UWB_SmallModule_F103.git

			@@ -9,7 +9,7 @@
			static dwt_config_t config = {
			2, /* Channel number. */
			DWT_PRF_64M, /* Pulse repetition frequency. */
			DWT_PLEN_64, /* Preamble length. */
			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. */
			@@ -23,7 +23,7 @@
			static uint8_t tx_final_msg[60] = {0};
			static uint8_t tx_resp_msg[22] = {0};
			static uint8_t tx_nearpoll_msg[80] = {0};
			static uint8_t tx_nearresp_msg[80] = {0};
			static uint8_t tx_nearresp_msg[90] = {0};
			static uint8_t tx_nearfinal_msg[80] = {0};

			static uint8_t tx_near_msg[80] = {0};
			@@ -398,7 +398,7 @@
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG \| SYS_STATUS_TXFRS);//æ¸æ¥æ å¿ä½
			frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//æ°æ®é¿åº¦
			dwt_readrxdata(rx_buffer, frame_len, 0);//è¯»åæ¥æ¶æ°æ®
			if (rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //å¤ææ¯å¦ä¸ºFinalå
			if (rx_buffer[MESSAGE_TYPE_IDX] == DISCOVERFINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //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;
			@@ -472,7 +472,7 @@
			}
			uint32_t time_monitor[10];
			extern uint16_t configremotetagID;
			extern u8 remotetag_paralen;
			extern u8 remotetag_paralen,userdatasend_flag[TAG_NUM_IN_SYS];
			u8 finalsend=0;
			u16 signalpower_list[TAG_NUM_IN_SYS];
			uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
			@@ -497,9 +497,9 @@
			dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//è®¾ç½®åéå®æåå¼å¯æ¥æ¶å»¶è¿æ¶é´
			dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//æ¥æ¶è¶æ¶æ¶é´
			//dwt_readdiagnostics(&d1);
			if(tagpos[taglist_pos].tagid==tag_id_recv)
			if(tagpos[taglist_pos].tagid==tag_id_recv&&userdatasend_flag[taglist_pos] == 1)
			{
			memcpy(&tx_nearresp_msg[TAGPOS_INDEX],&tagpos[taglist_pos],16);
			memcpy(&tx_nearresp_msg[TAGPOS_INDEX],&tagpos[taglist_pos],tagpos[taglist_pos].datalen+3);
			tagpossend_flag = 1;
			}else{
			tagpossend_flag = 0;
			@@ -511,8 +511,8 @@
			memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
			memcpy(&tx_nearresp_msg[ANC_SIGNALPOWER],&signalpower_list[taglist_pos],2);
			tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
			tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
			tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)\|motorstate;
			tx_nearresp_msg[MESSAGE_TYPE_IDX]=POS_RESPONSE;
			//tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)\|motorstate;
			waittagconfig_reponse=0;
			finalsend = 0;
			if(pwtag.remain_time>0)
			@@ -543,8 +543,8 @@
			if(finalsend == 0)
			{
			memcpy(&tx_nearresp_msg[MAXRANGE_DISTANCE],&g_com_map[MAXRANGDIST_INDEX],2);
			dwt_writetxdata(28+tagpossend_flag*16, tx_nearresp_msg, 0);//Ð´????????
			dwt_writetxfctrl(28+tagpossend_flag*16, 0);//?Ú???????
			dwt_writetxdata(28+tagpossend_flag*(tagpos[taglist_pos].datalen+3), tx_nearresp_msg, 0);//Ð´????????
			dwt_writetxfctrl(28+tagpossend_flag*(tagpos[taglist_pos].datalen+3), 0);//?Ú???????
			}

			// if(remotesend_state&&tag_id_recv==configremotetagID)
			@@ -575,7 +575,7 @@
			{
			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] == POS_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //å¤ææ¯å¦ä¸ºFinalå
			{

			resp_tx_ts = get_tx_timestamp_u64();//è·å¾responseåéæ¶é´T3
			@@ -611,7 +611,7 @@
			LED0_BLINK; //æ¯æåä¸æ¬¡éè®¯åéªçä¸æ¬¡
			dis_after_filter=dist_cm;
			hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];

			userdatasend_flag[taglist_pos] =0;
			if(hex_dist>-1000&&hex_dist<200000)
			{
			g_flag_Taggetdist[taglist_pos]=0;
			@@ -732,7 +732,7 @@
			{
			uint16_t checksum;
			case DISCOVERPOLL:
			if (anchor_type == rx_buffer[ANCHOR_ID_IDX])
			if (anchor_type == rx_buffer[ANCHOR_ID_IDX]&&g_com_map[NEARSWITCH_DISTANCE_INDEX] != 0)
			{
			taglist_pos=CmpTagInList(tag_id_recv);
			if(taglist_pos==taglist_num)
			@@ -833,11 +833,11 @@
			SyncPoll(sync_seq);
			}
			break;
			case NEAR_MSG:
			case POS_MSG:
			if(anc_id_recv==dev_id)
			{
			rx_buffer[TAGSLOTPOS]=taglist_pos;
			tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
			tx_near_msg[MESSAGE_TYPE_IDX] = POS_MSG;
			memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
			memcpy(&tx_near_msg[NEARMSG_EMPTYSLOTPOS_INDEX],&tagpos_binary,4);
			ancidlist_num=g_com_map[NEARBASE_NUM];
			@@ -871,7 +871,7 @@
			}

			}
			if(i==MAX_REGTAGNUM)
			if(i==MAX_REGTAGNUM&&g_com_map[NEARSWITCH_DISTANCE_INDEX] != 0)
			{
			dwt_readdiagnostics(&d1);
			LOS(&d1);
			@@ -887,7 +887,7 @@
			UART_PushFrame(usart_send,24);
			}
			break;
			case NEAR_POLL:
			case POS_POLL:
			// GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);

			memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
			@@ -919,9 +919,9 @@
			memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
			memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num2],rec_nearbase_num4+4);
			memcpy(&rec_taganc_signalpower_list,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num6+4],rec_nearbase_num2+2);
			// if(anc_id_recv == dev_id )
			if(anc_id_recv == dev_id\|\|g_com_map[OUTPUTALLNEARPOLLMSG] == 1 )
			{
			usart_send[2] = 0x0c;//æ£å¸¸æ¨¡å¼
			usart_send[2] = 0x0c;//æ£å¸¸æ¨¡å¼
			usart_send[3] = 15+8*(rec_nearbase_num+1);//æ°æ®æ®µé¿åº¦
			memcpy(&usart_send[4],&tag_id_recv,2);
			usart_send[6] = rx_buffer[SEQUENCE_IDX];