电池标签L051工程
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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




@@ -69,8 +69,9 @@


#define FINAL_MSG_FINAL_TX_TS_IDX 18


#define FINAL_MSG_TS_LEN 4




#define STARTPOLL  SINGLEPOLL//#define SWITCHBASE_DIST


#define STARTPOLL  REGPOLL//#define SWITCHBASE_DIST


#define SWITCHBASE_ZHUANDIAN


#define SWITCHBASE_DIST


enum enumtagstate


{


   REGPOLL,


@@ -82,7 +83,7 @@


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. */


@@ -95,7 +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;


@@ -246,9 +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 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[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;


@@ -472,9 +473,9 @@


u8 motor_state,rec_remotepara_state,rec_remotepara[80];






#define SINGLEPOLL_BASENUM 10


uint16_t singlepoll_baseid[SINGLEPOLL_BASENUM]={0x9733,0x9788,0x9798,0x8159,0x9797,0x9790,0x9799,0x9785,0x8169,0x8276};


int32_t singlepoll_basedist[SINGLEPOLL_BASENUM];


#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;


@@ -482,38 +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++;


   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-1;


        


        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],&nearbaseid_list,nearbase_num*2);


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


    intheight+=g_com_map[MAX_REPORT_ANC_NUM];


    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&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




@@ -531,63 +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


         { };


@@ -598,45 +596,149 @@


      }


      else


      {


             singlepoll_basedist[singlepoll_i] = 0x1ffff;


           //  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;


     //   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;


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


//      {		


//         tagslotpos=max_slotpos;	


//      }


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


   }


//   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;




mainbase_id = 0x9724;


    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


   {


@@ -650,7 +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);


@@ -667,48 +769,99 @@


//         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;


   }


   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[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);


    intheight+=g_com_map[MAX_REPORT_ANC_NUM];


    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&intheight,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(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


   dwt_writetxfctrl(28+6*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;


@@ -721,7 +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;}


@@ -744,12 +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   


@@ -767,8 +920,8 @@


                           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))


                           {


                              para_update = 1;


@@ -783,11 +936,31 @@


                           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;


                           rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;


                                    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;


@@ -805,39 +978,43 @@


                                 {sync_timer=0;}


                           }


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


                           last_slotnum=current_slotnum;


                           current_slotnum=((float)(sync_timer*10 - tagslotpos*SLOTTIME_MS)/(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);


                           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)


                           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]!=0&&temp_dist>0)


                           {


                              mainbase_id = rec_nearbaseid;


                              tag_state = GETNEARMSG;


                           }


                        #endif


                                       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)


@@ -852,8 +1029,8 @@


            if(flag_finalsend!=1)


            {flag_finalsend = 2;}


         dwt_forcetrxoff();


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);


//         HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);


         if(mainbase_lost_count==0)


         {


            #ifdef SWITCHBASE_DIST


@@ -864,19 +1041,28 @@


               {


                              mainbase_id = mindist_slavebaseid;


                              tag_state = GETNEARMSG;


                              trygetnearmsg_times = 0;


               }


            }else{


               changemainbase_count = 0;


            }


         #endif


         }else if(mainbase_lost_count>10*tag_frequency)


         }else if(mainbase_lost_count>5*tag_frequency)


         {


            tag_state = STARTPOLL;


         }			


         //   tag_state = DISCPOLL;


         }	


         if(mainbase_lost_count!=0)


         {


            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];


@@ -884,7 +1070,7 @@


            {


               if( pack_index == MOTOR_ONTIME_INDEX)


               {


                        if(motor_keeptime==0)


                       // if(motor_keeptime==0)


                            motor_keeptime = rec_remotepara[3];


               }else{


                        if(pack_index<200)


@@ -899,22 +1085,35 @@


               }


            }


         }


            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;


                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);




}


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++;


@@ -923,7 +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);      




@@ -934,8 +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


   { 


@@ -971,23 +1173,24 @@


                              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);


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


                           if(tagslotpos!=255)


                           tag_state = NEARPOLL;


                           tag_state = DISCPOLL;


                        }


                     }


}


@@ -1000,8 +1203,6 @@


   //LED0_ON;


   SPIx_CS_GPIO->BRR = SPIx_CS;


   delay_us(700);


    GetPressAndHeight();


    intheight = Height*100;


   SPIx_CS_GPIO->BSRR = SPIx_CS;


   id =  dwt_readdevid() ;


       while (DWT_DEVICE_ID != id) 


@@ -1025,25 +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 = STARTPOLL;


      }


         break;


      case NEARPOLL:   


         NearPoll();


         //GetPressAndHeight();


         //intheight = Height*100;


         break;


        case SINGLEPOLL:


            Poll();


          //  Poll();


            break;


   }


     userkey_state = !GET_USERKEY;


   dwt_entersleep();


}