/*! ----------------------------------------------------------------------------
 *  @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
static dwt_config_t config = {
	5,               /* Channel number. */
	DWT_PRF_64M,     /* Pulse repetition frequency. */
	DWT_PLEN_64,    /* 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. */
	(65 + 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÷



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
}
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],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;

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)
{
    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)
{
    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]--;
          clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
          rtd_init = tag_resprx[i] - poll_tx_ts;
          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;
      }
    
    }
}
float range_lost_time = 0;
u16 rec_nearbaseid,rec_nearbasepos;
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,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;
	}
//	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;
//	motor_state=0;
    for(uint8_t i=0;i<nearbase_num;i++)
    {
        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
	dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//¿ªÆô·¢ËÍ£¬·¢ËÍÍê³ÉºóµÈ´ýÒ»¶Îʱ¼ä¿ªÆô½ÓÊÕ£¬µÈ´ýʱ¼äÔÚdwt_setrxaftertxdelayÖÐÉèÖÃ
	
	tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
	para_update = 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+10;
	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)
			{
				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&&flag_ancreadpara)
						{
							dw_systime=dwt_readsystimestamphi32();
							if(dw_systime>temp1&&dw_systime<temp2)
							{
								
								dwt_forcetrxoff();
								flag_rxon=0;
                                if(flag_ancreadpara)
                                {
                                    u16 calCRC;
                                  tx_near_msg[MESSAGE_TYPE_IDX] = MBX_PRAAREPLY;  
                                  memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX],g_com_map,SENDANCPARA_LEN);
                                  calCRC = CRC_Compute((uint8_t*)g_com_map,SENDANCPARA_LEN);
                                  memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX+SENDANCPARA_LEN],&calCRC,2);
                                  dwt_writetxdata(14+SENDANCPARA_LEN, tx_near_msg, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
                                  dwt_writetxfctrl(14+SENDANCPARA_LEN, 0);//É趨·¢ËÍÊý¾Ý³¤¶È
                                
								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
                            test2 = dwt_readcarrierintegrator();
							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
							{	
								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);
                                rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;
                                TagFreqProcess(rx_buffer[TAGFREQ_IDX]);
                                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;}
									}
								//	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;

									if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
										motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
									
									
									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]=MBX_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{
									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
								

									//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);
			}
            dwt_forcetrxoff();
            dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
            CalculateDists();
            j = 0;
            next_nearbase_num = 0;
			for(i=0;i<nearbase_num;i++)
			{
				if(exsistbase_list[i]>0)
				{	
                    exsistbase_list[i]--;	
					next_nearbase_num++;
					true_exsistbase_list[j]=exsistbase_list[i];
					true_nearbase_idlist[j]=nearbaseid_list[i];			
					true_nearbase_distlist[j++]=nearbase_distlist[i];
					
				}
			}
            nearbase_num = next_nearbase_num;
            if(mainbase_lost_count>1&&exsistbase_list[0] != 0)
			{
                last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
			}
            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;
//            if(last_nearbase_num>4)
//            {
//                last_nearbase_num = 5;
//            }
	for (i=0;i<last_nearbase_num;i++)
			{
				nearbaseid_list[i]=true_nearbase_idlist[i];
				nearbase_distlist[i]=true_nearbase_distlist[i];
                exsistbase_list[i] = true_exsistbase_list[i];
			}
//            #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
            
	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);
            
if(para_update==1)
    {   
        uint16_t calCRC;
        calCRC = CRC_Compute(rec_remotepara,5);
        if(memcmp(&calCRC,&rec_remotepara[5],2)==0)
        {   uint8_t pack_msgtype,pack_index,pack_length;
            pack_msgtype = rec_remotepara[0];
            pack_index = rec_remotepara[1];
            pack_length = rec_remotepara[2];
            if(pack_msgtype==2)
            {
                if( pack_index == 1)//MOTOR_ONTIME_INDEX)
                {
               
               //     motor_keeptime = rec_remotepara[3];
                }else if(pack_index == CNT_UPDATE)
								{
										if(rec_remotepara[3]==2)
										{
											 	EnterUWBUpdateMode();
										}
								}								
									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();
                    }
                }
            }
        }
    }
}

u32 id;
void Tag_App(void)//·¢ËÍģʽ(TAG±êÇ©)
{
	
	//LED0_ON;
	id =  dwt_readdevid() ;
	while (DWT_DEVICE_ID != id) 
    {
        u8 iderror_count = 0;
        id =  dwt_readdevid() ;
        if(iderror_count++>100)
        {
            printf("UWBоƬID´íÎó");
            break;
        }
    }
    delay_us(100);
	g_Resttimer=0;
	NearPoll();
	dwt_entersleep();
    bat_percent=Get_VDDVlotage();
}