/*! ----------------------------------------------------------------------------
 *  @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;
static dwt_config_t config = {
	2,               /* Channel number. */
	DWT_PRF_64M,     /* Pulse repetition frequency. */
	DWT_PLEN_128,    /* Preamble length. */
	DWT_PAC8,        /* Preamble acquisition chunk size. Used in RX only. */
	9,               /* TX preamble code. Used in TX only. */
	9,               /* RX preamble code. Used in RX only. */
	1,               /* Use non-standard SFD (Boolean) */
	DWT_BR_6M8,      /* Data rate. */
	DWT_PHRMODE_STD, /* PHY header mode. */
	(129 + 8 - 8)    /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};
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;
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 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[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;   
    }
   
	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<20;nearmsg_i++)
    {
        nearbase_distlist[nearmsg_i] = 0x1ffff;
    }
//mainbase_id = 0x9818;
	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);
}
uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
uint8_t motor_flag;
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
							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)
								{
									//////////////////////////////////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);
                                    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==28)
                                     {
                                         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);									
									exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
									memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                                    if(frame_len==28)
                                    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]==1)
									{
										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 )
				{
					changemainbase_count++;
					if(changemainbase_count>tag_frequency*2)
					{
										mainbase_id = mindist_slavebaseid;
										tag_state = GETNEARMSG;
										trygetnearmsg_times = 0;
					}
				}else{
					changemainbase_count = 0;
				}
			#endif
			}else if(mainbase_lost_count>5*tag_frequency)
			{
			//	tag_state = DISCPOLL;
			}	
			if(mainbase_lost_count!=0)
			{
				if(mainbase_lost_count<=tag_frequency*1)
				{NextSlotDelayMs(0);
				}else{
					NextSlotDelayMs(0);
				}
			}	

			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<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++>3)
                {
                    notenoughdist_count = 0;
             //       tag_state = DISCPOLL;
                }
            }
			for(i=0;i<nearbase_num;i++)
			{
                if(nearbaseid_list[i]!=nearbaseid_list2[i])
                {
                    tag_state = 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);
    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;
	switch(tag_state)
	{
		case REGPOLL:
			LED_LG_ON;		
			Registor_Poll();			
			LED_LG_OFF;
			break;
		case DISCPOLL:
			LED_LG_ON;		
			DiscPoll();
			LED_LG_OFF;
			break;
		case GETNEARMSG:
			trygetnearmsg_times++;	
			LED_LG_ON;
				GetNearMsg();	 
		LED_LG_OFF;
		if(trygetnearmsg_times>5)
		{
			tag_state = STARTPOLL;
		}
			break;
		case NEARPOLL:	
			NearPoll();
			//GetPressAndHeight();
			//intheight = Height*100;
			break;
        case SINGLEPOLL:
          //  Poll();
            break;
	}
     userkey_state = !GET_USERKEY;
	dwt_entersleep();
}