/*! ----------------------------------------------------------------------------
 *  @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 <math.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 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 1000

///* Receive response timeout. See NOTE 5 below. */
//#define RESP_RX_TIMEOUT_UUS 4000

//#define DELAY_BETWEEN_TWO_FRAME_UUS 240

//#define POLL_RX_TO_RESP_TX_DLY_UUS 470
///* 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 STARTPOLL  REGPOLL//#define SWITCHBASE_DIST
//#define SWITCHBASE_ZHUANDIAN
//#define SWITCHBASE_DIST
//enum enumtagstate
//{
//	REGPOLL,
//	DISCPOLL,
//	GETNEARMSG,
//	NEARPOLL,
//  SINGLEPOLL,
//}tag_state=STARTPOLL;
//#define	_UWB_4G
static dwt_config_t config = {
#ifdef	_UWB_4G
	2,               /* Channel number. */
#else
	5,
#endif
	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. */
};
//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};
// uint8_t tx_near_msg[180] = {0};

//static uint32_t frame_seq_nb = 0;	
//static uint32_t status_reg = 0;
//static uint8_t rx_buffer[100];
//static uint64_t poll_tx_ts;
//static uint64_t resp_rx_ts;
//static uint64_t final_tx_ts;
//static uint64_t poll_rx_ts;
//static uint64_t resp_tx_ts;
//static uint64_t final_rx_ts;
//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;
//uint32_t anc_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÷


//void GetNearMsg(void);
//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);
//    }
//}

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
}
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;
}
int16_t target_offsettime = 850;
int32_t error_time;
u32 temptime,delaytime,expect_anctime;
int16_t poll_offsettime=-6900,clockoffset;
extern u16 slotpos_intoatl, slotpos;
extern u16 bigslot_num;
u8 pd_i;
extern u16 tagslotpos;
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;
static u16 current_count;
void SetLPTimer(u32 anchor_time,u8 nearbase_num)
{

    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;
}
void WaitUntilPollStart(void)
{
    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;
        }
    }
}
//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], &dev_id, 2);
//	memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
//	memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
//	memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 2);
//	memcpy(&tx_near_msg[ANCHOR_ID_IDX], &dev_id, 2);
//	memcpy(&tx_near_msg[TAG_ID_IDX], &dev_id, 2);
//}	
//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;
//}

//u16 tag_time_recv[TAG_NUM_IN_SYS];
//u8 usart_send[25];
//u8 battary,button;
//extern uint8_t g_pairstart;
//void tag_sleep_configuraion(void)
//{
//	dwt_configuresleep(0x940, 0x7);
//	dwt_entersleep();
//}
//extern uint8_t g_start_send_flag;

//uint16_t g_Resttimer;
//uint8_t result;
//u8 tag_succ_times=0;
//int32_t hex_dist;
//u16 checksum;
//int8_t tag_delaytime;
//extern uint16_t sync_timer;
//u16 tmp_time;
//int32_t temp_dist;
//u16 tagslotpos;

//u16 anclist_num=0,anclist_pos; //list ×ÜÊýÁ¿ºÍµ±Ç°Î»ÖÃ
//u16 ancid_list[TAG_NUM_IN_SYS];
//u8 nearbase_num;
//u16 mainbase_id;
//int32_t mainbase_dist,base_mindist;
//uint8_t trygetnearmsg_times;
//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;
//	for(i=0;i<nearbase_num;i++)
//	{
//		if(baseid==nearbaseid_list[i])
//			return i;
//	}
//}
//u8 recbase_num=0;
//#define CHANGE_BASE_THRESHOLD  5
//uint8_t GetRandomValue(void)
//{
//	uint8_t random_value=0,temp_adc,i;
//	for(i=0;i<8;i++)
//	{
//		temp_adc=Get_ADC_Value();
//		random_value=random_value|((temp_adc&0x01)<<i);
//	}
//	return random_value;
//}
u8 GetRandomSlotPos(uint32_t emptyslot)
{
	u8 i,temp_value;
	temp_value = HAL_LPTIM_ReadCounter(&hlptim1);//GetRandomValue();
	for(i=temp_value%32;i<max_slotpos;i++)
	{
		if(((emptyslot>>i)&0x1)==0)
		{
			return i;
		}
	}
	
		for(i=1;i<max_slotpos;i++)
	{
		if(((emptyslot>>i)&0x1)==0)
		{
			return i;
		}
	}
return max_slotpos-1;
}
//void MODBUS_Poll(void)
//{
//	uint32_t frame_len;
//	uint32_t final_tx_time;
//	u32 start_poll;
//	u8 i,getsync_flag=0;
//	u8 bat_percent;
//	//LED0_ON;
//	//dwt_forcetrxoff();
//	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;

//	if(bat_percent>100)
//		bat_percent=100;
//	tx_poll_msg[BATTARY_IDX] = bat_percent;//Get_Battary();
////	tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
//	tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
////	GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);
//	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. */
//	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
//	{ 
//		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
//		{ u16 anc_id_recv,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
//			
//			tag_succ_times++;
//			
//				LED0_BLINK;
//				
//					memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
////					if(hex_dist2!=0xffff)
////					{	
////					g_Tagdist[anc_id_recv]=	hex_dist2;
////					g_flag_Taggetdist[anc_id_recv]=0;
////					
////					if(!g_com_map[MODBUS_MODE])
////					{
////					hex_dist2 = hex_dist2;		
////					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] = bat_percent;
////					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();


//	/* Execute a delay between ranging exchanges. */
//		delay_ms(30);

//}
//int32_t mainbase_dist,nearbase_switchdistlist[MAX_NEARBASE_NUM],nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
//u8 anclost_times=0 , mainbase_lost_count=0;
//u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
//u8 flag_finalsend,flag_getresponse,flag_rxon;
//uint16_t current_count,start_count,end_count,lastsync_timer;
//extern u16 bigslot_num;
//u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
//u32 rec_tagpos_binary;
//int16_t offset=4700,temptimer;
//u8 motor_state,rec_remotepara_state,rec_remotepara[80];


//#define SINGLEPOLL_BASENUM 5
//uint16_t singlepoll_baseid[20]={0x8166,0x9804,0x9689,0x9686,0x8279,0x9815,0x9803,0x9814,0x9687,0x9774,0x8278,0x9743,0x9688,0x9771,0x8277};
//int32_t singlepoll_basedist[20];

extern u8 userkey_state;
//extern float motor_keeptime;
//uint8_t changemainbase_count=0,gotosleep_flag,singlepoll_i;
//uint32_t frame_len;
//int32_t salvebase_mindist;
//int16_t intheight;
//static uint8_t send_buffer[200];
//void DiscPoll(void)
//{
//	uint32_t frame_len;
//	uint32_t final_tx_time;
//	u32 start_poll;
//	int32_t 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);			//ÉèÖ÷¢Ëͺó¿ªÆô½ÓÊÕ£¬²¢É趨ÑÓ³Ùʱ¼ä
//    dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);		
//	frame_seq_nb++;
//	for(uint8_t singlepoll_i=0;singlepoll_i<10;singlepoll_i++)
//	{
//       

//	/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
//	 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);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
//	dwt_writetxfctrl(28+6*nearbase_num, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
//	dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//¿ªÆô·¢ËÍ£¬·¢ËÍÍê³ÉºóµÈ´ýÒ»¶Îʱ¼ä¿ªÆô½ÓÊÕ£¬µÈ´ýʱ¼äÔÚdwt_setrxaftertxdelayÖÐÉèÖÃ

//   
//	/* 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
//	{ 
//	};
//	if(status_reg==0xffffffff)
//	{
//		NVIC_SystemReset();
//	}
//	if (status_reg & SYS_STATUS_RXFCG)//Èç¹û³É¹¦½ÓÊÕ
//	{
//		dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ¼Ä´æÆ÷±ê־λ
//		frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;	//»ñµÃ½ÓÊÕµ½µÄÊý¾Ý³¤¶È
//		dwt_readrxdata(rx_buffer, frame_len, 0);   //¶ÁÈ¡½ÓÊÕÊý¾Ý
//        
//		if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
//		{
//			poll_tx_ts = get_tx_timestamp_u64();										//»ñµÃPOLL·¢ËÍʱ¼äT1
//			resp_rx_ts = get_rx_timestamp_u64();										//»ñµÃRESPONSE½ÓÊÕʱ¼äT4			
//			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(&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;}
//                }

//                //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(&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 + (600 * UUS_TO_DWT_TIME)) >> 8;//¼ÆËãfinal°ü·¢ËÍʱ¼ä£¬T5=T4+Treply2
//			dwt_setdelayedtrxtime(final_tx_time);//ÉèÖÃfinal°ü·¢ËÍʱ¼äT5
//			final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final°üʵ¼Ê·¢ËÍʱ¼äÊǼÆËãʱ¼ä¼ÓÉÏ·¢ËÍÌìÏßdelay
//			final_msg_set_ts(&send_buffer[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//½«T1£¬T4£¬T5дÈë·¢ËÍÊý¾Ý
//			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);//½«·¢ËÍÊý¾ÝдÈëDW1000
//			dwt_writetxfctrl(25, 0);//É趨·¢ËÍÊý¾Ý³¤¶È
//			result=dwt_starttx(DWT_START_TX_DELAYED);//É趨ΪÑÓ³Ù·¢ËÍ			
//			
// 
//			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
//			random_delay_tim = 0;
//		}
//		else
//		{
//           //  singlepoll_basedist[singlepoll_i] = 0x1ffff;
//			random_delay_tim = DFT_RAND_DLY_TIM_MS; //Èç¹ûͨѶʧ°Ü£¬½«¼ä¸ôʱ¼äÔö¼Ó5ms£¬±Ü¿ªÒòΪ¶à±êǩͬʱ·¢ËÍÒýÆðµÄ³åÍ»¡£
//		}
//	}
//	else
//	{
//     //   singlepoll_basedist[singlepoll_i] = 0x1ffff;
//	dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
//		random_delay_tim = DFT_RAND_DLY_TIM_MS;
//	}
//   // delay_ms(1);
//}
//    if(minddist!=0x1ffff&&minddist!=0)
//    {
//			trygetnearmsg_times = 0;
//            tag_state = GETNEARMSG;            
//            mainbase_id = mindist_ancid;   
//            GetNearMsg();
//    }
//   
//	if(getsync_flag==0)
//	{
////	tagslotpos--;
////			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;
//    u8 nearmsg_i=0;
//	NextSlotDelayMs(0);
//    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],&dev_id,2);
//	tx_near_msg[MESSAGE_TYPE_IDX] = POS_MSG;
//	
//    
//	dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);			//ÉèÖ÷¢Ëͺó¿ªÆô½ÓÊÕ£¬²¢É趨ÑÓ³Ùʱ¼ä
//  dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);	
//	dwt_writetxdata(12, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
//	dwt_writetxfctrl(12, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
//		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)))//²»¶Ï²éѯоƬ״ֱ̬µ½³É¹¦½ÓÊÕ»òÕß·¢Éú´íÎó
//	{
//	};
//	if(status_reg==0xffffffff)
//	{
//		NVIC_SystemReset();
//	}
//	if (status_reg & SYS_STATUS_RXFCG)//Èç¹û³É¹¦½ÓÊÕ
//	{
//		dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ¼Ä´æÆ÷±ê־λ
//		frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;	//»ñµÃ½ÓÊÕµ½µÄÊý¾Ý³¤¶È
//		dwt_readrxdata(rx_buffer, frame_len, 0);   //¶ÁÈ¡½ÓÊÕÊý¾Ý
//		if (rx_buffer[MESSAGE_TYPE_IDX] == POS_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
//		{
//			nearbase_num=rx_buffer[NEARBASENUM_INDEX];
//			memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
//		//	tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
//			//tagslotpos=rx_buffer[TAGSLOTPOS];
//			memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
//			memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
//			//slottime=ceil((nearbase_num+2)*0.3)+1;
//			//tyncpoll_time=tagslotpos*slottime;
//			//tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;	
//			tag_state=NEARPOLL;
//		}
//	}else{
////			tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
//	}
//}
//void SendHuiZongData(void)
//{
//                usart_send[2] = 0x0c;//Õý³£Ä£Ê½ 
//					usart_send[3] = 15+8*(nearbase_num+1);//Êý¾Ý¶Î³¤¶È
//					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);
//}
//#define FREQ_OFFSET_MULTIPLIER          (998.4e6/2.0/1024.0/131072.0)
//#define FREQ_OFFSET_MULTIPLIER_110KB    (998.4e6/2.0/8192.0/131072.0)

//// Multiplication factors to convert frequency offset in Hertz to PPM crystal offset
//// NB: also changes sign so a positive value means the local RX clock is running slower than the remote TX device.

//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_1     (-1.0e6/3494.4e6)
//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_2     (-1.0e6/3993.6e6)
//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_3     (-1.0e6/4492.8e6)
//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_5     (-1.0e6/6489.6e6)
//int32_t test2;
//uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
//uint8_t motor_flag;
//uint32_t testtimer[10],testtimer2,anc_pollrx[11],anc_resptx[11],tag_resprx[11];
//int32_t anc_clockoffset[11];
//int16_t anc_distoffset[11];
//extern uint8_t Pah_HRD_flag_fangchai;
//uint8_t get_newdist,notenoughdist_count;
//void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset)
//{
//    memcpy(&anc_pollrx[i],pollrx,4);
//    memcpy(&anc_resptx[i],resptx,4);
//    memcpy(&tag_resprx[i],&resprx,4);
//    memcpy(&anc_distoffset[i],distoffset,2);
//    anc_clockoffset[i] = test2;
//}
//float clockOffsetRatio;
//double rtd_init, rtd_resp;
//double tof,distance;
//extern int32_t dwt_readcarrierintegrator(void) ;
//void CalculateDists(void)
//{
//    for(int i=0; i<11; i++)
//    {
//       // rec_anc_signalpower[i] = exsistbase_list[i];
//        if(exsistbase_list[i]>0)
//        {

//            exsistbase_list[i]--;
//#ifdef _UWB_4G
//            clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
//#else
//            clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
//#endif
//            rtd_init = tag_resprx[i] - poll_tx_ts&0xffffffff;
//            rtd_resp = anc_resptx[i] - anc_pollrx[i];
//            tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
//            distance = tof * SPEED_OF_LIGHT;
//            if(distance>-10&&distance<1000)
//            {
//                nearbase_distlist[i] = distance*100+anc_distoffset[i];
//            } else {
//                nearbase_distlist[i] = 0x1ffff;
//            }
//        } else {
//            nearbase_distlist[i] = 0x1ffff;
//        }

//    }
//}
//u32 last_mindist_slavebaseid;
//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,get_newdist;
//   // USART_putc(current_slotnum);
//    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;
//	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|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);	
//	dwt_writetxdata(29+8*nearbase_num, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
//	dwt_writetxfctrl(29+8*nearbase_num, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
//				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);//¿ªÆô·¢ËÍ£¬·¢ËÍÍê³ÉºóµÈ´ýÒ»¶Îʱ¼ä¿ªÆô½ÓÊÕ£¬µÈ´ýʱ¼äÔÚdwt_setrxaftertxdelayÖÐÉèÖÃ
////	HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
////    for(i=0;i<nearbase_num+1;i++)
////    {
////        nearbase_distlist[i] = 0x1ffff;
////    }
//    
//	tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
//	para_update = 0;
//	flag_finalsend=0;
//	flag_rxon=1;
//	flag_getresponse=0;
//	start_count=HAL_LPTIM_ReadCounter(&hlptim1);
//	recbase_num=0;
//	timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
//	end_count=start_count+(timeout<<5);
//	if(end_count>=32768)
//	{end_count-=32768;}
//	mainbase_dist=100000;
//	mainbase_lost_count++;
//	current_count=HAL_LPTIM_ReadCounter(&hlptim1);
//			while(current_count<end_count||current_count>end_count+15000)
//			{
//				current_count=HAL_LPTIM_ReadCounter(&hlptim1);
//					while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//²»¶Ï²éѯоƬ״ֱ̬µ½³É¹¦½ÓÊÕ»òÕß·¢Éú´íÎó
//					{
//							current_count=HAL_LPTIM_ReadCounter(&hlptim1);
//						 if(current_count>=end_count&&current_count<end_count+15000)
//								break;
//					};
//					if(status_reg==0xffffffff)
//					{
//						NVIC_SystemReset();
//					}
//					if (status_reg & SYS_STATUS_RXFCG)//Èç¹û³É¹¦½ÓÊÕ
//						{
//							dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ¼Ä´æÆ÷±ê־λ
//							frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;	//»ñµÃ½ÓÊÕµ½µÄÊý¾Ý³¤¶È
//							dwt_readrxdata(rx_buffer, frame_len, 0);   //¶ÁÈ¡½ÓÊÕÊý¾Ý
//                            test2 = dwt_readcarrierintegrator();
//							dwt_setrxtimeout(0);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
//							dwt_rxenable(0);//´ò¿ª½ÓÊÕ
//							//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)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
//							{	u16 rec_nearbaseid,rec_nearbasepos;
//								poll_tx_ts = get_tx_timestamp_u64();										//»ñµÃPOLL·¢ËÍʱ¼äT1
//								resp_rx_ts = get_rx_timestamp_u64();										//»ñµÃRESPONSE½ÓÊÕʱ¼äT4	
//								recbase_num++;
//								memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
//								if(rec_nearbaseid==mainbase_id)
//								{
//                                     exsistbase_list[0]=KEEP_TIMES;
//                                   SetANCTimestap(0,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);

//									//////////////////////////////////ʱ¼äͬ²½
//									memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
//									memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
//									current_count=HAL_LPTIM_ReadCounter(&hlptim1);
//										dwt_forcetrxoff();
////									final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS) * UUS_TO_DWT_TIME)) >> 8;
////									final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final°üʵ¼Ê·¢ËÍʱ¼äÊǼÆËãʱ¼ä¼ÓÉÏ·¢ËÍÌìÏßdelay
////									final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//½«T1£¬T4£¬T5дÈë·¢ËÍÊý¾Ý
////									final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+nearbase_num*4], resp_rx_ts);
////									final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
////									tx_near_msg[MESSAGE_TYPE_IDX]=POS_FINAL;
//									rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
//                                    if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
//                                        {
//                                            para_update = 1;
//                                            tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
//                                            para_len = frame_len-22;
//                                            memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
//                                        }
////									dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
////									dwt_writetxfctrl(28+nearbase_num*4, 0);//É趨·¢ËÍÊý¾Ý³¤¶È
////									dwt_setdelayedtrxtime(final_tx_time);//ÉèÖÃfinal°ü·¢ËÍʱ¼äT5
////									result=dwt_starttx(DWT_START_TX_DELAYED);//É趨ΪÑÓ³Ù·¢ËÍ	
//									userkey_state = !GET_USERKEY;

//									//memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
//                                    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_buffer[MOTORSTATE_INDEX]&0xf)!=3)
////										motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
//                                    if(frame_len==38)
//                                     {
//                                         memcpy(&rec_maxrangelen,&rx_buffer[MAXRANGE_DISTANCE],2);
//                                         memcpy(&rec_anc_signalpower[0],&rx_buffer[ANC_SIGNALPOWER],2);
//                                         if(mainbase_dist>rec_maxrangelen&&mainbase_dist>0&&rec_maxrangelen!=0)
//                                         {
//                                             if(outrange_times++>OUTRANGE_RESTARTTIMES)
//                                             {
//                                                tag_state = STARTPOLL;
//                                             }
//                                         }else{
//                                             outrange_times = 0;
//                                         }
//                                     }
//                                 
//									
//									
//									mainbase_lost_count=0;
//									flag_finalsend=1;
////									memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
//		

//									flag_getresponse=1;								
//									//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);
////									if(result==0)
////											{while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//²»¶Ï²éѯоƬ״ֱ̬µ½·¢ËÍÍê³É
////											{ };}			
////HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);											
//										break;
//								}else{
//									
//									rec_nearbasepos=FindNearBasePos(rec_nearbaseid);	
//                                    SetANCTimestap(rec_nearbasepos+1,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
//									
//									exsistbase_list[rec_nearbasepos+1]=KEEP_TIMES;
//									//memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
//                                    temp_dist = nearbase_distlist[rec_nearbasepos+1];
//                                    if(frame_len==38)
//                                    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]¶ÔÓ¦	rec_nearbaseid[0]µÄ¾àÀë					
//									final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
//										if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]!=0&&(nearbase_switchdistlist[rec_nearbasepos]==1||temp_dist<nearbase_switchdistlist[rec_nearbasepos]))
//									{
//										salvebase_mindist = temp_dist;
//										mindist_slavebaseid = rec_nearbaseid;
//									}
//									#ifdef SWITCHBASE_ZHUANDIAN
////                                       if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]>1&&temp_dist>0)
////									  {
////                                            mainbase_id = rec_nearbaseid;
////                                            tag_state = GETNEARMSG;
////											trygetnearmsg_times = 0;
////                                        }
//                                    #endif

//						}								
//							}
//			//				HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
//						}else{
//						dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
//						if(recbase_num!=nearbase_num+1)
//							{dwt_rxenable(0);	}
//							//						if(flag_rxon)
////							{
//						//		dwt_rxenable(0);	
////							}								
//						}			
//					//	dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
//			}
//            if(flag_finalsend!=1)
//            {flag_finalsend = 2;}
//			dwt_forcetrxoff();
//			dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
////			HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
//			if(mainbase_lost_count==0)
//			{
//				#ifdef SWITCHBASE_DIST
//				if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
//				{
//					if(mindist_slavebaseid==last_mindist_slavebaseid)
//					{
//						changemainbase_count++;
//					if(changemainbase_count>2)
//					{
//                        changemainbase_count = 0;
//                        mainbase_id = mindist_slavebaseid;
//                        tag_state = GETNEARMSG;                    
//                        trygetnearmsg_times = 0;
//                        GetNearMsg();
//					}}
//					else{
//						changemainbase_count = 1;
//						last_mindist_slavebaseid = mindist_slavebaseid;
//					}
//				}else{
//					changemainbase_count = 0;
//				}
//			#endif
//			}else if(mainbase_lost_count>10)
//			{
//                mainbase_lost_count = 0;
//				tag_state = DISCPOLL;
//                DiscPoll();
//			}	
//			if(mainbase_lost_count!=0)
//			{
//				if(mainbase_lost_count<=5)
//				{NextSlotDelayMs(0);
//				}else{
//					NextSlotDelayMs(0);
//				}
//			}	
//CalculateDists();
//			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();
//                        }
//					}
//				}
//			}
////            if(get_newdist>=2)
////            {
////                notenoughdist_count = 0;
////            }else{
////                if(notenoughdist_count++>10)
////                {
////                    notenoughdist_count = 0;
////                    tag_state = DISCPOLL;
////                }
////            }
//			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;
//                }
//			}
//        //    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++;
//		if(regpoll_count%2)
//		{
//			if(tagslotpos--<2)
//				tagslotpos=TOTAL_SLOTNUM;
//		}
//		//SetNextPollTime(tagslotpos);
//		NextSlotDelayMs(-2);
//		
//		dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);			//ÉèÖ÷¢Ëͺó¿ªÆô½ÓÊÕ£¬²¢É趨ÑÓ³Ùʱ¼ä
//    dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);		

//		tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
//		tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL;	
//		tx_near_msg[REGP_FREQUENCY_INDEX] = 1000/g_com_map[COM_INTERVAL];
//		tx_near_msg[REGP_POWER_INDEX] = module_power;
//		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);
//        send_buffer[REGP_BATTARY_INDEX] = bat_percent;
////    memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[HEIGHTOFFEST_INDEX],2);
//		dwt_writetxdata(23, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
//		dwt_writetxfctrl(23, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
//		dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//¿ªÆô·¢ËÍ£¬·¢ËÍÍê³ÉºóµÈ´ýÒ»¶Îʱ¼ä¿ªÆô½ÓÊÕ£¬µÈ´ýʱ¼äÔÚdwt_setrxaftertxdelayÖÐÉèÖÃ
//	while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//²»¶Ï²éѯоƬ״ֱ̬µ½³É¹¦½ÓÊÕ»òÕß·¢Éú´íÎó
//	{ 
//		IdleTask();
//		
//	};
//		if(status_reg==0xffffffff)
//					{
//						NVIC_SystemReset();
//					}
//					if (status_reg & SYS_STATUS_RXFCG)//Èç¹û³É¹¦½ÓÊÕ
//						{
//							dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ¼Ä´æÆ÷±ê־λ				
//							frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;	//»ñµÃ½ÓÊÕµ½µÄÊý¾Ý³¤¶È
//							dwt_readrxdata(rx_buffer, frame_len, 0);   //¶ÁÈ¡½ÓÊÕÊý¾Ý
//							if (rx_buffer[MESSAGE_TYPE_IDX] == REG_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
//							{	u16 rec_nearbaseid,rec_nearbasepos;
//								
//                                    memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
//                                    tag_frequency = rx_buffer[REGR_TAGFREQ_INDEX];
//                                    bigslot_num = TOTAL_SLOTNUM/tag_frequency;
//                                    tagslotpos = rx_buffer[REGR_TAGSLOTPOS_INDEX];
//									//////////////////////////////////ʱ¼äͬ²½
//									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);																			
//									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 = DISCPOLL;
//								}
//							}
//}
u32 id,error_times=0;

extern float Height;
void Tag_App(void)//·¢ËÍģʽ(TAG±êÇ©)
{
	
	//LED0_ON;
	SPIx_CS_GPIO->BRR = SPIx_CS;
	delay_us(700);
	SPIx_CS_GPIO->BSRR = SPIx_CS;
	id =  dwt_readdevid() ;
	    while (DWT_DEVICE_ID != id) 
    {
		//	Dw1000_Init();
			id =  dwt_readdevid() ;
        IdleTask();	
        if(error_times++>20)
        {
            printf("DW ID ERROR.\r\n");
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader   
        }
    }
    error_times = 0;
    SwitchTagState();
    FZNearPoll();
    dwt_forcetrxoff();
     userkey_state = !GET_USERKEY;
	dwt_entersleep();
}