#include "mk_trace.h"
#include "mk_uwb.h"
#include "mk_phy.h"
#include "mk_misc.h"
#include "mk_power.h"
#include "mk_sleep_timer.h"
#include "lib_ranging.h"
#include "dw_tag.h"
#include "board.h"
#include "mk_calib.h"
#include <serial_at_cmd_app.h>
#include <global_param.h>
#include <global_param.h>
#include "mk_flash.h"

extern int TagRange(void);
extern Operation_step UWB_work_state;

#define CALCULATE_TIMECOUNT
/* Ranging period: 1s */
#define RANGING_PERIOD_MS (1000)

/* This is the delay from the end of the poll frame transmission to the enable of the receiver */
#define POLL_TX_TO_RESP_RX_DLY_US 750U  //yuan700

#define RESP_RX_TO_FINAL_TX_DLY_US 550U

/* Poll delay: 1s */
#define POLL_DELAY  100U //yuan100U

/* Receive response timeout */
#define RESP_RX_TIMEOUT_US 10000 //Yuan500 10mssuccess 300jixian

/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
#define FINAL_MSG_POLL_TX_TS_IDX 10
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define DELAY_DEFAULT 1000
#define DELAY_BETWEEN_TWO_FRAME_UUS 600  //yuan1400
#define HALF_SECOND_TIME 62400000

#define STARTPOLL  DISCPOLL//#define SWITCHBASE_DIST
#define SWITCHBASE_ZHUANDIAN
#define SWITCHBASE_DIST
enum enumtagstate
{

    DISCPOLL,
    REGPOLL,
    GETNEARMSG,
    NEARPOLL,
    SINGLEPOLL,
} tag_state=STARTPOLL;
static uint16_t CmpTagInList(uint16_t tagid);
uint16_t AddNewTagIntoList(uint16_t tagid);
void AnchorListUpdate(void);
void Rank_ANchor_list_by_dis(void);
struct mk_uwb_configure
{
    uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
    struct UWB_CONFIG_T phy_cfg;
};
extern uint32_t dev_id;
extern uint8_t group_id;
/* Default communication configuration. */
static struct mk_uwb_configure config = {//yuan
    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
    .phy_cfg.ch_num = 5,                      /* Channel number.                           */
    .phy_cfg.code_index = 9,                  /* TRX preamble code                         */
    .phy_cfg.mean_prf = MEAN_PRF_64M,         /* Mean prf 64/128/256M                      */
    .phy_cfg.data_bit_rate = DATA_BR_6M8,     /* Data rate 6.8M                            */
    .phy_cfg.sync_sym = PREAM_LEN_128,        /* Preamble duration, length of preamble 128 */
    .phy_cfg.sfd_sym = NON_STD_NSFD5_8,          /* Identifier for SFD sequence               */
    .phy_cfg.ranging_bit = 1,                 /* ranging bit set 1                         */
    .phy_cfg.trx_mode = TRX_MODE_15_4A,  /* IEEE802.15.4z - BPRF mode                 */
    .phy_cfg.sts_pkt_cfg = STS_PKT_CFG_0,     /* SP0 Frame                                 */
    .phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1,  /* Number of STS segments in the frame       */
    .phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment       */
    .phy_cfg.rx_ant_id = UWB_RX_ANT_3,    /* UWB RX antenna port                       */
};
static uint8_t rx_buf[150];
static uint8_t uwb_sendbuffer[150];
/*     Frames used in the ranging process
 *     Poll message:
 *     - byte 0 - 1: 0x8841 to indicate a data frame using 16-bit addressing.
 *     - byte 2: sequence number, incremented for each new frame.
 *     - byte 3 - 4: PAN Id 0x4B4d
 *     - byte 5 - 6: Destination address
 *     - byte 7 - 8: Source address
 *     - byte 9: Message type (0x02 RANGING_POLL / 0x03 RANGING_RESPONSE / 0x04 RANGING_FINAL)
 *     Response message:
 *     - byte 10: activity code (0x07 to tell the initiator to go on with the ranging exchange)
 *     Final message:
 *     - byte 10 - 13: poll message transmission timestamp.
 *     - byte 14 - 17: response message reception timestamp.
 *     - byte 18 - 21: final message transmission timestamp.
 */
//static uint8_t tx_poll_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x02};
//static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x4D, 0x49, 0x53, 0x45, 0x03, 0x07};
//static uint8_t tx_final_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x04, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};

/* Count value of phy counter when transmitting and receiving frames */
static uint32_t poll_tx_en_start_u32;
static uint32_t resp_rx_en_start_u32;
static uint32_t final_tx_en_start_u32;

/* 41 bits timestamps of frames transmission/reception. */
static int64_t poll_tx_ts_i64;
static int64_t resp_rx_ts_i64;
static int64_t final_tx_ts_i64;

/* Frame sequence number, incremented after each transmission. */
static uint8_t frame_seq_nb = 0;

static volatile uint16_t rx_state;
static volatile uint16_t rx_state1;
static volatile uint16_t rx_length;
//DW
uint16_t rec_nearbaseid;
uint8_t temp_tag_num;
int32_t test2;
static uint8_t receive_flag=0;
static uint8_t rec_tag_index,tag_num_tosend;

static uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
uint16_t  taglist_total_num,taglist_current_index;  //µ±Ç°Áбí×ÜÊýÁ¿
uint8_t  taglist_keeptime[MAX_TAG_LIST_NUM]; //ÿ¸ö±êÇ©´æ»îʱ¼ä
uint16_t taglist_id[MAX_TAG_LIST_NUM],taglist_dist[MAX_TAG_LIST_NUM]; //±êÇ©¾àÀëºÍ±êÇ©µÄID

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;
uint8_t anclost_times=0 , mainbase_lost_count=0,exsistbase_list[MAX_NEARBASE_NUM],get_newbase=0,nearbase_num,last_nearbase_num,next_nearbase_num;
uint16_t nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
uint16_t u16_nearbase_distlist[MAX_NEARBASE_NUM];
uint32_t temp_tag_count1=0;
uint32_t temp_tag_count2=0;
uint32_t temp_tag_count3=0;
uint32_t temp_count4=0;
uint32_t tempflag=0;
int32_t freq_offset,freq_offset_filter; 
int temp_flag,poll_tx_num,resp_rx_num;
extern double distance;
uint32_t count1,count2;
extern double distance_tag;
enum SIMPLE_FSM_T
{
    SIMPLE_IDLE = 0,
    SIMPLE_POLL = 1,
    SIMPLE_RESPONSE = 2,
    SIMPLE_FINAL = 3,
};
void uwb_poll_buffer_construct(void)
{
	for(uint8_t i=0;i<nearbase_num;i++)   //±êÇ©¾àÀë32λת³É16λ
{
    u16_nearbase_distlist[i] = nearbase_distlist[i];
}
		uwb_sendbuffer[GROUP_ID_IDX] = group_id;
		memcpy(&uwb_sendbuffer[TAG_ID_IDX],&dev_id,2);
	//uwb_sendbuffer[BATTARY_IDX] = bat_percent;
    uwb_sendbuffer[SEQUENCE_IDX] = frame_seq_nb++;
		uwb_sendbuffer[NEARBASENUM_INDEX] = nearbase_num;
		memcpy(&uwb_sendbuffer[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);//»ùÕ¾id
    memcpy(&uwb_sendbuffer[NEARBASEID_INDEX+nearbase_num*2],&u16_nearbase_distlist,nearbase_num*2);
		uwb_sendbuffer[MESSAGE_TYPE_IDX] = MBX_POLL;	
		memcpy(&uwb_sendbuffer[ANCHOR_ID_IDX],&mainbase_id,2);
}

static enum SIMPLE_FSM_T state = SIMPLE_IDLE;

/**
 * @brief Correct TX timestamp of the ranging frame.
 *
 * @param[in] timestamp    PHY timer count of TX
 * @return TX timestamp (unit: 15.65ps)
 */
static int64_t ranging_tx_time_correct(uint32_t timestamp)
{
    int64_t tx_timestamp = ranging_tx_time(timestamp);

    // correct antenna delay (TX using the same antenna as RX)
    tx_timestamp += ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;

    return tx_timestamp;
}
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;
    }
}
/**
 * @brief Correct RX timestamp of the ranging frame.
 *
 * @param[in] ind    MAC RX report
 * @return RX timestamp (unit: 15.65ps)
 */
static int64_t ranging_rx_time_correct(const struct MAC_HW_REPORT_T *ind)
{
    int64_t rx_timestamp = ranging_rx_time(ind);

    // correct antenna delay
    rx_timestamp -= ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;

    return rx_timestamp;
}

/* RX done process handler. */
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{
    // Power off radio
    power_off_radio();

    rx_state = rx_report->err_code;

    /** UWB RX success */
    if (rx_state == UWB_RX_OK)
    {
        /* Received data does not contain FCS */
        rx_length = rx_report->pkt_len;
        memcpy(rx_buf, rx_report->pkt_data, rx_length);
        /* Calculate rx timestamp */
        resp_rx_ts_i64 = ranging_rx_time_correct(rx_report);
				temp_tag_count1=phy_timer_count_get();
					//»ñÈ¡·¢Éä¶ËʱÖÓÆ«²î
			resp_rx_num++;
			freq_offset=phy_freq_offset_get();
			freq_offset_filter=average_filter(freq_offset);//»ñȡƵƫ
//			int32_t ppm = freq_offset_filter / (int32_t)(ch_center_freq_map[UWB_CH_NUM] * 1e-6);
//			calib_xtal38m4_load_cap_auto_tune(ppm);//ÀûÓõçÈݵ÷Õû¾§ÕñÊÊÅäƵƫӦÔÚÍêÕûµÄÒ»°üÖ®ºóµ÷Õû£¬ÐèÒª¹Ø±ÕXTAL_AUTO_TUNE_EN ºê¶¨Òå±ÜÃâÊÕ°üÖÐ;У׼µ¼Ö²â¾à´íÎó
			//LOG_INFO(TRACE_MODULE_APP, "poll_tx_num is %d,resp_rx_num is %d,distance is %lf\r\n",poll_tx_num,resp_rx_num,distance);	
			receive_flag=1;
			
    }
    else
    {
        /* UWB_PLD_ERR     payload error             */
        /* UWB_PHR_ERR     PHR error                 */
        /* UWB_SFD_ERR     Sfd error                 */
        /* UWB_BD_ERR      Preamble detection error  */
        /* UWB_TO_ERR      Receive timeout           */
        /* UWB_STS_ERR     STS error                 */
				rx_state1=rx_report->err_code;	
        rx_length = 0;
				receive_flag=2;
			temp_tag_count2=phy_timer_count_get();
			
    }
		
}

/* TX done process handler. */
static void tx_int_callback(struct MAC_HW_REPORT_T *tx_report)
{
    // Power off radio
    power_off_radio();

    /** UWB TX success */
    if (tx_report->err_code == UWB_TX_OK)
    {
			poll_tx_num++;
			temp_count4=phy_timer_count_get();//²âÊÔ
			if(temp_flag){
				count2=phy_timer_count_get();
				temp_flag=0;
				return;
			}
			count1=temp_tag_count1;
				temp_flag=1;
    }
}

#ifdef _UWB_1HZ
uint16_t time111=1000;
void SetLPTimer(uint16_t time)
{
    sleep_timer_stop();
    if(time==0)
    {
    time111=1000;
    sleep_timer_start(__MS_TO_32K_CNT(time111));    
    }
    else
    {
    time111=time111+time;
    if(time111>1100)
    {
    time111=1000;
    }
    sleep_timer_start(__MS_TO_32K_CNT(time111));//²âÊÔ 
    }    
}
#else
uint16_t time111=5000;
void SetLPTimer(uint16_t time)
{
    sleep_timer_stop();
    if(time==0)
    {
    time111=5000;
    sleep_timer_start(__MS_TO_32K_CNT(time111));    
    }
    else
    {
    time111=time111+time;
    if(time111>5100)
    {
    time111=5000;
    }
    sleep_timer_start(__MS_TO_32K_CNT(time111));//²âÊÔ 
    }    
}
#endif

uint8_t FindNearBasePos(uint16_t baseid)//Ñ°ÕÒµ±Ç°ÁбíÖеĻùÕ¾·µ»ØË÷Òý
{
	uint8_t i;
	for(i=0;i<nearbase_num;i++)
	{
		if(baseid==nearbaseid_list[i])
			return i;
	}
	if(i==nearbase_num)
		return nearbase_num;
}

static uint16_t CmpTagInList(uint16_t tagid)//ÕÒÕâ¸öÐÂÒ»°üµÄ»ùÕ¾ÔÚ²»ÔÚÏÖ´æµÄtaglistÖÐÔڵĻ°¶ÔӦλÖøüдæ»îʱ¼ä£¬²»ÔÚ¾ÍÔö¼Ó£¨È·±£ÓÐЧÊýÁ¿Ð¡ÓÚ×î´óÉèÖÃÊý£©
{
    uint16_t temp;
	for(uint8_t i=0;i<taglist_total_num;i++)
	{
		if(memcmp(&tagid,&taglist_id[i],2)==0)
        {
            taglist_keeptime[i] = TAG_KEEPTIMES;
			return i;
        }
	}
    if(taglist_total_num<MAX_TAG_LIST_NUM)
    temp = AddNewTagIntoList(tagid);
	return temp;
}

static uint8_t tx_poll_msg[20] = {0};
static uint8_t tx_sync_msg[14] = {0};
static uint8_t tx_final_msg[60] = {0};
static uint8_t tx_resp_msg[22] = {0};
static uint8_t tx_near_msg[180] = {0};
uint32_t rec_tagpos_binary;
uint16_t nearbaseid_list2[MAX_NEARBASE_NUM];
uint8_t module_power,imu_enable,motor_enable;
extern uint8_t bat_percent;
extern uint16_t tag_frequency;
uint16_t bigslot_num;
uint16_t tagslotpos;
uint8_t trygetnearmsg_times,try_reg_times;
uint8_t tag_succ_times=0;
int32_t salvebase_mindist;
uint8_t recbase_num=0;
#define MAX_NEARBASE_ANCNUM 11
uint16_t rec_maxrangelen,rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
uint8_t flag_finalsend,flag_getresponse,flag_rxon;
uint8_t nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
int32_t temp_dist;
void GetNearMsg(void)
{
    uint32_t start_poll,frame_len;
    uint8_t nearmsg_i=0;
//    NextSlotDelayMs(0);
    phy_timer_open(1, IRQ_PRIORITY_HIGH);
    mac_register_process_handler(tx_int_callback, rx_int_callback);
    for(nearmsg_i=0; nearmsg_i<MAX_NEARBASE_NUM; nearmsg_i++)
    {
        nearbase_distlist[nearmsg_i] = 0x1ffff;
    }
//mainbase_id = 0x1;
    memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
    memcpy(&tx_near_msg[TAG_ID_IDX],&g_com_map[DEV_ID],2);
    tx_near_msg[MESSAGE_TYPE_IDX] = POS_MSG;
//·¢ËͱØÐëÒªÑÓʱ·¢ËͲſÉÒÔÓÃÓÚ²â¾à·ñÔòÁ¢¼´·¢ËÍ»á»ñȡʱ¼ä´Á²»¶Ô£¬ÐèÒª¼ÆËã³ÌÐòÔËÐÐʱ¼ä£¬±ÜÃâÉèÖùýȥʱ¼ä
    poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);
    tempflag=uwb_tx(tx_near_msg,12,1,poll_tx_en_start_u32);//Á¢¼´·¢ËÍ
    poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
//    temp_count1=phy_timer_count_get();
    while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É
//    temp_count2=phy_timer_count_get();
    //ÉèÖ÷¢ËͶàÉÙsºó½ÓÊÕ°´target¶ÀÁ¢Ê±¼äÆðµãËã+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_USΪ·¢ËͺóÒª¶à¾Ã¿ªÆô½ÓÊÕʱ¼ä
    resp_rx_en_start_u32 =  poll_tx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);
    temp_resp=resp_rx_en_start_u32;
    tempflag=uwb_rx(0,0, RESP_RX_TIMEOUT_US);
    while(mac_is_busy())//µÈ´ý½ÓÊÕÍê³É
    {
    IdleTask();
    } 
    if(receive_flag==1)//³É¹¦½ÓÊÕÊý¾Ý
    {
        receive_flag=0;
        if (rx_buf[MESSAGE_TYPE_IDX] == POS_MSG&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
        {
            nearbase_num=rx_buf[NEARBASENUM_INDEX];
            memcpy(&rec_tagpos_binary,&rx_buf[NEARMSG_EMPTYSLOTPOS_INDEX],4);
            //	tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
            //tagslotpos=rx_buffer[TAGSLOTPOS];
            memcpy(nearbaseid_list,&rx_buf[NEARBASEID_INDEX],nearbase_num*2);
            memcpy(nearbaseid_list2,&rx_buf[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;
    }
}
void Registor_Poll(void)
{
    static uint8_t regpoll_count=0;
    mainbase_lost_count = 0;
    phy_timer_open(1, IRQ_PRIORITY_HIGH);
    mac_register_process_handler(tx_int_callback, rx_int_callback);
//    tag_frequency = REGISTER_FREQUENCY;
//    bigslot_num = TOTAL_SLOTNUM/tag_frequency;
//    regpoll_count++;
//    if(regpoll_count%2)
//    {
//        if(tagslotpos--<2)
//            tagslotpos=TOTAL_SLOTNUM;
//    }
//    //SetNextPollTime(tagslotpos);
//    NextSlotDelayMs(-2);
//    tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
    tx_near_msg[REGP_TAGSTATE_INDEX] = 0;
    tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL2;
    tx_near_msg[REGP_FREQUENCY_INDEX] = 1000/g_com_map[COM_INTERVAL];
    tx_near_msg[REGP_POWER_INDEX] = module_power;
    memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
    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);
//    tx_near_msg[REGP_BATTARY_INDEX] = bat_percent;
    
    poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);
    tempflag=uwb_tx(tx_near_msg,23,1,poll_tx_en_start_u32);//Á¢¼´·¢ËÍ
    poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
//    temp_count1=phy_timer_count_get();
    while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É
    
    resp_rx_en_start_u32 =  poll_tx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);
    temp_resp=resp_rx_en_start_u32;
    tempflag=uwb_rx(0,0, RESP_RX_TIMEOUT_US);
    while(mac_is_busy())//µÈ´ý½ÓÊÕÍê³É
    {
    IdleTask();
    } 
    if(receive_flag==1)//³É¹¦½ÓÊÕÊý¾Ý
    {
        receive_flag=0;
        if (rx_buf[MESSAGE_TYPE_IDX] == REG_RESPONSE&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
        {
            uint16_t rec_nearbaseid,rec_nearbasepos;
            memcpy(&rec_nearbaseid,&rx_buf[ANCHOR_ID_IDX],2);
            tag_frequency = rx_buf[REGR_TAGFREQ_INDEX];
            bigslot_num = TOTAL_SLOTNUM/tag_frequency;
            tagslotpos = rx_buf[REGR_TAGSLOTPOS_INDEX];
            //////////////////////////////////ʱ¼äͬ²½
//            memcpy(&sync_timer,&rx_buf[ANCTIMEMS],2);
//            memcpy(&tmp_time,&rx_buf[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);
//            SetLPTimer(ancsync_time,0);
            mainbase_id=rec_nearbaseid;
            nearbase_num=rx_buf[NEARBASENUM_INDEX];
            memcpy(nearbaseid_list,&rx_buf[NEARBASEID_INDEX],nearbase_num*2);
            memcpy(nearbaseid_list2,&rx_buf[NEARBASEID_INDEX],nearbase_num*2);
            if(tagslotpos!=255)
            {
                trygetnearmsg_times = 0;
                tag_state = GETNEARMSG;
                GetNearMsg();
            }
        }
    }
}
uint8_t ggggg;
uint8_t xiaobiaoqian_flag;
uint8_t readgcom_flag;
uint16_t wg_report_id;
int rand_temp;
static uint16_t source_id;
uint8_t rec_index,rec_secdelay;
uint16_t rec_value;
uint8_t readgcom_flag;
uint16_t rec_wenjian_daxiao;
uint16_t wangguan_up_id;
uint8_t shengji_flag,time=5;
uint8_t LoraUp_flag;
extern uint16_t final_bag_num;
uint16_t checksum1;
void Uwb_Update(void)
{
											
                    checksum1=Checksum_u16(rx_buf,rx_length-2);
                    if(!memcmp(&checksum1,&rx_buf[rx_length-2],2))
                    if(!memcmp(&dev_id,&rx_buf[4],2))
                    {
                       memcpy(&source_id,&rx_buf[2],2); 
//                        if(wg_state==WG_Lost)
//                        {
//                            wg_state = WG_Connected;
                            wg_report_id = source_id;
//                        }
//                        if(!memcmp(&wg_report_id,&rx_buf[SOURCE_ID_IDX],2))
//                        {
//                            wg_lost_count = 0;
//                            loraled=GREEN;
                            switch(rx_buf[9])
                            {
                                case WGRSP_RWTAG_READ:
                                    readgcom_flag = 1;
//                                    LoraSendComMap(WGRSP_RWTAG_READ);
                                    break;
                                case WGRSP_RWTAG_WRITE:
                                    rec_index = rx_buf[PWTAG_WRITE_IDX_IDX];
                                    if(rec_index<=DEV_ID)
                                    {break;}
                                    memcpy(&rec_value,&rx_buf[PWTAG_WRITE_VALUE_IDX],2);
                                    if(g_com_map[rec_index/2]==rec_value)
                                    {break;}
                                    g_com_map[rec_index/2] = rec_value;
                                    save_com_map_to_flash();
                                    delay_us(60000);
                                    NVIC_SystemReset();
                                    break; 
                                case WGRSP_RWTAG_UPDATE:
                                rec_index = rx_buf[PWTAG_WRITE_IDX_IDX];
                                switch(rec_index)
                                {
                                    case 0xaa:  //Éý¼¶Ï·¢
                                    memcpy(&rec_wenjian_daxiao,&rx_buf[11],2);//Îļþ´óС
                                    if(rec_wenjian_daxiao>APP_SIZE/100||rec_wenjian_daxiao==0)
                                    {}//Îļþ¹ý´ó£¬³¬³ö·¶Î§
                                    else
                                    {
                                    final_bag_num=rec_wenjian_daxiao;    
                                    memcpy(&wangguan_up_id,&rx_buf[SOURCE_ID_IDX],2);//Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
                                    shengji_flag=1;
                                    LoraUp_flag=1;    
                                    LOG_INFO(TRACE_MODULE_APP, "½øÈëÉý¼¶Ä£Ê½,ÐèÒª½ÓÊÕµÄÎļþ°üÊý%d\r\n",rec_wenjian_daxiao); 
                                    }
                                        break;                        
                                }
                                    break; 
                            }
//                        }
                    }
}
uint8_t readgcom_flag1;
void DiscPoll2(void)
{
    uint32_t temp1,temp2,dw_systime,mindist_slavebaseid,mindist;
    static uint8_t notenoughdist_count=0;
    uint32_t final_tx_time;
    uint32_t start_poll;
    uint8_t i,j,getsync_flag=0,timeout,get_newdist;
    xiaobiaoqian_flag=0;
    tag_succ_times = 0;
    salvebase_mindist=999999;
    get_newdist = 0;
    if(readgcom_flag)
    {
    readgcom_flag=0;
    readgcom_flag1=1;    
    phy_timer_open(1, IRQ_PRIORITY_HIGH);
    mac_register_process_handler(tx_int_callback, rx_int_callback); 
    uint8_t data_length = 0x50;
	uint16_t checksum = 0;
	tx_near_msg[0] = 0x39;
	tx_near_msg[1] = data_length+11;
    memcpy(&tx_near_msg[2],&g_com_map[DEV_ID],2);
    memcpy(&tx_near_msg[4],&wg_report_id,2);
	tx_near_msg[6] = 2;
	tx_near_msg[7] = 2;
	tx_near_msg[8] = data_length;
	memcpy(&tx_near_msg[9], &g_com_map[1], data_length);
	checksum = Checksum_u16(tx_near_msg,11+data_length);
	memcpy(&tx_near_msg[11+data_length],&checksum,2);
//    Radio.Send(uwb_sendbuffer,data_length+13);
  //  Delay_Ms(100);
    poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//·¢ËͱØÐëÒªÑÓʱ·¢ËͲſÉÒÔÓÃÓÚ²â¾à·ñÔòÁ¢¼´·¢ËÍ»á»ñȡʱ¼ä´Á²»¶Ô£¬ÐèÒª¼ÆËã³ÌÐòÔËÐÐʱ¼ä£¬±ÜÃâÉèÖùýȥʱ¼ä
    tempflag=uwb_tx(tx_near_msg,data_length+13,1,poll_tx_en_start_u32);//Á¢¼´·¢ËÍ  
    poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
//    temp_count1=phy_timer_count_get();
    while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É  
    }
    else
    {        
    if(next_nearbase_num>=MAX_NEARBASE_NUM)
    {
        next_nearbase_num = MAX_NEARBASE_NUM-1;
    }
    nearbase_num = 10;
    recbase_num=0;
    phy_timer_open(1, IRQ_PRIORITY_HIGH);
    mac_register_process_handler(tx_int_callback, rx_int_callback);
    tx_near_msg[BATTARY_IDX] = bat_percent;
//    tx_near_msg[BUTTON_IDX] = 0/*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;
    memcpy(&tx_near_msg[7],&g_com_map[VERSION],2);
    memcpy(&tx_near_msg[5],&g_com_map[DEV_ID],2);
    tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
    memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);
//    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] = DISCOVERPOLL2;
    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);
    
    poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//·¢ËͱØÐëÒªÑÓʱ·¢ËͲſÉÒÔÓÃÓÚ²â¾à·ñÔòÁ¢¼´·¢ËÍ»á»ñȡʱ¼ä´Á²»¶Ô£¬ÐèÒª¼ÆËã³ÌÐòÔËÐÐʱ¼ä£¬±ÜÃâÉèÖùýȥʱ¼ä
    tempflag=uwb_tx(tx_near_msg,29+8*nearbase_num,1,poll_tx_en_start_u32);//Á¢¼´·¢ËÍ

    poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
    temp_tag_count1=phy_timer_count_get();
    while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É
    
    tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
    para_update = 0;
    flag_finalsend=0;
    flag_rxon=1;
    flag_getresponse=0;
    
    temp_tag_count2=phy_timer_count_get();
    resp_rx_en_start_u32 =  poll_tx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);//ÉèÖ÷¢ËͶàÉÙsºó½ÓÊÕ°´target¶ÀÁ¢Ê±¼äÆðµãËã+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_USΪ·¢ËͺóÒª¶à¾Ã¿ªÆô½ÓÊÕʱ¼ä
    temp_resp=resp_rx_en_start_u32;
    //tempflag=uwb_rx(1, resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);//¿ªÆô½ÓÊܲ¢ÉèÖýÓÊÕ³¬Ê±
    tempflag=uwb_rx(0,0, RESP_RX_TIMEOUT_US);
    receive_flag =0;
	start_receive_count=phy_timer_count_get();
	poll_timeout=nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(30000);//¶àÒ»¸ö¶à0.4msĬÈÏ0.4ms¼ÆËãΪ0.125*4*100000,ĬÈÏ¿ªÆô1mss
	end_receive_count=start_receive_count+poll_timeout;
	if(end_receive_count>=UINT32_MAX)
	{end_receive_count-=UINT32_MAX;}
	current_count=phy_timer_count_get();	
    mainbase_dist=100000;
    mainbase_lost_count++;
    while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//Ñ­»·½ÓÊÜ°üÌå,ÈôΪ124.8KÔòÊÇ+62400000
    {
    
    current_count=phy_timer_count_get();//²»¶Ïˢе±Ç°¼ÆÊýÆ÷Öµ
    temp_tag_count2=phy_timer_count_get();
    while(mac_is_busy());//µÈ´ý½ÓÊÕÍê³É
    temp_tag_count3=phy_timer_count_get();
    if(receive_flag==1)//³É¹¦½ÓÊÕÊý¾Ý
    {
        receive_flag=0;

        //½ÓÊճɹ¦ÔòÅжÏÊÇ·ñΪͬһ×é
        if (rx_buf[MESSAGE_TYPE_IDX] == POS_RESPONSE&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
        {
            uint16_t rec_nearbaseid,rec_nearbasepos;
            recbase_num++;
            memcpy(&rec_nearbaseid,&rx_buf[ANCHOR_ID_IDX],2);
            rec_nearbasepos = recbase_num;
            nearbaseid_list[recbase_num] = rec_nearbaseid;
            SetANCTimestap(rec_nearbasepos,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2,(uint32_t)poll_tx_ts_i64);//Õâ¸öÊǸĹýµÄ²ÎÊý
            exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
            temp_dist = nearbase_distlist[rec_nearbasepos];
            if(rx_buf[0]==0xff)
            {xiaobiaoqian_flag=1;}
            tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
        }
        else if(rx_buf[MSG_TYPE_IDX]==LORA_MSGTYPE_WGRESPTAG)
        {
        Uwb_Update();
        } 
        else
        {
            if(recbase_num!=nearbase_num+1)
            {
            tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
            }
        }
    //gpio_pin_clr(IO_PIN_5);//²âÊÔ
        
    }
    else if(receive_flag==2)
    {//½ÓÊÕ³ö´í
    receive_flag=0;
        ggggg++;
    tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
    }
    //gpio_pin_clr(IO_PIN_5);//²âÊÔ
    }
    delay_us(1);
    uwb_rx_force_off(1);
//    if(readgcom_flag1==0)
//    {
    CalculateDists(poll_tx_ts_i64); //¼ÆËã¾àÀë²¢¸üоàÀë±í
//    }
//    readgcom_flag1=0;
//    AnchorListUpdate();//¸üдæ»î»ùÕ¾Áбí
//    Rank_ANchor_list_by_dis();//ðÅÝÅÅÐòÖØа´¾àÀëÖØÐÂÅÅÁлùÕ¾Áбí×îС¾àÀë´æ»õ»ùÕ¾·Åµ½×îÇ°Ãæ
    for(i=0; i<11; i++)
    {
        if(mindist>nearbase_distlist[i])
        {
            mindist = nearbase_distlist[i];
            mindist_slavebaseid = nearbaseid_list[i];

        }
    }
    if(mindist!=0x1ffff&&xiaobiaoqian_flag==0)
    {
		mainbase_id = mindist_slavebaseid;
		try_reg_times = 0;
		tag_state = REGPOLL;
    }
    }
}

uint8_t qiehuan_flag;
uint8_t motor_state,rec_remotepara_state,rec_remotepara[80];
uint8_t motor_flag;
extern uint8_t userkey_state;
int32_t base_mindist;
uint8_t changemainbase_count=0,gotosleep_flag,singlepoll_i;
uint8_t outrange_times;
uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
float motor_keeptime;
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;
void NearPoll(void)
{

    uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;
    static uint8_t notenoughdist_count=0;
    uint32_t final_tx_time;
    uint32_t start_poll;
    uint8_t i,j,getsync_flag=0,timeout,get_newdist;
    tag_succ_times = 0;
    salvebase_mindist=999999;
    get_newdist = 0;
    phy_timer_open(1, IRQ_PRIORITY_HIGH);
    mac_register_process_handler(tx_int_callback, rx_int_callback);
    if(next_nearbase_num>=MAX_NEARBASE_NUM)
    {
        next_nearbase_num = MAX_NEARBASE_NUM-1;
    }
    if(nearbase_num>10)
    {
        nearbase_num = 10;
    }
    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|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);
    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);
    
        poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//·¢ËͱØÐëÒªÑÓʱ·¢ËͲſÉÒÔÓÃÓÚ²â¾à·ñÔòÁ¢¼´·¢ËÍ»á»ñȡʱ¼ä´Á²»¶Ô£¬ÐèÒª¼ÆËã³ÌÐòÔËÐÐʱ¼ä£¬±ÜÃâÉèÖùýȥʱ¼ä
    tempflag=uwb_tx(tx_near_msg,29+8*nearbase_num,1,poll_tx_en_start_u32);//Á¢¼´·¢ËÍ

    poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
    temp_tag_count1=phy_timer_count_get();
    while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É
    
    tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
    para_update = 0;
    flag_finalsend=0;
    flag_rxon=1;
    flag_getresponse=0;
    recbase_num=0;
    
    temp_tag_count2=phy_timer_count_get();
    resp_rx_en_start_u32 =  poll_tx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);//ÉèÖ÷¢ËͶàÉÙsºó½ÓÊÕ°´target¶ÀÁ¢Ê±¼äÆðµãËã+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_USΪ·¢ËͺóÒª¶à¾Ã¿ªÆô½ÓÊÕʱ¼ä
    temp_resp=resp_rx_en_start_u32;
    //tempflag=uwb_rx(1, resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);//¿ªÆô½ÓÊܲ¢ÉèÖýÓÊÕ³¬Ê±
    tempflag=uwb_rx(0,0, RESP_RX_TIMEOUT_US);
    receive_flag =0;
	start_receive_count=phy_timer_count_get();
	poll_timeout=nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(RESP_RX_TIMEOUT_US);//¶àÒ»¸ö¶à0.4msĬÈÏ0.4ms¼ÆËãΪ0.125*4*100000,ĬÈÏ¿ªÆô1mss
	end_receive_count=start_receive_count+poll_timeout;
	if(end_receive_count>=UINT32_MAX)
	{end_receive_count-=UINT32_MAX;}
	current_count=phy_timer_count_get();	
    mainbase_dist=100000;
    mainbase_lost_count++;
    
    while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//Ñ­»·½ÓÊÜ°üÌå,ÈôΪ124.8KÔòÊÇ+62400000
    {
    
    current_count=phy_timer_count_get();//²»¶Ïˢе±Ç°¼ÆÊýÆ÷Öµ
    temp_tag_count2=phy_timer_count_get();
    while(mac_is_busy());//µÈ´ý½ÓÊÕÍê³É
    temp_tag_count3=phy_timer_count_get();
    if(receive_flag==1)//³É¹¦½ÓÊÕÊý¾Ý
    {
        receive_flag=0;

        //½ÓÊճɹ¦ÔòÅжÏÊÇ·ñΪͬһ×é
        if (rx_buf[MESSAGE_TYPE_IDX] == POS_RESPONSE&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
        {
            uint16_t rec_nearbaseid,rec_nearbasepos;
            recbase_num++;
            memcpy(&rec_nearbaseid,&rx_buf[ANCHOR_ID_IDX],2);
            if(rec_nearbaseid==mainbase_id)
            {
            exsistbase_list[0]=KEEP_TIMES;
            SetANCTimestap(0,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2,(uint32_t)poll_tx_ts_i64);
            //////////////////////////////////ʱ¼äͬ²½
//            memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
//            memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
//            current_count=HAL_LPTIM_ReadCounter(&hlptim1);

            rec_remotepara_state=rx_buf[MOTORSTATE_INDEX]>>4;
            if(rec_remotepara_state&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2))
            {
                para_update = 1;
                tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
                para_len = rx_length-22;
                memcpy(rec_remotepara,&rx_buf[REMOTEPARA_INDEX],para_len);
            }
//            userkey_state = !GET_USERKEY;
            temp_dist = nearbase_distlist[0];
            if(temp_dist!=nearbase_distlist[0])
            {
                get_newdist++;
            }
            mainbase_dist=temp_dist;
            nearbase_distlist[0] = temp_dist;
            base_mindist = temp_dist;
            if((rx_buf[MOTORSTATE_INDEX]&0xf)!=3)
                motor_state=rx_buf[MOTORSTATE_INDEX]&0xf;
            if(rx_length==38)
            {
                memcpy(&rec_maxrangelen,&rx_buf[MAXRANGE_DISTANCE],2);
                memcpy(&rec_anc_signalpower[0],&rx_buf[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;
            flag_getresponse=1;
//            //ʱ¼äͬ²½
//            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,nearbase_num);
            break;    
            }
            else
            {
                rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                SetANCTimestap(rec_nearbasepos+1,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2,(uint32_t)poll_tx_ts_i64);

                exsistbase_list[rec_nearbasepos+1]=KEEP_TIMES;
                temp_dist = nearbase_distlist[rec_nearbasepos+1];
                if(rx_length==38)
                    memcpy(&rec_anc_signalpower[rec_nearbasepos+1],&rx_buf[ANC_SIGNALPOWER],2);
                memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buf[NR_NEARSWITCH_DISTANCE],2);
                if(temp_dist!=nearbase_distlist[rec_nearbasepos+1])
                {
                    get_newdist++;
                }
                nearbase_distlist[rec_nearbasepos+1]=temp_dist;	//	nearbase_distlist[1]¶ÔÓ¦	rec_nearbaseid[0]µÄ¾àÀë
                final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], (uint32_t)resp_rx_ts_i64);
                if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]!=0&&(nearbase_switchdistlist[rec_nearbasepos]==1||temp_dist<nearbase_switchdistlist[rec_nearbasepos]))
                {
                    salvebase_mindist = temp_dist;
                    mindist_slavebaseid = rec_nearbaseid;
                }
                tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
            }
        }else
        {
            if(recbase_num!=nearbase_num+1)
            {
            tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
            }
        }
    }
    else if(receive_flag==2)
    {
            if(recbase_num!=nearbase_num+1)
            {
            tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
            }
    }
    }
    if(flag_finalsend!=1)
    {
        flag_finalsend = 2;
    }
    delay_us(1);
    uwb_rx_force_off(1);
    if(mainbase_lost_count==0)
    {
        SetLPTimer(0);
#ifdef SWITCHBASE_DIST
        if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
        {
            changemainbase_count++;
            if(changemainbase_count>2)
            {
                changemainbase_count = 0;
                mainbase_id = mindist_slavebaseid;
                tag_state = GETNEARMSG;
                trygetnearmsg_times = 0;
                GetNearMsg();
                qiehuan_flag=1;
            }
        } else {
            changemainbase_count = 0;
        }
#endif
    } else if(mainbase_lost_count>10)
    {
        mainbase_lost_count = 0;
        tag_state = DISCPOLL;
        DiscPoll2();
        SetLPTimer(16);
    }
    if(mainbase_lost_count!=0)
    {
//        if(mainbase_lost_count<=5)
//        {   NextSlotDelayMs(0);
//        } else {
//            NextSlotDelayMs(0);
//        }
        SetLPTimer(11);
    }
    if(qiehuan_flag)
    {qiehuan_flag=0;}
    else
    {CalculateDists(poll_tx_ts_i64);}
//    AnchorListUpdate();//¸üдæ»î»ùÕ¾Áбí
//    Rank_ANchor_list_by_dis();//ðÅÝÅÅÐòÖØа´¾àÀëÖØÐÂÅÅÁлùÕ¾Áбí×îС¾àÀë´æ»õ»ùÕ¾·Åµ½×îÇ°Ãæ
    if(para_update)
    {

        pack_msgtype = rec_remotepara[0];
        pack_index = rec_remotepara[1];
        pack_length = rec_remotepara[2];
        if(pack_msgtype==2)
        {
            if( pack_index == MOTOR_ONTIME_INDEX)
            {
                if(motor_keeptime==0)
                    motor_keeptime = rec_remotepara[3];
            } else if( pack_index == 2*COM_INTERVAL)
            {
                if(memcmp(&g_com_map[COM_INTERVAL],&rec_remotepara[3],2)!=0)
                {
                    memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
                    save_com_map_to_flash();
                    tag_frequency = 1000/g_com_map[COM_INTERVAL];
                    bigslot_num = TOTAL_SLOTNUM/tag_frequency;
                }
            }
            else {
                if(pack_index<200)
                {
                    memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
                    //·µ»ØÒ»¸öerror״̬
                    //SendComMap(pack_datalen,pack_index);
                    save_com_map_to_flash();
                    delay_ms(100);
                    NVIC_SystemReset();
                }
            }
        }
    }
    for(i=0; i<nearbase_num; i++)
    {
        if(nearbaseid_list[i]!=nearbaseid_list2[i])
        {
            tag_state = GETNEARMSG;
            GetNearMsg();
            trygetnearmsg_times = 0;
//            nearbaseid_list0[i]=1;
        }
    }
    TagListUpdate();
}


void SwitchTagState(void)
{
    switch(tag_state)
    {
    case REGPOLL:
//        LED_LG_ON;
        Registor_Poll();
        if(try_reg_times++>5)
        {
            tag_state = STARTPOLL;
        }
         outrange_times = 0;
        mainbase_lost_count = 0;
//        LED_LG_OFF;
//        GetPressAndHeight();
        break;
    case DISCPOLL:
//        LED_LG_ON;
        DiscPoll2();
//        LED_LG_OFF;
        break;
    case GETNEARMSG:

//        LED_LG_ON;
        GetNearMsg();
//        LED_LG_OFF;
        outrange_times = 0;
        mainbase_lost_count = 0;
        if(trygetnearmsg_times++>5)
        {
            tag_state = STARTPOLL;
        }
        break;
    case NEARPOLL:
        NearPoll();
        break;
    case SINGLEPOLL:
        //  Poll();
        break;
    }
}

void Dw1000_App_Init(void)
{
//g_com_map[DEV_ID] = 0x0b;
    //tag_state=DISCPOLL;
    tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
    tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
    tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
    tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;

    memcpy(&tx_poll_msg[GROUP_ID_IDX], &group_id, 1);
    memcpy(&tx_final_msg[GROUP_ID_IDX], &group_id, 1);
    memcpy(&tx_resp_msg[GROUP_ID_IDX], &group_id, 1);

    memcpy(&tx_poll_msg[TAG_ID_IDX], &g_com_map[DEV_ID], 2);
    memcpy(&tx_final_msg[TAG_ID_IDX], &g_com_map[DEV_ID], 2);
    memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &g_com_map[DEV_ID], 2);
    memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &g_com_map[DEV_ID], 2);
    memcpy(&tx_near_msg[ANCHOR_ID_IDX], &g_com_map[DEV_ID], 2);
    memcpy(&tx_near_msg[TAG_ID_IDX], &g_com_map[DEV_ID], 2);
}

extern uint8_t send_lora_data[250];
uint16_t muqiandeshengjibao;
static uint16_t current_count1,target_count1,end_count1,start_count1;
uint8_t huifushengjibaoerror_num;
extern uint16_t final_bag_num;
uint16_t testflag;
uint32_t Zhongjian_data[60];
uint8_t shengji_flag;
uint16_t wangguan_up_id;
uint8_t huifushengjibao_flag;
uint8_t LoraUp_flag;
uint16_t rec_wenjian_daxiao;
uint8_t lora_up_rec_flag;
uint16_t flash_shuju;
static uint32_t status_reg;
static uint32_t frame_len;
void LoraUp_Poll(void)
{    uint16_t  result ;
    uint16_t crc16;
    uint8_t jindu;
    if(shengji_flag)
    {
    uwb_rx_force_off(1);
    Uwb_init();
    phy_timer_open(1, IRQ_PRIORITY_HIGH);
    mac_register_process_handler(tx_int_callback, rx_int_callback);
        
    send_lora_data[MSG_TYPE_IDX]=LORA_MSGTYPE_UPDATE_CONFIRM;
    memcpy(&send_lora_data[SOURCE_ID_IDX],&dev_id,2);//Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
    memcpy(&send_lora_data[DEST_ID_IDX],&wangguan_up_id,2);//±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
//    send_lora_data[MUQIAN_BAG]=0xFF;
    crc16=Checksum_u16(send_lora_data,6);
    memcpy(&send_lora_data[6],&crc16,2);
    huifushengjibao_flag=0;
    LoraUp_flag=1;
         
    poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//·¢ËͱØÐëÒªÑÓʱ·¢ËͲſÉÒÔÓÃÓÚ²â¾à·ñÔòÁ¢¼´·¢ËÍ»á»ñȡʱ¼ä´Á²»¶Ô£¬ÐèÒª¼ÆËã³ÌÐòÔËÐÐʱ¼ä£¬±ÜÃâÉèÖùýȥʱ¼ä
    tempflag=uwb_tx(send_lora_data,8+2,1,poll_tx_en_start_u32);//Á¢¼´·¢ËÍ  
    poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
//    temp_count1=phy_timer_count_get();
    while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É        

	__disable_irq();
    result=flash_open(FLASH_ID0,NULL);
    flash_read(FLASH_ID0, APP2_ADRESS, (uint8_t*)&flash_shuju, 2);
    if(flash_shuju!=0xffff/*&&flash_shuju!=0x0000*/)
    {
            while(1)
        {
            flash_erase(FLASH_ID0,APP2_ADRESS,APP_SIZE);      
            delay_ms(500);
            flash_read(FLASH_ID0, APP2_ADRESS, (uint8_t*)&flash_shuju, 2);
            if(flash_shuju==0xffff/*&&flash_shuju!=0x0000*/)
            {break;}
        }
    }
	__enable_irq();
            while(1)
            {
                uwb_rx_force_off(1);
                send_lora_data[MSG_TYPE_IDX]=LORA_MSGTYPE_UPDATEFILE_REQUEST;
                memcpy(&send_lora_data[SOURCE_ID_IDX],&dev_id,2);//Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
                memcpy(&send_lora_data[DEST_ID_IDX],&wangguan_up_id,2);//±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
//                send_lora_data[MUQIAN_BAG]=muqiandeshengjibao;
                memcpy(&send_lora_data[MUQIAN_BAG],&muqiandeshengjibao,2);
                crc16=Checksum_u16(send_lora_data,8);
                memcpy(&send_lora_data[8],&crc16,2);
                lora_up_rec_flag=0;    
//                LOG_INFO(TRACE_MODULE_APP, "ÕýÔÚÇëÇóµÚ%d°ü\r\n",muqiandeshengjibao);
                jindu=(muqiandeshengjibao*100)/final_bag_num;
                LOG_INFO(TRACE_MODULE_APP, "Éý¼¶½ø¶È%d\r\n",jindu);
//                wdt_ping(WDT_ID0);//ι¹·
                poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//·¢ËͱØÐëÒªÑÓʱ·¢ËͲſÉÒÔÓÃÓÚ²â¾à·ñÔòÁ¢¼´·¢ËÍ»á»ñȡʱ¼ä´Á²»¶Ô£¬ÐèÒª¼ÆËã³ÌÐòÔËÐÐʱ¼ä£¬±ÜÃâÉèÖùýȥʱ¼ä
                tempflag=uwb_tx(send_lora_data,10+2,1,poll_tx_en_start_u32);//Á¢¼´·¢ËÍ
                poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
//                temp_count1=phy_timer_count_get();
                while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É
//                temp_count2=phy_timer_count_get();
                resp_rx_en_start_u32 =  poll_tx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);//ÉèÖ÷¢ËͶàÉÙsºó½ÓÊÕ°´target¶ÀÁ¢Ê±¼äÆðµãËã+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_USΪ·¢ËͺóÒª¶à¾Ã¿ªÆô½ÓÊÕʱ¼ä
                temp_resp=resp_rx_en_start_u32;
                tempflag=uwb_rx(0,0, 50000);
                
                while(mac_is_busy())
                {}
                if(receive_flag==1)//³É¹¦½ÓÊÕÊý¾Ý
                {   uint16_t result12;
                     
                     __disable_irq();
                     crc16=Cal_CRC16(rx_buf,DATA_IDX+ONE_BAG_DAXIAO);

                     if(!memcmp(&muqiandeshengjibao,&rx_buf[MUQIAN_BAG],2)&&!memcmp(&crc16,&rx_buf[DATA_IDX+ONE_BAG_DAXIAO],2)&&!memcmp(&dev_id,&rx_buf[DEST_ID_IDX],2)&& !memcmp(&wangguan_up_id,&rx_buf[SOURCE_ID_IDX],2))
                     {
                     result=flash_open(FLASH_ID0,NULL);
                     memcpy(Zhongjian_data,&rx_buf[DATA_IDX],ONE_BAG_DAXIAO);
                     result12=flash_write_nbytes(FLASH_ID0, APP2_ADRESS+ONE_BAG_DAXIAO*muqiandeshengjibao, (uint8_t*)Zhongjian_data, ONE_BAG_DAXIAO);
                     while(!result12==0)
                     {
                     result12=flash_write_nbytes(FLASH_ID0, APP2_ADRESS+ONE_BAG_DAXIAO*muqiandeshengjibao, (uint8_t*)Zhongjian_data, ONE_BAG_DAXIAO);
                     delay_ms(10);    
                     }                         
                     if(result12==0)
                     {
//                         if(muqiandeshengjibao==650)
//                         {
//                         delay_ms(10);   
//                         }
                     muqiandeshengjibao++;   
                     huifushengjibaoerror_num=0;
                     delay_ms(10);       
                     }
                     }
                     __enable_irq();
                }
                else
                {
                    delay_ms(500);
                    huifushengjibaoerror_num++;
                    if(huifushengjibaoerror_num>=20)
                    {
                    huifushengjibaoerror_num=0;    
                    muqiandeshengjibao=0;
                    delay_ms(500);
                    NVIC_SystemReset();    
                    break;
                    }   
                    uwb_rx_force_off(1);
                }
                if(muqiandeshengjibao==final_bag_num)
                {
                send_lora_data[MSG_TYPE_IDX]=0x99;
                memcpy(&send_lora_data[SOURCE_ID_IDX],&dev_id,2);//Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
                memcpy(&send_lora_data[DEST_ID_IDX],&wangguan_up_id,2);//±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
                crc16=Checksum_u16(send_lora_data,6);
                memcpy(&send_lora_data[6],&crc16,2);
                huifushengjibao_flag=0;
                LoraUp_flag=1;    
                LOG_INFO(TRACE_MODULE_APP, "ÕýÔÚ·¢ËÍ×îºóÒ»°ü\r\n");    
                poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//·¢ËͱØÐëÒªÑÓʱ·¢ËͲſÉÒÔÓÃÓÚ²â¾à·ñÔòÁ¢¼´·¢ËÍ»á»ñȡʱ¼ä´Á²»¶Ô£¬ÐèÒª¼ÆËã³ÌÐòÔËÐÐʱ¼ä£¬±ÜÃâÉèÖùýȥʱ¼ä
                tempflag=uwb_tx(send_lora_data,8+2,1,poll_tx_en_start_u32);//Á¢¼´·¢ËÍ  
                poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
//                temp_count1=phy_timer_count_get();
                while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É        
                
                uint16_t tmp11 ,result11;
                tmp11=0XDDDD;
                result=flash_open(FLASH_ID0,NULL); 
                result11=flash_erase(FLASH_ID0,APP_1OR2_ADRESS,0x1000);
                if(result11==0)
                flash_write_nbytes(FLASH_ID0, APP_1OR2_ADRESS, (uint8_t*)&tmp11, 2);
                __disable_irq();       
                delay_ms(500);
                NVIC_SystemReset(); 
                }
            }
   uwb_rx_force_off(1);
  }
}