#include <string.h>
#include "stm32f4xx_hal.h"
#include "filters.h"
#include "ADC.h"
#include "deca_device_api.h"
#include "deca_regs.h"
#include "dw_driver.h"
#include "Spi.h"
#include "led.h"
#include "serial_at_cmd_app.h"
#include "Usart.h"
#include "global_param.h"
#include "filters.h"
#include <stdio.h>
#include "beep.h"
#include <math.h>
#include "TrackingDiff.h"
#include "UDPClient.h"
#include "Uart.h"
#include "DBG.h"
#include "CRC.h"
#define DBGMSG_OUTPUT
#define SENDANCPARA_LEN 102
#define SPEED_OF_LIGHT 299702547
#define UUS_TO_DWT_TIME 65536
#define POLL_TX_TO_RESP_RX_DLY_UUS 150
#define RESP_RX_TO_FINAL_TX_DLY_UUS 410
#define RESP_RX_TIMEOUT_UUS 2000
#define DELAY_BETWEEN_TWO_FRAME_UUS 1200
#define POLL_RX_TO_RESP_TX_DLY_UUS 670
#define RESP_TX_TO_FINAL_RX_DLY_UUS 10
#define FINAL_RX_TIMEOUT_UUS 4300

#define 	WHITELIST1_START  	            0x25
#define 	WHITELIST1_END  		        0x26
#define     MODBUS_ID1                      0x11
#define FZ_NEARBASENUM_INDEX    10
#define FZ_NEARBASEID_INDEX		 11

#define RESP_MSG_POLL_RX_TS_IDX  26
#define RESP_MSG_RESP_TX_TS_IDX  30
#define RESP_MSG_ANC_DISTOFFSET  34
#define MBX_ANC_NUM_IN_SYS       50
static uint64_t resp_tx_ts;
static uint64_t final_rx_ts;
static uint32_t status_reg,resp_tx_time,tagpos_binary;
static uint8_t frame_len,recpoll_len,current_syncid,new_tagid,seize_anchor,result,g_start_sync_flag;
static uint8_t rx_buffer[150];
static uint16_t anc_id_recv,tag_id_recv;
static uint8_t flag_syncbase,sync_seq,synclost_timer,temp_nearbaspos;
static uint16_t sync_timer;
static uint8_t send_buffer[150];
static uint8_t frame_seq_nb2,battary,button,rec_nearbase_num,ancidlist_num;
static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS];
static int16_t rec_ancdistlist[TAG_NUM_IN_SYS];
static int16_t rec_antdelay;
 uint16_t taglist_num=0,taglist_pos;
 uint16_t tagid_list[TAG_NUM_IN_SYS];
uint8_t tagbattary_list[TAG_NUM_IN_SYS];
static uint8_t tagofflinetime[TAG_NUM_IN_SYS];
 int32_t tagdist_list[TAG_NUM_IN_SYS];
static uint8_t tagpos_rec[50];
static uint64_t poll_rx_ts;
static uint8_t g_flag_Taggetdist[TAG_NUM_IN_SYS],flag_tag_distsmooth[TAG_NUM_IN_SYS],misdist_num[TAG_NUM_IN_SYS];
static uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
static uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
static double Ra, Rb, Da, Db;
static int64_t tof_dtu;
static double tof;
static double distance, dist_no_bias, dist_cm;
extern dwt_config_t config;
static double firstpath_power, rx_power,rec_firstpath_power;
static double f1, f2, r1, r2;
static uint16_t F1,F2,F3,N,C;
const double B = 131072;
const double A = 121.74;
double min_power;
static dwt_rxdiag_t d1;
static int32_t hex_dist;
extern uint16_t g_Resttimer;
static int32_t filter_dist,g_Tagdist[TAG_NUM_IN_SYS];
double LOS(dwt_rxdiag_t *dia) {
     F1 = dia->firstPathAmp1;
     F2 = dia->firstPathAmp2;
     F3 = dia->firstPathAmp3;
     N = dia->rxPreamCount;
     C = dia->maxGrowthCIR;
    
    firstpath_power=10* log10((F1*F1+F2*F2+F3*F3)/(N*N))-A;
    rx_power=10*log10(C*B/(N*N))-A;

 //   min_power =  - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
    return min_power;
  }
static uint64_t get_tx_timestamp_u64(void)
{
    uint8_t ts_tab[5];
    uint64_t ts = 0;
    int i;
    dwt_readtxtimestamp(ts_tab);
    for (i = 4; i >= 0; i--)
    {
        ts <<= 8;
        ts |= ts_tab[i];
    }
    return ts;
}

static uint64_t get_rx_timestamp_u64(void)
{
    uint8_t ts_tab[5];
    uint64_t ts = 0;
    int i;
    dwt_readrxtimestamp(ts_tab);
    for (i = 4; i >= 0; i--)
    {
        ts <<= 8;
        ts |= ts_tab[i];
    }
    return ts;
}

static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
{
    int i;
    for (i = 0; i < FINAL_MSG_TS_LEN; i++)
    {
        ts_field[i] = (uint8_t) ts;
        ts >>= 8;
    }
}

static void final_msg_get_ts(const uint8_t *ts_field, uint32_t *ts)
{
    int i;
    *ts = 0;
    for (i = 0; i < FINAL_MSG_TS_LEN; i++)
    {
        *ts += ts_field[i] << (i * 8);
    }
}
int16_t his_dist[100];
void TagListUpdate(void)
{
	uint16_t i,j=0,temp[TAG_NUM_IN_SYS];
	for(i=0;i<taglist_num;i++)
	{
		if(tagofflinetime[i]++<QUIT_SLOT_TIME)
		{
			tagid_list[j]=tagid_list[i];
//			tagid_distlist[j] = 
			tagdist_list[j]=tagdist_list[i];
			his_dist[j] = his_dist[i];
			tagofflinetime[j++]=tagofflinetime[i];
			
		}
	}
	taglist_num=j;
}
uint16_t CmpTagInList(uint16_t tagid)
{uint16_t i;
	for(i=0;i<taglist_num;i++)
	{
		if(memcmp(&tagid,&tagid_list[i],2)==0)
			break;
	}
    tagofflinetime[i] = 0;
	return i;
}
static void resp_msg_set_ts(uint8_t *ts_field, const uint64_t ts)
{
    int i;
    for (i = 0; i < 4; i++)
    {
        ts_field[i] = (ts >> (i * 8)) & 0xFF;
    }
}
extern u8 uwb_timeout;
extern u16 basesystimer,uwb_losttimer;
uint8_t remotesend_state,remotesend_index;
uint16_t random_time;
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos) //0 mainbase  1 first near_base
{
    uint8_t motorstate;
		//	tmp_time=TIM3->CNT;
      temp_nearbaspos = ancrec_nearbasepos;
      memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);
			memcpy(&send_buffer[ANCTIMEMS],&basesystimer,2);
		//	memcpy(&send_buffer[ANCTIMEUS],&tmp_time,2);
			send_buffer[TAGFREQ_IDX] = tag_frequency;
			memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);
			poll_rx_ts = get_rx_timestamp_u64();//»ñµÃPoll°ü½ÓÊÕʱ¼äT2

    if(rec_nearbase_num == ancrec_nearbasepos)//ÇÀռģʽ
    {
     //   random_time = (HIDO_TimerGetTick()%100);
        	resp_tx_time = (poll_rx_ts+((rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//¼ÆËãResponse·¢ËÍʱ¼äT3¡£
  
    }else{
  			resp_tx_time = (poll_rx_ts + ((rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//¼ÆËãResponse·¢ËÍʱ¼äT3¡£
    }
            dwt_setdelayedtrxtime(resp_tx_time);//ÉèÖÃResponse·¢ËÍʱ¼äT3
			dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//ÉèÖ÷¢ËÍÍê³Éºó¿ªÆô½ÓÊÕÑÓ³Ùʱ¼ä
//			dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//½ÓÊÕ³¬Ê±Ê±¼ä
            resp_tx_ts = (((uint64_t)(resp_tx_time & 0xFFFFFFFEUL)) << 8) ;

            /* Write all timestamps in the final message. See NOTE 8 below. */
            resp_msg_set_ts(&send_buffer[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts);
            resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts);
						//g_com_map[DIST_OFFSET]=0;//²âÊԼǵÃɾ
            memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&g_com_map[DIST_OFFSET],2);
//			if(new_tagid)
//			{
//				tagdist_list[taglist_pos]=0x1ffff;
//				memcpy(&send_buffer[DIST_IDX], &tagdist_list[taglist_pos], 4);
//			}else{
//				memcpy(&send_buffer[DIST_IDX], &tagdist_list[taglist_pos], 4);
//			}
//			motorstate =0;
//            if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1]||tagdist_list[taglist_pos]<0)
//            {
//               motorstate =0; 
//            }
//            else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
//			{
//				if(flag_tag_distsmooth[taglist_pos])
//				{motorstate =2;
//				}else{
//					motorstate =0;
//				}
//			}else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
//			{
//				if(flag_tag_distsmooth[taglist_pos])
//				{motorstate =1;
//					}else{
//					motorstate =0;
//				}
//			}
            send_buffer[GROUP_ID_IDX] = group_id;
			send_buffer[MAINBASE_INDEX]=flag_syncbase;
			send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
			send_buffer[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
			send_buffer[MOTORSTATE_INDEX]&=0x0f;
//            remotesend_state = 0;
          
//            for(uint8_t i=0;i<PWTAG_MAXGROUPNUM;i++)
//            {
//                if(pwtag[i].remain_time!=0)
//                {
//                if(pwtag[i].id==tag_id_recv)
//                {   
//                    uint16_t calCRC;
//                    uint8_t remotetag_para[10],remotetag_paralen;
//                    remotesend_state=1;
//                    remotesend_index = i;
//                    if(pwtag[i].index==200)
//                    {remotesend_state = 2;}
//                    send_buffer[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
//                    remotetag_paralen = 2+3+2;
//                    remotetag_para[0] = 2;
//                    remotetag_para[1] = pwtag[i].index;
//                    remotetag_para[2] = 2;
//                    memcpy(&remotetag_para[3],&pwtag[i].value,2);
//                    calCRC = CRC_Compute(remotetag_para,5);
//                    memcpy(&remotetag_para[5],&calCRC,2);
//                    memcpy(&send_buffer[REMOTEPARA_INDEX],remotetag_para,remotetag_paralen);
//                    dwt_writetxdata(24+remotetag_paralen, send_buffer, 0);//дÈë·¢ËÍÊý¾Ý
//                    dwt_writetxfctrl(24+remotetag_paralen, 0);//É趨·¢Ëͳ¤¶È		
//                    
//                    //finalsend = 1;
//                    break;
//                }				
//            }
//        }
//            
//            
//           if(remotesend_state==0)
//           {
                dwt_writetxdata(60, send_buffer, 0);//дÈë·¢ËÍÊý¾Ý
                dwt_writetxfctrl(60, 0);//É趨·¢Ëͳ¤¶È
               result = dwt_starttx(DWT_START_TX_DELAYED);
               uwb_timeout = 0;
               if(result == 0)
               while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS )))///²»¶Ï²éѯоƬ״ֱ̬µ½½ÓÊճɹ¦»òÕß³öÏÖ´íÎó
			{
                    if(uwb_timeout>5)
                        break;
            };
//           }else{
//			result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//ÑÓ³Ù·¢ËÍ£¬µÈ´ý½ÓÊÕ
//					 }
			
//			if(result==0)
//			{
//				while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///²»¶Ï²éѯоƬ״ֱ̬µ½½ÓÊճɹ¦»òÕß³öÏÖ´íÎó
//			{ };
//		}else{
//             if(g_com_map[MODBUS_ID1]==1)
//                {
//                 #ifdef DBGMSG_OUTPUT
//                    printf("·¢Ëͳ¬Ê±");
//                #endif
//                }
//			result++;
//		}
//                if(!(status_reg& SYS_STATUS_RXFCG))
//        {
//            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
//            dwt_rxenable(0);
//        while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///²»¶Ï²éѯоƬ״ֱ̬µ½½ÓÊճɹ¦»òÕß³öÏÖ´íÎó
//			{ };
//        }
//	
//			if (status_reg & SYS_STATUS_RXFCG)//½ÓÊճɹ¦
//			{
//				
//				dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ±ê־λ
//				frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//Êý¾Ý³¤¶È
//				dwt_readrxdata(rx_buffer, frame_len, 0);//¶ÁÈ¡½ÓÊÕÊý¾Ý
//                if(rx_buffer[MESSAGE_TYPE_IDX] == MBX_PRAAREPLY)
//                {                 
//                    u16 calCRC,recCRC,rec_commap[SENDANCPARA_LEN];
//                    calCRC = CRC_Compute(&rx_buffer[MESSAGE_PARAREPLY_IDX],SENDANCPARA_LEN);
//                    memcpy(&recCRC,&rx_buffer[MESSAGE_PARAREPLY_IDX+SENDANCPARA_LEN],2);
//                    if(memcmp(&recCRC,&calCRC,2)==0)
//                    {
//                        uint8_t buffer_len,datalen,tempindex;
//                        char send_buffer[200];
//                        memcpy(rec_commap,&rx_buffer[MESSAGE_PARAREPLY_IDX],SENDANCPARA_LEN);
//                        pwtag[remotesend_index].remain_time = 0;
//                        buffer_len = sprintf(send_buffer,"$replypara_anchor,");
//                        datalen = sprintf(&send_buffer[buffer_len],"%x,",pwtag[remotesend_index].id);
//                        buffer_len += datalen;
//                        for(uint16_t i=0;i<SENDANCPARA_LEN/2;i++)
//                        {
//                            datalen = sprintf(&send_buffer[buffer_len],"%d,",rec_commap[i]);
//                            buffer_len += datalen;
//                        }
//                        send_buffer[buffer_len++] = 'e';
//                        send_buffer[buffer_len++] = 'n';
//                        send_buffer[buffer_len++] = 'd';
//                        send_buffer[buffer_len++] = 0x0d;
//                        send_buffer[buffer_len++] = 0x0a;
//                        UDPClient_Uploadhex((uint8_t*)send_buffer,buffer_len);
//                    
//                    }                  
//                }
//			if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2)) //ÇÀÕ¼anchor ʧ°Ü
//			{
//                  if(g_com_map[MODBUS_ID1]==1)
//                {
//                #ifdef DBGMSG_OUTPUT
//                printf("ÇÀռʧ°Ü");       
//                #endif
//                }
//				return 1;
//			}
//			if (rx_buffer[MESSAGE_TYPE_IDX] == MBX_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)&&group_id==rx_buffer[GROUP_ID_IDX]) //ÅжÏÊÇ·ñΪFinal°ü
//				{

//                    
//					resp_tx_ts = get_tx_timestamp_u64();//»ñµÃresponse·¢ËÍʱ¼äT3
//					final_rx_ts = get_rx_timestamp_u64();//»ñµÃfinal½ÓÊÕʱ¼äT6
//					final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//´Ó½ÓÊÕÊý¾ÝÖжÁÈ¡T1£¬T4£¬T5
//					final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+ancrec_nearbasepos*4], &resp_rx_ts);
//					final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);

//                   // testtime[0] = time32_incr*1000+TIM3->CNT;
//					poll_rx_ts_32 = (uint32_t)poll_rx_ts;//ʹÓÃ32λÊý¾Ý¼ÆËã
//					resp_tx_ts_32 = (uint32_t)resp_tx_ts;
//					final_rx_ts_32 = (uint32_t)final_rx_ts;
//					Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
//					Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
//					Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
//					Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
//					tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//¼ÆË㹫ʽ
//					tof = tof_dtu * DWT_TIME_UNITS;
//					distance = tof * SPEED_OF_LIGHT;//¾àÀë=¹âËÙ*·ÉÐÐʱ¼ä
//#ifdef DW3000 
//                    dist_no_bias = distance;     
//#else                    
//					dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //¾àÀë¼õÈ¥½ÃÕýϵÊý
//#endif
//					dist_cm = dist_no_bias * 1000; //dis Ϊµ¥Î»ÎªcmµÄ¾àÀë	
////					dwt_readdiagnostics(&d1);
////					LOS(&d1);					
//					/*--------------------------ÒÔÏÂΪ·Ç²â¾àÂß¼­------------------------*/
//					//dist_cm=33000;
//				//	LED0_BLINK; //ÿ³É¹¦Ò»´ÎͨѶÔòÉÁ˸һ´Î
////                UWBLED_BLINK;
//                    uwb_losttimer = 0;
//					dis_after_filter=dist_cm;
//					hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;

//                        if(recpoll_len==rec_nearbase_num*4+15)
//                        {
//                            hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10-rec_antdelay*10;
//                        }
//                    
//					g_flag_Taggetdist[taglist_pos]=0;
//                    
//					if(hex_dist>-100000&&hex_dist<2000000)
//					{
//						if(abs(hex_dist-his_dist[taglist_pos])<10000)
//						{
//							flag_tag_distsmooth[taglist_pos] =1;
//						}else{
//							flag_tag_distsmooth[taglist_pos] =0;
//						}
//					if(abs(hex_dist-his_dist[taglist_pos])<10000||misdist_num[taglist_pos]>3)
//					{
//						uint16_t checksum;
//                        g_Resttimer=0;
//                      //  IWDG_Feed();
//						#ifdef TDFILTER
//						NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
//						filter_dist = pos_predict[taglist_pos]/10;
//                        filter_speed = vel_predict[taglist_pos]/10;
//                        newmeasure = 1;
//						#else
//						filter_dist=hex_dist/10;
//						#endif
//						misdist_num[taglist_pos]=0;
//                        tagdist_list[taglist_pos] = filter_dist;	
//                        his_dist[taglist_pos]=hex_dist;	
//                        if(hex_dist>0)
//						{
//                            g_Tagdist[taglist_pos]=hex_dist/10;	
//                        }else{
//                            g_Tagdist[taglist_pos]= 0x2ffff;
//                        }
//				#ifdef USART_SINGLE_OUTPUT
//                    usart_send[0]=0x55;
//                    usart_send[1]=0xAA;    
//					usart_send[2] = 1;//Õý³£Ä£Ê½ 
//					usart_send[3] = 17;//Êý¾Ý¶Î³¤¶È
//					usart_send[4] = frame_seq_nb2;//Êý¾Ý¶Î³¤¶È
//					memcpy(&usart_send[5],&tag_id_recv,2);
//					memcpy(&usart_send[7],&dev_id,2);			
//                    if(tagdist_list[taglist_pos]<=0)
//                        tagdist_list[taglist_pos]=0x2ffff;
//					memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
//					usart_send[13] = battary;
//					usart_send[14] = button;
//					usart_send[15] = firstpath_power;
//					usart_send[16] = rx_power;
//					checksum = Checksum_u16(&usart_send[2],17);
//					memcpy(&usart_send[19],&checksum,2);                   
//					//HexToAsciiSendUDP(usart_send,21);
//                #ifdef DBGMSG_OUTPUT
//                    if(g_com_map[MODBUS_ID1]==1)
//                    {
//                    printf("²â¾à³É¹¦%d",g_Tagdist[taglist_pos]);   
//                    }                    
//                #endif
//                 //    PushAnchorDataArray(tag_id_recv,tagdist_list[taglist_pos],battary);  
//                    if(uwbled == LEDOFF )
//                    {uwbled = BLUE;
//                    }else{
//                        uwbled = LEDOFF;
//                    }                        
//                      if(DBG_GetMode() == DBG_MODE_CFG||DBG_GetMode() == DBG_MODE_CHARGE)      
//                     {
//                         UART_HandleTypeDef *pstUartHandle = HIDO_NULL;
//                         Uart_GetHandle(UART_ID_DBG, (HIDO_VOID **)&pstUartHandle);
//                      //   HAL_UART_Transmit(pstUartHandle, usart_send, 21, 1000);
//                     }
//				#else		
//					memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
//					memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
//					anc_report_num++;
//				#endif
//					}else{
//                         if(g_com_map[MODBUS_ID1]==1)
//                         {
//                            #ifdef DBGMSG_OUTPUT
//                                printf("²â¾à´íÎó");
//                            #endif
//                         }  
//                                        
//					//	printf("%d",hex_dist);
//						misdist_num[taglist_pos]++;
//					}
//				}
//              if(remotesend_state == 1)
//              {
//                    uint8_t buffer_len,datalen,tempindex;
//                    char send_buffer[100];
//                    pwtag[remotesend_index].remain_time = 0;
//												if(pwtag[remotesend_index].index==ANCHOR_UPDATE)
//											{
//												if(pwtag[remotesend_index].value == 2)
//												{
//													StartAnchorUpdateProcess(pwtag[remotesend_index].id);
//												}
//											}
//                    buffer_len = sprintf(send_buffer,"$confirmwrite_anchor,");
//                    datalen = sprintf(&send_buffer[buffer_len],"%x,1",pwtag[remotesend_index].id);
//                    buffer_len += datalen;
//                    send_buffer[buffer_len++] = 0x0d;
//                    send_buffer[buffer_len++] = 0x0a;
//                    UDPClient_Uploadhex((uint8_t*)send_buffer,buffer_len);
//              }
//			}
//			}else{
//                if(g_com_map[MODBUS_ID1]==1)
//                {
//                 #ifdef DBGMSG_OUTPUT
//                    printf("final״̬´íÎó:%x",status_reg);
//                #endif
//                }
//          
//					//printf("%x/n",status_reg);
//				dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
//			}
//        }
}

int16_t DistFilter(int16_t dist,int8_t pos)
{
	if(abs(dist-his_dist[pos])<1000||misdist_num[pos]>3)
	{
//		if(tagdist_list[pos]>0&&tagdist_list[pos]<50000)
//		{
//			filter_dist=(dist/10)*0.5+0.5*tagdist_list[pos];
//		}else{
//			filter_dist = dist/10;
//		}
		misdist_num[pos]=0;
		his_dist[pos]=dist;        
	}else{
		misdist_num[pos]++;
	}
	return his_dist[pos];
}
uint16_t target_tagid[12] = {0x1316,0x1394,0x1265,0x1318,0x1306,0x1304,0x1376,0x1312,0x1277,0x1388,0x1140,0x1392};
int16_t anchor_dist;
void Anchor_App(void)
{
	u8 send_len,i;
	u16 tempid;
	uint32_t rec_syncid;
	uint16_t checksum;
//	dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
//	g_start_sync_flag=0;

//	dwt_setrxtimeout(0);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
//	dwt_rxenable(0);//´ò¿ª½ÓÊÕ
//	GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);	
//	while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//²»¶Ï²éѯоƬ״ֱ̬µ½½ÓÊճɹ¦»òÕß³öÏÖ´íÎó
//	{ 
//		IdleTask();
//	};
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);	
 //   delay_us(g_com_map[NEARBASE_ID2]);
	
	status_reg  = dwt_read32bitreg(SYS_STATUS_ID);
    dwt_setinterrupt(  DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0);
	if (status_reg & SYS_STATUS_RXFCG)//³É¹¦½ÓÊÕ
		{ uint16_t tag_recv_interval;
		float temp_tagpos;
		dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//Çå³ý±ê־λ
                        
		frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//»ñµÃ½ÓÊÕÊý¾Ý³¤¶È
        recpoll_len = frame_len;
		dwt_readrxdata(rx_buffer, frame_len, 0);//¶ÁÈ¡½ÓÊÕÊý¾Ý
		memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
		//½«ÊÕµ½µÄtag_id·Ö±ðдÈë¸÷´ÎͨѶµÄ°üÖУ¬Îª¶à±êǩͨѶ·þÎñ£¬·ÀÖ¹Ò»´ÎͨѶÖнÓÊÕµ½²»Í¬ID±êÇ©µÄÊý¾Ý
		memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);      
 if(group_id==rx_buffer[GROUP_ID_IDX]&&rx_buffer[MESSAGE_TYPE_IDX] == MBX_POLL){
                frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
                battary = rx_buffer[BATTARY_IDX];
                //button = rx_buffer[BUTTON_IDX];
                rec_nearbase_num=rx_buffer[FZ_NEARBASENUM_INDEX];                
								memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
                memcpy(&rec_ancidlist,&rx_buffer[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
                memcpy(&rec_ancdistlist,&rx_buffer[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
                memcpy(&rec_antdelay,&rx_buffer[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
                uwb_losttimer = 0;
                wltag_state=RANGE;
                for(u8 i=0;i<rec_nearbase_num;i++)
                {
                    if(rec_ancidlist[i] == dev_id)
                    {		//rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
											
											anchor_dist = rec_ancdistlist[i]+(int16_t)g_com_map[DIST_OFFSET];
											break;
                      //  PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],-(int8_t)firstpath_power);  
                        
                       // PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);  
                    }
                }
				taglist_pos=CmpTagInList(tag_id_recv);
				if(rec_ancdistlist[i]!=-1)			
				tagdist_list[taglist_pos] = DistFilter(anchor_dist,taglist_pos);
//                if(taglist_num>=TAG_NUM_IN_SYS)
//                    break;
				if(taglist_pos==taglist_num)
				{
					taglist_pos=taglist_num;
					tagid_list[taglist_num++]=tag_id_recv;
					
					new_tagid=1;
				}else{
					new_tagid=0;
				}
				
			
				if(rec_nearbase_num>ancidlist_num)
					{
						ancidlist_num=rec_nearbase_num;
						memcpy(ancidlist_rec,&rx_buffer[FZ_NEARBASEID_INDEX],rec_nearbase_num*2);
					}
					
				for(i=0;i<rec_nearbase_num;i++)
				{
					 memcpy(&tempid,&rx_buffer[FZ_NEARBASEID_INDEX+i*2],2);
					if(tempid==dev_id)
					{
						seize_anchor=0;  //·ÇÇÀÕ¼¡£ÒÑ´æÔÚÁбíÖÐ
						Anchor_RecNearPoll(i);	
//						break;
					}						
				}
					if(i==rec_nearbase_num)
					{
						seize_anchor=1;   //ÇÀÕ¼anchor
						Anchor_RecNearPoll(i);	
					}
                //}
				
//				break;		
		}	
    
	}else{
//                if(g_com_map[MODBUS_ID1]==1)
//                {
//                if(g_com_map[MODBUS_ID1]==1)
//                {
//                 #ifdef DBGMSG_OUTPUT
//                    if(g_com_map[MODBUS_ID1]==1)
//                         {
//                            printf("POLL״̬´íÎó:%x",status_reg);
//                         }
//                #endif
//                }
//                }
		dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
	}
        dwt_forcetrxoff();
        dwt_setinterrupt(  DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
		dwt_setrxtimeout(0);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
        dwt_rxenable(0);
        }