/*! ----------------------------------------------------------------------------
 *  @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"

#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


enum enumtagstate
{
    DISCPOLL,
    GETNEARMSG,
    NEARPOLL,
} tag_state=NEARPOLL;
dwt_config_t config = {
    2,               /* Channel number. */
    DWT_PRF_64M,     /* Pulse repetition frequency. */
    DWT_PLEN_1024,    /* 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. */
    (1025 + 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;
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;
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÷



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 SetNLOSNTMSettings(void)
{
    uint8_t temp;
    temp = 7;
    dwt_writetodevice(LDE_IF_ID,LDE_CFG1_OFFSET,1,&temp);
    dwt_write16bitoffsetreg(LDE_IF_ID,LDE_CFG2_OFFSET,3);
    // NTM = dwt_read32bitoffsetreg(LDE_IF_ID,LDE_CFG1_OFFSET) & LDE_CFG1_NSTDEV_MASK;
}
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
    SetNLOSNTMSettings();


    /* 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;
    //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,rec_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;
}
uint32_t rec_tagpos_binary;
extern uint16_t current_slotnum,total_slotnum;
uint16_t  target_time,last_time;
uint32_t tagpos_binary;
void SetNextPollTime(uint16_t time)
{
	current_slotnum++;
	if(current_slotnum==total_slotnum)
		current_slotnum-=total_slotnum;
	//time=5;
	target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time);

	last_time=target_time;
	if(target_time>=990&&target_time<992)
	{
		current_slotnum++;
	target_time+=g_com_map[COM_INTERVAL];
	tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
	tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;	
	}	
	if(target_time>=1000)
	{target_time-=1000;}
	if(target_time<0)
	{target_time+=1000;}

}

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;
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;
int16_t target_offsettime = 850;
//u32 target_time=100;
u8 pd_i;
u32 temptime,delaytime,expect_anctime;
int32_t error_time;
u16 delaycount,slotpos_intoatl;
int16_t poll_offsettime=-6900,clockoffset;
extern u16 slotpos,bigslot_num;
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 = 4500;
#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 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len;
u32 rec_tagpos_binary;
int16_t offset=2700;
extern int16_t g_commap_antdelay;
//u8 motor_state,rec_remotepara_state,rec_remotepara[80];
u16 sync_anc_id = 0xffff,sync_anc_losttime = 0;
int32_t ancsync_time,tpos;
void SyncAncUpdate(u16 ancid,int32_t anctime,u16 slotpos)
{
	if(ancid<=sync_anc_id)
	{
		SetLPTimer(ancsync_time);
		tagslotpos = slotpos;
		sync_anc_losttime = 0;
		sync_anc_id = ancid;	
	}
}
//void NearPoll(void)
//{

//    uint32_t temp1,temp2,dw_systime;
//    uint32_t frame_len;
//    uint32_t final_tx_time;
//    u32 start_poll;
//    u8 i,j,getsync_flag=0,timeout;
//    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(next_nearbase_num>=MAX_NEARBASE_NUM)
//    {
//        next_nearbase_num = MAX_NEARBASE_NUM-1;
//    }
//    HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
//    last_nearbase_num=next_nearbase_num;
//    nearbase_num=next_nearbase_num;
//    recbase_num=0;
//		if(sync_anc_losttime++>10)
//		{
//			sync_anc_id = 0xffff;
//		}
////	motor_state=0;
//    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);
//    tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
//    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*4],&g_commap_antdelay,2);
//    memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
//    dwt_writetxdata(15+4*nearbase_num, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
//    dwt_writetxfctrl(15+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(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
//    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
//        {
//            if(flag_finalsend)
//            {
//                dw_systime=dwt_readsystimestamphi32();
//                if(dw_systime>temp1&&dw_systime<temp2)
//                {

//                    dwt_forcetrxoff();
//                    flag_rxon=0;
//                    dwt_setdelayedtrxtime(final_tx_time);
//                    result=dwt_starttx(DWT_START_TX_DELAYED);//É趨ΪÑÓ³Ù·¢ËÍ
//                    flag_finalsend=0;
//                    break;
//                }
//            }
//            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
//            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] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX]==group_id) //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(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])
//                {
//                    //////////////////////////////////ʱ¼äͬ²½
//                    memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
//                    memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
//                    current_count=HAL_LPTIM_ReadCounter(&hlptim1);
//										memcpy(&rec_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);																			
//										SyncAncUpdate(rec_nearbaseid,ancsync_time,rec_tagslotpos);
//                    //	TIM3->CNT=tmp_time;
////									if(tagslotpos>max_slotpos)
////										tagslotpos=tagslotpos%(max_slotpos+1);
////										tyncpoll_time=(tagslotpos-1)*slottime;
//                    ////////////////////////////
//                    rec_nearbasepos=0;
//                    exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
//                    memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
//                    nearbase_distlist[rec_nearbasepos]=temp_dist;
//                    if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
//                        motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
//                    rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;

//                    mainbase_lost_count=0;
//                    flag_finalsend=1;
//                    memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
//                    final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+500) * UUS_TO_DWT_TIME)) >> 8;
//                    temp1=final_tx_time-((850*UUS_TO_DWT_TIME)>>8);
//                    temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);
//                    //	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(&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], 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]=NEAR_FINAL;
//                    tx_near_msg[GROUP_ID_IDX] = group_id;

//                    dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
//                    dwt_writetxfctrl(28+nearbase_num*4, 0);//É趨·¢ËÍÊý¾Ý³¤¶È
//                    flag_getresponse=1;
//                    memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);


//                    //ʱ¼äͬ²½
//                    ancsync_time=((sync_timer)*1000+tmp_time);
//                    last_slotnum=current_slotnum;
//                    current_slotnum=((float)sync_timer/g_com_map[COM_INTERVAL])+1;
//                    if(current_slotnum==last_slotnum-1)
//                    {
//                        flag_getresponse=1;
//                    }
//                    lastsync_timer=sync_timer;
//                    offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
////									SetNextPollTime(tyncpoll_time);
//                    if(rec_remotepara_state==1)
//                    {
//                        memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],REMOTEPARA_LEN);
//                        memcpy(&g_com_map[COM_INTERVAL],&rec_remotepara[0],8);
//                        memcpy(&g_com_map[POWER],&rec_remotepara[8],10);
//                        if(g_com_map[COM_INTERVAL]>0&&g_com_map[COM_INTERVAL]<1000&&g_com_map[POWER]<67&&g_com_map[POWER]>0)
//                        {   save_com_map_to_flash();
//                            delay_ms(100);
//                        }
//                        NVIC_SystemReset();
//                    }
//                } else {
//									  memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
//                    memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
//                    current_count=HAL_LPTIM_ReadCounter(&hlptim1);
//										memcpy(&rec_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);																			
//										SyncAncUpdate(rec_nearbaseid,ancsync_time,rec_tagslotpos);
//										
//                    rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
//                    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;
//                    memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
//                    nearbase_distlist[rec_nearbasepos]=temp_dist;

//                    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


//                    //dwt_setdelayedtrxtime(final_tx_time);//ÉèÖÃfinal°ü·¢ËÍʱ¼äT5
//                    //	result=dwt_starttx(DWT_START_TX_DELAYED);//É趨ΪÑÓ³Ù·¢ËÍ
//                    //dwt_writetxdata(4,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//½«·¢ËÍÊý¾ÝдÈëDW1000
//                }
//            }
//        } 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);
//    }
//    if(mainbase_lost_count>tag_frequency*BASELOST_STOPMOTOR_TIME)
//    {
//        motor_state=0;
//    }
//    dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
//    nearbase_num=recbase_num;
//    j=0;
//		if(sync_anc_losttime!=0)
//		{
//			NextSlotDelayMs(0);
//		}
//    //	tyncpoll_time=0;
//    next_nearbase_num=0;
//    for(i=0; i<last_nearbase_num+get_newbase; i++)
//    {
//        if(exsistbase_list[i]>0)
//        {
//            next_nearbase_num++;
//            true_exsistbase_list[j]=exsistbase_list[i];
//            true_nearbase_idlist[j]=nearbaseid_list[i];
//            true_nearbase_distlist[j++]=nearbase_distlist[i];
//            exsistbase_list[i]--;
//        }
//    }

//    if(recbase_num<3)
//    {
//        next_nearbase_num=next_nearbase_num;
//    }
//    last_nearbase_num = next_nearbase_num;
//    for(i=0; i<last_nearbase_num-1; i++)
//    {
//        for(j=0; j<last_nearbase_num-1; j++)
//        {
//            if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
//            {
//                u32 temp_dist,temp_id,temp_exsis;
//                temp_dist=true_nearbase_distlist[j];
//                temp_id = true_nearbase_idlist[j];
//                temp_exsis=true_exsistbase_list[i];
//                true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
//                true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
//                true_exsistbase_list[j]=true_exsistbase_list[j+1];

//                true_nearbase_distlist[j+1]=temp_dist;
//                true_nearbase_idlist[j+1]=temp_id;
//                true_exsistbase_list[j+1]=temp_exsis;
//            }
//        }
//    }

//    report_num=0;
//    for (i=0; i<last_nearbase_num; i++)
//    {
//        nearbaseid_list[i]=true_nearbase_idlist[i];
//        nearbase_distlist[i]=true_nearbase_distlist[i];
//        if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==KEEP_TIMES)
//        {
//            memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
//            memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
//            report_num++;
//        }
//    }
//#ifdef USART_INTEGRATE_OUTPUT
//    usart_send[0] = 0x55;
//    usart_send[1] = 0xAA;
//    usart_send[2] = 4;//Õý³£Ä£Ê½
//    usart_send[3] = report_num*6+2;//Õý³£Ä£Ê½
//    checksum = Checksum_u16(&usart_send[2],report_num*6+2);
//    memcpy(&usart_send[4+report_num*6],&checksum,2);
//    USART_puts(usart_send,6+report_num*6);
//#endif

//    for(i=0; i<MAX_NEARBASE_NUM; i++)
//    {
//        nearbase_distlist[i]=0x1ffff;
//    }
//    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);
//		HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
//}
//u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
//void GetNearMsg(void)
//{
//    u32 start_poll,frame_len;
//    if(nearmsg_mainbase)
//    {   nearmsg_mainbase=0;
//    } else {
//        nearmsg_mainbase=1;
//    }
//    memcpy(&tx_near_msg[ANCHOR_ID_IDX],&nearmsg_mainbase,2);
//    memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
//    tx_near_msg[GROUP_ID_IDX] = group_id;
//    tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_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
//    dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);

//    /* 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] == NEAR_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);
//            //slottime=ceil((nearbase_num+2)*0.3)+1;
//            tyncpoll_time=tagslotpos*slottime;
//            tag_state=NEARPOLL;
//        }
//    } else {
//        tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
//    }
//}
u32 id;
void Tag_App(void)//·¢ËÍģʽ(TAG±êÇ©)
{

    //LED0_ON;
    id =  dwt_readdevid() ;
    while (DWT_DEVICE_ID != id)
    {
        id =  dwt_readdevid() ;
    }
    g_Resttimer=0;
		if(bat_percent>15)
			{
				LED_TB_ON;
			} else {
				LED_TR_ON;
			}
//	tag_state=DISCPOLL;
    switch(tag_state)
    {
    case DISCPOLL:
        //	Poll();
        break;
    case GETNEARMSG:

//        GetNearMsg();

        break;
    case NEARPOLL:
        //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);
        NearPoll();
        //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
        break;
    }
    dwt_entersleep();
		LED_TB_OFF;
		LED_TR_OFF;
}