/*! ----------------------------------------------------------------------------
 *  @file    main.c
 *  @brief   Double-sided two-way ranging (DS TWR) initiator example code
 *
 *         
 *
 * @attention
 *
 * Copyright 2015 (c) Decawave Ltd, Dublin, Ireland.
 *
 * All rights reserved.
 *
 * @author Decawave
 */

#include <string.h>
#include "dw_app.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 "modbus.h"

/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100

/* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */
#define TX_ANT_DLY 0
#define RX_ANT_DLY 32899

/* UWB microsecond (uus) to device time unit (dtu, around 15.65 ps) conversion factor.
 * 1 uus = 512 / 499.2 µs and 1 µs = 499.2 * 128 dtu. */
#define UUS_TO_DWT_TIME 65536

/* Delay between frames, in UWB microseconds. See NOTE 4 below. */
/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
#define POLL_TX_TO_RESP_RX_DLY_UUS 150
/* 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 850
/* Receive response timeout. See NOTE 5 below. */
#define RESP_RX_TIMEOUT_UUS 600

#define POLL_RX_TO_RESP_TX_DLY_UUS 420
/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
/* Receive final timeout. See NOTE 5 below. */
#define FINAL_RX_TIMEOUT_UUS 4300

#define SPEED_OF_LIGHT 299702547

/* Indexes to access some of the fields in the frames defined above. */
#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 FINAL_MSG_TS_LEN 4

#define SYNC_SEQ_IDX    			5
//common
#define GROUP_ID_IDX   				0
#define ANCHOR_ID_IDX    			1
#define TAG_ID_IDX    				5
#define MESSAGE_TYPE_IDX 			9	

//Poll
#define ANC_TYPE_IDX 					14
#define BATTARY_IDX						15
#define BUTTON_IDX						16
#define SEQUENCE_IDX					17
//respose
#define DIST_IDX 							10
#define ANCTIMEMS             14
#define ANCTIMEUS             16
#define ANCSEND_INTERVAL      18

#define POLL     					0x01
#define RESPONSE 					0x02
#define FINAL   					0x03
#define SYNC   						0x04

/*------------------------------------ Variables ------------------------------------------*/
/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
static dwt_config_t config = {
	2,               /* Channel number. */
	DWT_PRF_64M,     /* Pulse repetition frequency. */
	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. */
	1,               /* Use non-standard SFD (Boolean) */
	DWT_BR_6M8,      /* Data rate. */
	DWT_PHRMODE_STD, /* PHY header mode. */
	(129 + 8 - 8)    /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};

/* Frames used in the ranging process. See NOTE 2 below. */
static uint8_t tx_poll_msg[20] = {0};
static uint8_t tx_sync_msg[14] = {0};
//static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
static uint8_t tx_final_msg[24] = {0};
	
//static uint8_t rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
static uint8_t tx_resp_msg[22] = {0};
//static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
	
/* Frame sequence number, incremented after each transmission. */
static uint32_t frame_seq_nb = 0,frame_seq_nb2=0;	
	
/* Hold copy of status register state here for reference, so reader can examine it at a breakpoint. */
static uint32_t status_reg = 0;
	
/* Buffer to store received response message.
 * Its size is adjusted to longest frame that this example code is supposed to handle. */
#define RX_BUF_LEN 		24
static uint8_t rx_buffer[RX_BUF_LEN];
	
/* Time-stamps of frames transmission/reception, expressed in device time units.
 * As they are 40-bit wide, we need to define a 64-bit int type to handle them. */
static uint64_t poll_tx_ts;
static uint64_t resp_rx_ts;
static uint64_t final_tx_ts;
	
/* Length of the common part of the message (up to and including the function code, see NOTE 2 below). */
static uint64_t poll_rx_ts;
static uint64_t resp_tx_ts;
static uint64_t final_rx_ts;

static double tof;
	
int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS];	;	
uint32_t tag_id = 0;
uint32_t tag_id_recv = 0;
uint8_t random_delay_tim = 0;

double distance, dist_no_bias, dist_cm;

uint32_t g_UWB_com_interval = 0; 
float dis_after_filter;				//µ±Ç°¾àÀëÖµ
LPFilter_Frac* p_Dis_Filter;		//²â¾àÓõĵÍͨÂ˲¨Æ÷

int32_t g_Tagdist[TAG_NUM_IN_SYS];
uint8_t g_flag_Taggetdist[256];
/*------------------------------------ Functions ------------------------------------------*/


/*! ------------------------------------------------------------------------------------------------------------------
 * @fn get_tx_timestamp_u64()
 *
 * @brief Get the TX time-stamp in a 64-bit variable.
 *        /!\ This function assumes that length of time-stamps is 40 bits, for both TX and RX!
 *
 * @param  none
 *
 * @return  64-bit value of the read time-stamp.
 */
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;
}

/*! ------------------------------------------------------------------------------------------------------------------
 * @fn get_rx_timestamp_u64()
 *
 * @brief Get the RX time-stamp in a 64-bit variable.
 *        /!\ This function assumes that length of time-stamps is 40 bits, for both TX and RX!
 *
 * @param  none
 *
 * @return  64-bit value of the read time-stamp.
 */
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;
}

/*! ------------------------------------------------------------------------------------------------------------------
 * @fn final_msg_set_ts()
 *
 * @brief Fill a given timestamp field in the final message with the given value. In the timestamp fields of the final
 *        message, the least significant byte is at the lower address.
 *
 * @param  ts_field  pointer on the first byte of the timestamp field to fill
 *         ts  timestamp value
 *
 * @return none
 */
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);
    }
}
void TagDistClear(void)
{
	static uint16_t clear_judge_cnt;
	uint16_t i;
	if(clear_judge_cnt++>1000)  //É趨1S·ÖƵ£¬Ã¿Ãë½øÒ»´Î¡£Åжϱê־λ´óÓÚµÈÓÚ2£¬2sûÊÕµ½Êý¾Ý¾Í°ÑÊý¾Ý±ä³É0xffff£¬²»´¥·¢¾¯±¨¡£
	{
		clear_judge_cnt=0;
		for(i=0;i<255;i++)
		{
			g_flag_Taggetdist[i]++;
			if(g_flag_Taggetdist[i]>=20)
			{
				g_Tagdist[i]=0xffff;
			}
		}
	}
}

void Dw1000_Init(void)
{
	/* Reset and initialise DW1000.
     * For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
     * performance. */
    Reset_DW1000();//ÖØÆôDW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
		Spi_ChangePrescaler(SPIx_PRESCALER_SLOW);	//ÉèÖÃΪ¿ìËÙģʽ
    dwt_initialise(DWT_LOADUCODE);//³õʼ»¯DW1000
	  Spi_ChangePrescaler(SPIx_PRESCALER_FAST);	//ÉèÖÃΪ¿ìËÙģʽ

    /* Configure DW1000. See NOTE 6 below. */
    dwt_configure(&config);//ÅäÖÃDW1000
	

	
    /* Apply default antenna delay value. See NOTE 1 below. */
    dwt_setrxantennadelay(RX_ANT_DLY);		//ÉèÖýÓÊÕÌìÏßÑÓ³Ù
    dwt_settxantennadelay(TX_ANT_DLY);		//ÉèÖ÷¢ÉäÌìÏßÑÓ³Ù

    /* Set expected response's delay and timeout. See NOTE 4 and 5 below.
     * As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
				//ÉèÖýÓÊÕ³¬Ê±Ê±¼ä
}
void Dw1000_App_Init(void)
{
//g_com_map[DEV_ID] = 0x0b;
	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], &dev_id, 4);
	memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 4);
	memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 4);
	memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 4);
}	
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len) 
{
    uint16_t sum = 0;
    uint32_t i;
    for(i=0; i<len; i++)
        sum += pdata[i];
    sum = ~sum;
    return sum;
}

uint16_t tag_time_recv[TAG_NUM_IN_SYS];
uint8_t usart_send[25];
uint8_t battary,button;
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
{
	dwt_configuresleep(0x940, 0x7);
	dwt_entersleep();
} 
uint8_t g_start_send_flag;
uint8_t g_start_sync_flag;
void SyncPoll(uint8_t sync_seq)
{
	g_start_sync_flag=1;
	dwt_forcetrxoff();
	tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
	dwt_writetxdata(sizeof(tx_sync_msg), tx_sync_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
	dwt_writetxfctrl(sizeof(tx_sync_msg), 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
	dwt_starttx(DWT_START_TX_IMMEDIATE);
}
uint16_t g_Resttimer;
uint8_t result;
uint8_t tag_succ_times=0;
int32_t hex_dist,hex_dist2;
uint16_t checksum;
int8_t tag_delaytime;
extern uint16_t sync_timer;
uint16_t tmp_time,current_slottimes;
uint32_t time32_incr;
int32_t ancsync_time;
uint32_t frame_len;
int32_t count_offset,nextpoll_delaytime;
void Tag_App(void)//·¢ËÍģʽ(TAG±êÇ©)
{
	
	uint32_t final_tx_time;
	uint32_t start_poll,id;
	uint8_t i,getsync_flag=0;
	//LED0_ON;
	//dwt_forcetrxoff();
	id =  dwt_readdevid() ;
	    while (DWT_DEVICE_ID != id) 
    {
			id =  dwt_readdevid() ;
    }
	g_Resttimer=0;
    dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);			//ÉèÖ÷¢Ëͺó¿ªÆô½ÓÊÕ£¬²¢É趨ÑÓ³Ùʱ¼ä
    dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);		
	tag_succ_times = 0;
	tx_poll_msg[BATTARY_IDX] = bat_percent;
	//tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
	tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;

	for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
	{
	/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
	tx_poll_msg[ANC_TYPE_IDX] = i;
		
	dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
	dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È

	/* Start transmission, indicating that a response is expected so that reception is enabled automatically after the frame is sent and the delay
	 * set by dwt_setrxaftertxdelay() has elapsed. */
	result=dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//¿ªÆô·¢ËÍ£¬·¢ËÍÍê³ÉºóµÈ´ýÒ»¶Îʱ¼ä¿ªÆô½ÓÊÕ£¬µÈ´ýʱ¼äÔÚdwt_setrxaftertxdelayÖÐÉèÖÃ
	start_poll = time32_incr;
	/* 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)))//²»¶Ï²éѯоƬ״ֱ̬µ½³É¹¦½ÓÊÕ»òÕß·¢Éú´íÎó
	{
		status_reg = dwt_read32bitreg(SYS_STATUS_ID);
//		if(time32_incr - start_poll>20)
//		NVIC_SystemReset();
	//	IdleTask();
		
	};

	/* Increment frame sequence number after transmission of the poll message (modulo 256). */
	if(status_reg==0xffffffff)
	{
	//	NVIC_SystemReset();
	}

	if (status_reg & SYS_STATUS_RXFCG)//Èç¹û³É¹¦½ÓÊÕ
	{
		/* Clear good RX frame event and TX frame sent in the DW1000 status register. */
		dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ¼Ä´æÆ÷±ê־λ

		/* A frame has been received, read it into the local buffer. */
		frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;	//»ñµÃ½ÓÊÕµ½µÄÊý¾Ý³¤¶È

		dwt_readrxdata(rx_buffer, frame_len, 0);   //¶ÁÈ¡½ÓÊÕÊý¾Ý


		/* Check that the frame is the expected response from the companion "DS TWR responder" example.
		 * As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
		
		if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
		{ uint16_t anc_id_recv,current_count,rec_com_interval;
			/* Retrieve poll transmission and response reception timestamp. */
			poll_tx_ts = get_tx_timestamp_u64();										//»ñµÃPOLL·¢ËÍʱ¼äT1
			resp_rx_ts = get_rx_timestamp_u64();										//»ñµÃRESPONSE½ÓÊÕʱ¼äT4
			
			if(getsync_flag==0&&g_com_map[DEV_ROLE])
			{
				getsync_flag=1;
			memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
			memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
			tmp_time=tmp_time+450;
			if(tmp_time>999)
			{
				tmp_time-=999;
				sync_timer++;
				if(sync_timer>=1010)
					{sync_timer=0;}
			}
			

		//	TIM3->CNT=tmp_time;
		}
			memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
			memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
			memcpy(&rec_com_interval,&rx_buffer[ANCSEND_INTERVAL],  2);
			if(rec_com_interval>4&&rec_com_interval!=g_com_map[COM_INTERVAL])
			{
				g_com_map[COM_INTERVAL]=rec_com_interval;
				save_com_map_to_flash();
				delay_ms(100);
				SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader   
			}
			/* 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;//¼ÆËãfinal°ü·¢ËÍʱ¼ä£¬T5=T4+Treply2
			dwt_setdelayedtrxtime(final_tx_time);//ÉèÖÃfinal°ü·¢ËÍʱ¼äT5

			/* Final TX timestamp is the transmission time we programmed plus the TX antenna delay. */
			final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final°üʵ¼Ê·¢ËÍʱ¼äÊǼÆËãʱ¼ä¼ÓÉÏ·¢ËÍÌìÏßdelay

			/* Write all timestamps in the final message. See NOTE 10 below. */
			final_msg_set_ts(&tx_final_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//½«T1£¬T4£¬T5дÈë·¢ËÍÊý¾Ý
			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);

			/* Write and send final message. See NOTE 7 below. */
		
			dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
			dwt_writetxfctrl(sizeof(tx_final_msg), 0);//É趨·¢ËÍÊý¾Ý³¤¶È
			result=dwt_starttx(DWT_START_TX_DELAYED);//É趨ΪÑÓ³Ù·¢ËÍ
		
			ancsync_time=((sync_timer+0)*1000+tmp_time);
			current_count=HAL_LPTIM_ReadCounter(&hlptim1);
		//	count_offset=sync_count-current_count-143;
		//	current_slottimes=(ancsync_time-10000)/(g_com_map[COM_INTERVAL]*1000);
			nextpoll_delaytime=tyncpoll_time*1000+g_com_map[COM_INTERVAL]*1000-((ancsync_time-10000)%(g_com_map[COM_INTERVAL]*1000))-5150;
			if(abs(ancsync_time-910000)<1000)
			{
			nextpoll_delaytime+=10000;
			}		
			if(nextpoll_delaytime<2000)
			{
				nextpoll_delaytime+=g_com_map[COM_INTERVAL]*1000;
			}
			lastpoll_count= current_count+(nextpoll_delaytime)/LPTIMER_LSB;
			if(lastpoll_count>LPTIMER_1S_COUNT)
				lastpoll_count-=LPTIMER_1S_COUNT;
			__HAL_LPTIM_COMPARE_SET(&hlptim1, lastpoll_count);
			
//			printf("ancsync_time: %u     \r\n ",ancsync_time);
//			printf("current_slottimes: %u   ",current_slottimes);
//			printf("nextpoll_delaytime: %u   ",nextpoll_delaytime);
//			printf("current_count: %u   ",current_count);
//			printf("lastpoll_count: %u",lastpoll_count);
		
			
			tag_succ_times++;
			
				
					memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
//					g_Tagdist[anc_id_recv]=	hex_dist;
//					g_flag_Taggetdist[anc_id_recv]=0;
					if(!g_com_map[MODBUS_MODE])
					{
					usart_send[2] = 1;//Õý³£Ä£Ê½
					usart_send[3] = 17;//Êý¾Ý¶Î³¤¶È
					usart_send[4] = frame_seq_nb;//Êý¾Ý¶Î³¤¶È
					memcpy(&usart_send[5],&dev_id,2);
					memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);
				
					memcpy(&usart_send[9],&hex_dist2,4);
					usart_send[13] = battary;
					usart_send[14] = button;
					checksum = Checksum_u16(&usart_send[2],17);
					memcpy(&usart_send[19],&checksum,2);
			//		UART_PushFrame(usart_send,21);
					}
		//			memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
			/* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
			if(result==0)
			{while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//²»¶Ï²éѯоƬ״ֱ̬µ½·¢ËÍÍê³É
			{ };
		}
			/* Clear TXFRS event. */
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//Çå³ý±ê־λ

			/* Increment frame sequence number after transmission of the final message (modulo 256). */

			random_delay_tim = 0;
		}
		else
		{
			random_delay_tim = DFT_RAND_DLY_TIM_MS; //Èç¹ûͨѶʧ°Ü£¬½«¼ä¸ôʱ¼äÔö¼Ó5ms£¬±Ü¿ªÒòΪ¶à±êǩͬʱ·¢ËÍÒýÆðµÄ³åÍ»¡£
		}
	}
	else
	{
		/* Clear RX error events in the DW1000 status register. */
		dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
		random_delay_tim = DFT_RAND_DLY_TIM_MS;
	}
//	deca_sleep(10);
}
	dwt_entersleep();
//	if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM])
//	{
//	//poll_timer +=time32_incr&0x7+3;
//	}
//HAL_PWR_EnterSLEEPMode(PWR_MAINREGULATOR_ON, PWR_SLEEPENTRY_WFI);
	/* Execute a delay between ranging exchanges. */
	
}