Poll();
         DiscPoll();
         LED_LG_OFF;
         break;
      case GETNEARMSG:
         trygetnearmsg_times--;	
         LED_LG_ON;		
         trygetnearmsg_times++;	
         LED_LG_ON;
            GetNearMsg();    
      LED_LG_OFF;
      if(trygetnearmsg_times==0)
      if(trygetnearmsg_times>5)
      {
         tag_state = DISCPOLL;
         tag_state = STARTPOLL;
      }
         break;
      case NEARPOLL:
         //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);
      case NEARPOLL:	
         NearPoll();
         //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
         //GetPressAndHeight();
         //intheight = Height*100;
         break;
        case SINGLEPOLL:
          //  Poll();
            break;
   }
     userkey_state = !GET_USERKEY;
   dwt_entersleep();
}