/*! ----------------------------------------------------------------------------
 *  @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"
#include "CRC.h"

//#define USART_INTEGRATE_OUTPUT
/*------------------------------------ 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 410

/* Receive response timeout. See NOTE 5 below. */
#define RESP_RX_TIMEOUT_UUS 600

#define DELAY_BETWEEN_TWO_FRAME_UUS 400

#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 _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[80] = {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÷
float range_lost_time = 0;


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
//            dwt_configcontinuousframemode(12480);
//    dwt_writetxdata(13, usart_send, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
//	dwt_writetxfctrl(13, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
//	dwt_starttx(DWT_START_TX_IMMEDIATE);//¿ªÆô·¢ËÍ£¬·¢ËÍÍê³ÉºóµÈ´ýÒ»¶Îʱ¼ä¿ªÆô½ÓÊÕ£¬µÈ´ýʱ¼äÔÚdwt_setrxaftertxdelayÖÐÉèÖÃ

//while(1)
//{}
    /* 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;
	//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[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;
//uint8_t trygetnearmsg_times;
//u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[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;
//}

//int32_t mainbase_dist,nearbase_distlist[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;

//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=2700;
//u8 current_freq,rec_freq;
//u8 motor_state,rec_remotepara_state,rec_remotepara[80];
//extern u16 last_lpcount;
float freqlost_count = 0;
//void TagFreqProcess(u8 freq)
//{
//    if(freq>MAX_ANCFREQ||freq==0)
//    {
//        return;
//    }
//    if(freq==tag_frequency||freq>tag_frequency)
//    {
//        tag_frequency = freq;
//        freqlost_count = 0;
//    }
//}
//#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)

//#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)
//u16 rec_maxrangelen;//rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
//float clockOffsetRatio;
//double rtd_init, rtd_resp;
//double tof,distance;
//extern int32_t dwt_readcarrierintegrator(void) ;
//uint32_t testtimer2,anc_pollrx[MAX_NEARBASE_NUM],anc_resptx[MAX_NEARBASE_NUM],tag_resprx[MAX_NEARBASE_NUM];
//int32_t anc_clockoffset[MAX_NEARBASE_NUM];
//int16_t anc_distoffset[MAX_NEARBASE_NUM];
//int32_t test2;
//uint16_t u16_nearbase_distlist[MAX_NEARBASE_NUM];
//uint8_t get_newdist,notenoughdist_count;
//void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset)  //дÈëʱ¼ä´ÁÐÅÏ¢
//{
//    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;
//}
//void CalculateDists(void)   //¼ÆËã¾àÀë
//{
//    for(int i=0;i<MAX_NEARBASE_NUM;i++)
//    {
//        //rec_anc_signalpower[i] = exsistbase_list[i];
//      if(exsistbase_list[i]==KEEP_TIMES)
//      {

//         // 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];
//          range_lost_time=0;
//      }else{
//         // nearbase_distlist[i] = 0x1ffff;
//      }
//    
//    }
//}
//extern uint8_t module_power,imu_enable,motor_enable;
//void Registor_Poll(void)
//{
//	static u8 regpoll_count=0;
//    u8 timeout;
//		
//		tx_near_msg[MESSAGE_TYPE_IDX] = MBX_REG;
//        tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
//		tx_near_msg[REGP_FREQUENCY_INDEX] = bat_percent;
//		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[GROUP_ID],2);
//		memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[DIST_OFFSET],2);
//        memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[MAX_REPORT_ANC_NUM],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);//¿ªÆô·¢ËÍ£¬·¢ËÍÍê³ÉºóµÈ´ýÒ»¶Îʱ¼ä¿ªÆô½ÓÊÕ£¬µÈ´ýʱ¼äÔÚdwt_setrxaftertxdelayÖÐÉèÖÃ
//        start_count=HAL_LPTIM_ReadCounter(&hlptim1);
//        timeout=50;
//        end_count=start_count+(timeout<<2);
//        while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS)))//²»¶Ï²éѯоƬ״ֱ̬µ½³É¹¦½ÓÊÕ»òÕß·¢Éú´íÎó
//        { 
//            current_count=HAL_LPTIM_ReadCounter(&hlptim1);
//           if(current_count>=end_count&&current_count<end_count+15000)
//								break;
//            
//        };	
//               
//}
//u16 numceshi;
//u16 rec_nearbaseid,rec_nearbasepos;
//extern  u16 poll_startcount;
//void NearPoll(uint8_t ancid_tosend_index)
//{
//	
//	uint32_t temp1,temp2,dw_systime;
//	uint32_t frame_len;
//	uint32_t final_tx_time;
//	u32 start_poll,timeout;
//	u8 i,j,getsync_flag=0,flag_ancreadpara=0;
//    dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);			//ÉèÖ÷¢Ëͺó¿ªÆô½ÓÊÕ£¬²¢É趨ÑÓ³Ùʱ¼ä
//    dwt_setrxtimeout(0);		
//	tag_succ_times = 0;
//		//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
//	if(nearbase_num>=MAX_NEARBASE_NUM)
//	{
//		nearbase_num = MAX_NEARBASE_NUM-1;
//	}
//	recbase_num=0;
//    for(uint8_t i=0;i<nearbase_num;i++)   //±êÇ©¾àÀë32λת³É16λ
//    {
//        u16_nearbase_distlist[i] = nearbase_distlist[i];
//    }
//	tx_near_msg[GROUP_ID_IDX] = group_id;
//	tx_near_msg[BATTARY_IDX] = bat_percent;
//	tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
//	tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
//	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],&u16_nearbase_distlist,nearbase_num*2);
//	tx_near_msg[MESSAGE_TYPE_IDX] = MBX_POLL;	
//	memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);	
//	dwt_writetxdata(13+4*nearbase_num, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
//	dwt_writetxfctrl(13+4*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(GPIOA, GPIO_PIN_15, GPIO_PIN_RESET);
//	numceshi++;
//	tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
//    get_newbase = 0;
//	flag_finalsend=0;
//	flag_rxon=1;
//	flag_getresponse=0;
//	start_count=HAL_LPTIM_ReadCounter(&hlptim1);
//	recbase_num=0;
//	timeout=nearbase_num*SLOT_SCALE+100; //µ¥Î»0.1ms
//	end_count=start_count+(timeout<<2);
//	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)
// //           while(1)
//			{
//				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();
//                            poll_tx_ts = get_tx_timestamp_u64();										//»ñµÃPOLL·¢ËÍʱ¼äT1
//                            resp_rx_ts = get_rx_timestamp_u64();
//							dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
//							dwt_rxenable(0);//´ò¿ª½ÓÊÕ
//							if (rx_buffer[MESSAGE_TYPE_IDX] == MBX_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX]==group_id) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
//							{	
//									
//								recbase_num++;
//								memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
//                                rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;

//                                if(rec_remotepara_state != 0)
//                                {   
//                                    para_update = rec_remotepara_state;
//                                    memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],7);
//                                    if(para_update==2)
//                                    {
//                                        flag_ancreadpara = 1;                                     
//                                    }
//                                }
//								if(last_nearbase_num==0)
//								{
//									get_newbase=1;
//									nearbaseid_list[0]=rec_nearbaseid;
//									nearbase_num=1;
//									memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
//								}
//								if(rec_nearbaseid==nearbaseid_list[0])
//								{
//                                     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);
////									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;}
//									}
//									rec_nearbasepos=0;
//									exsistbase_list[rec_nearbasepos]=KEEP_TIMES;

//									if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
//										motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
//									
//									
//									mainbase_lost_count=0;
//									flag_finalsend=1;
//								}else{
//									rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
//									SetANCTimestap(rec_nearbasepos,&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]);

//									if(rec_nearbasepos>=last_nearbase_num)          //·¢ÏÖеĻùÕ¾
//									{
//										get_newbase=1;
//										nearbase_num++;
//										nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
//										memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
//									}
//									
//									exsistbase_list[rec_nearbasepos]=KEEP_TIMES;

//									
//									if(motor_state<(rx_buffer[MOTORSTATE_INDEX]&0xf)&&(rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
//									{
//											motor_state=rx_buffer[MOTORSTATE_INDEX];
//									}
//									final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);		
//               
//									dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
//									dwt_writetxfctrl(28+nearbase_num*4, 0);//É趨·¢ËÍÊý¾Ý³¤¶È
//								}								
//							}
//						}else{
//						dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
//						if(flag_rxon)
//							{dwt_rxenable(0);	
//							}								
//						}			
//					//	dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
//			}
//            dwt_forcetrxoff();
//            dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
//            CalculateDists();            
//	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);
//            
//}
u8 regpoll_count;
u32 id;
void UWB_Wkup(void)
{
   
    SPIx_CS_GPIO->BRR = SPIx_CS;
    delay_us(600);
    SPIx_CS_GPIO->BSRR = SPIx_CS;
    id =  dwt_readdevid() ;
    while (0xDECA0130!=id) 
    {
        u8 iderror_count = 0;
        id =  dwt_readdevid() ;
        if(iderror_count++>100)
        {
         printf("UWBоƬID´íÎó");
            break;
        }
    }  
}
void Tag_App(void)//·¢ËÍģʽ(TAG±êÇ©)
{	
    MBXANCPoll();
	dwt_entersleep();
    bat_percent=Get_VDDVlotage();
}