UWB_SmallModule_F103.git

			@@ -14,7 +14,7 @@
			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. */
			0, /* Use non-standard SFD (Boolean) */
			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. */
			@@ -137,6 +137,7 @@
			* As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
			//è®¾ç½®æ¥æ¶è¶æ¶æ¶é´
			}
			extern u16 group_id;
			void Dw1000_App_Init(void)
			{
			//g_com_map[DEV_ID] = 0x0b;
			@@ -145,6 +146,10 @@
			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);
			@@ -333,15 +338,23 @@
			last_nearbase_num=next_nearbase_num;
			nearbase_num=next_nearbase_num;
			recbase_num=0;
			tx_nearpoll_msg[GROUP_ID_IDX] = group_id;
			tx_nearpoll_msg[BATTARY_IDX] = Get_Battary();
			tx_nearpoll_msg[BUTTON_IDX] = !READ_KEY0;
			tx_nearpoll_msg[SEQUENCE_IDX] = frame_seq_nb++;
			tx_nearpoll_msg[NEARBASENUM_INDEX] = nearbase_num;
			memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
			for(i=0;i<nearbase_num;i++)
			{ memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num2+i2],&nearbase_distlist[i],2);}

			for(i=0;i<MAX_NEARBASE_NUM;i++)
			{
			nearbase_distlist[i]=0x1ffff;
			}
			tx_nearpoll_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
			memcpy(&tx_nearpoll_msg[ANCHOR_ID_IDX],&mainbase_id,2);
			dwt_writetxdata(13+2*nearbase_num, tx_nearpoll_msg, 0);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
			dwt_writetxfctrl(13+2*nearbase_num, 0);//è®¾ç½®è¶å®½å¸¦åéæ°æ®é¿åº¦
			dwt_writetxdata(13+4*nearbase_num, tx_nearpoll_msg, 0);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
			dwt_writetxfctrl(13+4*nearbase_num, 0);//è®¾ç½®è¶å®½å¸¦åéæ°æ®é¿åº¦
			dwt_starttx(DWT_START_TX_IMMEDIATE \| DWT_RESPONSE_EXPECTED);//å¼å¯åéï¼åéå®æåçå¾ä¸æ®µæ¶é´å¼å¯æ¥æ¶ï¼çå¾æ¶é´å¨dwt_setrxaftertxdelayä¸è®¾ç½®

			flag_finalsend=0;
			@@ -383,7 +396,7 @@
			dwt_readrxdata(rx_buffer, frame_len, 0); //è¯»åæ¥æ¶æ°æ®
			dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//è®¾å®æ¥æ¶è¶æ¶æ¶é´ï¼0ä½æ²¡æè¶æ¶æ¶é´
			dwt_rxenable(0);//æå¼æ¥æ¶
			if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //å¤ææ¥æ¶å°çæ°æ®æ¯å¦æ¯responseæ°æ®
			if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX] == group_id) //å¤ææ¥æ¶å°çæ°æ®æ¯å¦æ¯responseæ°æ®
			{ u16 rec_nearbaseid,rec_nearbasepos;
			int32_t temp_dist;
			poll_tx_ts = get_tx_timestamp_u64(); //è·å¾POLLåéæ¶é´T1
			@@ -444,12 +457,15 @@
			final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
			final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
			tx_nearfinal_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
			tx_nearfinal_msg[GROUP_ID_IDX] = group_id;
			dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//å°åéæ°æ®åå¥DW1000
			dwt_writetxfctrl(28+nearbase_num*4, 0);//è®¾å®åéæ°æ®é¿åº¦
			memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
			if(temp_dist!=0x1ffff)
			{
			#ifndef USART_INTEGRATE_OUTPUT
			g_Resttimer=0;
			IWDG_Feed();
			#ifdef USART_SINGLE_OUTPUT
			usart_send[2] = 1;//æ£å¸¸æ¨¡å¼
			usart_send[3] = 17;//æ°æ®æ®µé¿åº¦
			usart_send[4] = frame_seq_nb;//æ°æ®æ®µé¿åº¦
			@@ -499,7 +515,7 @@
			// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
			if(temp_dist!=0x1ffff)
			{
			#ifndef USART_INTEGRATE_OUTPUT
			#ifdef USART_SINGLE_OUTPUT
			usart_send[2] = 1;//æ£å¸¸æ¨¡å¼
			usart_send[3] = 17;//æ°æ®æ®µé¿åº¦
			usart_send[4] = frame_seq_nb;//æ°æ®æ®µé¿åº¦
			@@ -606,10 +622,7 @@
			report_num++;
			}
			}
			for(i=0;i<MAX_NEARBASE_NUM;i++)
			{
			nearbase_distlist[i]=0x1ffff;
			}


			// printf("%d,%d",temp_sync_timer2,temp_sync_timer1);
			#ifdef USART_INTEGRATE_OUTPUT
			@@ -700,7 +713,6 @@
			{
			//LED0_ON;
			dwt_forcetrxoff();
			g_Resttimer=0;
			GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
			switch(tag_state)
			{
			@@ -824,6 +836,7 @@
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			}
			}
			extern u16 dist_threshold;
			u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
			u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
			{
			@@ -860,6 +873,7 @@
			}else{
			memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
			}
			tx_nearresp_msg[GROUP_ID_IDX] = group_id;
			tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
			tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
			tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)\|motorstate;
			@@ -874,9 +888,7 @@
			}
			result = dwt_starttx(DWT_START_TX_DELAYED \| DWT_RESPONSE_EXPECTED);//å»¶è¿åéï¼çå¾æ¥æ¶

			battary = rx_buffer[BATTARY_IDX];
			button = rx_buffer[BUTTON_IDX];
			frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];

			if(result==0)
			{
			while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG \| SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///ä¸ææ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæèåºç°éè¯¯
			@@ -895,7 +907,7 @@
			{
			return 1;
			}
			if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //å¤ææ¯å¦ä¸ºFinalå
			if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)&&group_id==rx_buffer[GROUP_ID_IDX]) //å¤ææ¯å¦ä¸ºFinalå
			{
			uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
			uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
			@@ -922,15 +934,18 @@
			/--------------------------ä»¥ä¸ä¸ºéæµè·é»è¾------------------------/
			//dist_cm=33000;
			getrange_success = 1;

			LED0_BLINK; //æ¯æåä¸æ¬¡éè®¯åéªçä¸æ¬¡
			dis_after_filter=dist_cm;
			hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
			hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
			g_flag_Taggetdist[taglist_pos]=0;
			if(hex_dist>-10000&&hex_dist<2000000)
			if(hex_dist>-1000&&hex_dist<2000000)
			{
			if(abs(hex_dist-his_dist[taglist_pos])<15000\|\|misdist_num[taglist_pos]>3)
			if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold\|\|misdist_num[taglist_pos]>3)
			{
			int32_t filter_dist;
			g_Resttimer=0;
			IWDG_Feed();
			#ifdef TDFILTER
			NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
			filter_dist=pos_predict[taglist_pos]/10;
			@@ -941,12 +956,14 @@
			tagdist_list[taglist_pos] = filter_dist;
			his_dist[taglist_pos]=hex_dist;
			g_Tagdist[taglist_pos]=filter_dist;
			#ifndef USART_INTEGRATE_OUTPUT
			#ifdef USART_SINGLE_OUTPUT
			usart_send[2] = 1;//æ£å¸¸æ¨¡å¼
			usart_send[3] = 17;//æ°æ®æ®µé¿åº¦
			usart_send[4] = frame_seq_nb2;//æ°æ®æ®µé¿åº¦
			memcpy(&usart_send[5],&tag_id_recv,2);
			memcpy(&usart_send[7],&dev_id,2);
			memcpy(&usart_send[7],&dev_id,2);
			if(tagdist_list[taglist_pos]<=0)
			tagdist_list[taglist_pos]=10;
			memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
			usart_send[13] = battary;
			usart_send[14] = button;
			@@ -972,7 +989,7 @@
			uint32_t current_syncid=0xffffffff,synclost_timer;
			extern u8 flag_syncbase;
			u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
			u16 ancidlist_rec[20],ancidlist_send[20];
			u16 ancidlist_rec[20],ancidlist_send[20],rec_ancidlist[20],rec_ancdistlist[20];
			void Anchor_App(void)
			{

			@@ -1003,14 +1020,15 @@
			memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
			//å°æ¶å°çtag_idåå«åå¥åæ¬¡éè®¯çåä¸ï¼ä¸ºå¤æ ç¾éè®¯æå¡ï¼é²æ¢ä¸æ¬¡éè®¯ä¸æ¥æ¶å°ä¸åIDæ ç¾çæ°æ®
			memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
			if(group_id==rx_buffer[GROUP_ID_IDX])
			{
			switch(rx_buffer[MESSAGE_TYPE_IDX])
			{
			// case POLL:
			// if (anchor_type == rx_buffer[ANC_TYPE_IDX])
			// Anchor_RecPoll();
			// break;
			case SYNC:
			g_Resttimer=0;
			case SYNC:
			memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
			if(rec_syncid<current_syncid)
			{
			@@ -1051,9 +1069,30 @@
			}
			break;

			case NEAR_POLL:
			g_Resttimer=0;
			case NEAR_POLL:
			frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
			battary = rx_buffer[BATTARY_IDX];
			button = rx_buffer[BUTTON_IDX];
			rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
			memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
			memcpy(&rec_ancidlist,&rx_buffer[NEARBASEID_INDEX],2*rec_nearbase_num);
			memcpy(&rec_ancdistlist,&rx_buffer[NEARBASEID_INDEX+2rec_nearbase_num],2rec_nearbase_num);
			#ifdef USART_ALL_OUTPUT
			usart_send[2] = 0x0c;//æ£å¸¸æ¨¡å¼
			usart_send[3] = 8+rec_nearbase_num*4;//æ°æ®æ®µé¿åº¦
			usart_send[4] = frame_seq_nb2;//æ°æ®æ®µé¿åº¦
			usart_send[5] = battary;
			usart_send[6] = button;
			usart_send[7] = rec_nearbase_num;
			memcpy(&usart_send[8],&tag_id_recv,2);
			memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);
			memcpy(&usart_send[10+rec_nearbase_num2],&rec_ancdistlist,2rec_nearbase_num);
			checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
			memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
			UART_PushFrame(usart_send,12+rec_nearbase_num*4);
			#endif
			if(tag_id_recv>=g_com_map[WHITELIST1_START]&&tag_id_recv<=g_com_map[WHITELIST1_END])
			{break;}
			taglist_pos=CmpTagInList(tag_id_recv);
			if(taglist_pos==taglist_num)
			{
			@@ -1065,9 +1104,9 @@
			new_tagid=0;
			}
			tagofflinetime[taglist_pos]=0;
			temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
			temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
			tagpos_rec[(u8)temp_tagpos]=1;
			rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];


			if(rec_nearbase_num>ancidlist_num)
			{
			@@ -1098,4 +1137,5 @@
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			}
			}
			}