UWB_SmallModule_F103.git

			@@ -840,6 +840,7 @@
			}
			return i;
			}
			u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse,motorstate=0;
			uint32_t frame_len;
			uint32_t resp_tx_time;
			uint8_t rec_nearbase_num,anc_report_num;
			@@ -905,11 +906,44 @@
			LED0_BLINK; //æ¯æåä¸æ¬¡éè®¯åéªçä¸æ¬¡
			dis_after_filter=dist_cm;
			hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
			if(abs(hex_dist-his_dist[taglist_pos])<1000)
			{
			tagdist_list[taglist_pos] = hex_dist;
			}
			his_dist[taglist_pos]=hex_dist;
			if(hex_dist>-1000&&hex_dist<200000)
			{
			g_flag_Taggetdist[taglist_pos]=0;
			if(abs(hex_dist-his_dist[taglist_pos])<1500\|\|misdist_num[taglist_pos]>3)
			{
			misdist_num[taglist_pos]=0;
			tagdist_list[taglist_pos] = hex_dist;
			his_dist[taglist_pos]=hex_dist;
			g_Tagdist[taglist_pos]=hex_dist;
			#ifndef USART_INTEGRATE_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[9],&tagdist_list[taglist_pos],4);
			usart_send[13] = battary;
			usart_send[14] = button;
			usart_send[15] = firstpath_power;
			usart_send[16] = (rx_power-firstpath_power)*10;
			usart_send[17] = tag_frequency;
			usart_send[18] = tag_slotpos;
			checksum = Checksum_u16(&usart_send[2],17);
			memcpy(&usart_send[19],&checksum,2);
			// UART_PushFrame(usart_send,21);
			#else
			memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
			memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
			anc_report_num++;
			#endif
			#ifdef DEBUG_INF
			printf("åºå·ï¼%d\r\n",frame_seq_nb2);
			#endif
			}else{
			// printf("%d",hex_dist);
			misdist_num[taglist_pos]++;
			}
			}
			}
			}else{
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			@@ -919,7 +953,7 @@
			extern uint16_t configremotetagID;
			extern u8 remotetag_paralen;
			u8 finalsend=0;
			u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse,motorstate=0;

			u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
			{

			@@ -1108,7 +1142,7 @@
			extern u16 synclost_count;
			uint32_t current_syncid=0xffffffff,synclost_timer;
			extern u8 flag_syncbase,waitsync_flag;
			u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
			u8 tagpos_rec[50],tagpos_send[50],ancidlist_num,zero_matrix[100]={0};
			u16 ancidlist_rec[20],ancidlist_send[20];
			u16 recnearbaselist_id[30];
			int32_t recnearbaselist_dist[30];
			@@ -1145,9 +1179,56 @@
			switch(rx_buffer[MESSAGE_TYPE_IDX])
			{
			uint16_t checksum;
			case POLL:
			if (anchor_type == rx_buffer[ANC_TYPE_IDX])
			case SPOLL:
			//if (anchor_type == rx_buffer[ANC_TYPE_IDX])
			if(dev_id==anc_id_recv)
			{
			taglist_pos=CmpTagInList(tag_id_recv);
			if(taglist_pos==taglist_num)
			{
			taglist_pos=taglist_num;
			tagid_list[taglist_num++]=tag_id_recv;

			new_tagid=1;
			}else{
			new_tagid=0;
			}
			tagofflinetime[taglist_pos]=0;

			rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
			battary = rx_buffer[BATTARY_IDX];
			button = rx_buffer[BUTTON_IDX];
			frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
			tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
			tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];

			////////////////åºç«æ±æ»æ¨¡å¼æ°æ®
			memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6],2);
			memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
			memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num2],rec_nearbase_num4);
			usart_send[2] = 0x0c;//æ£å¸¸æ¨¡å¼
			usart_send[3] = 15+8*(rec_nearbase_num);//æ°æ®æ®µé¿åº¦
			memcpy(&usart_send[4],&tag_id_recv,2);
			usart_send[6] = rx_buffer[SEQUENCE_IDX];
			usart_send[7] = rx_buffer[SEQUENCEH_IDX];
			usart_send[8] = battary;
			usart_send[9] = button;
			memcpy(&usart_send[10],&rec_tagheight,2);
			usart_send[12] = tag_frequency;
			usart_send[13] = tag_slotpos;
			usart_send[14] = 0;
			usart_send[15] = 0;
			usart_send[16] = rec_nearbase_num;

			memcpy(&usart_send[17],&recnearbaselist_id,2*rec_nearbase_num);
			memcpy(&usart_send[17+rec_nearbase_num2],&recnearbaselist_dist,4rec_nearbase_num);
			memcpy(&usart_send[17+rec_nearbase_num6],zero_matrix,2rec_nearbase_num);

			checksum = Checksum_u16(&usart_send[2],15+8*rec_nearbase_num);
			memcpy(&usart_send[17+8*rec_nearbase_num],&checksum,2);
			UART_PushFrame(usart_send,19+8*rec_nearbase_num);
			Anchor_RecPoll();
			}
			break;
			case SYNC:
			memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
			@@ -1211,6 +1292,7 @@
			memcpy(&usart_send[6],&tag_id_recv,2);
			memcpy(&usart_send[8],&rx_buffer[10],9);
			usart_send[17] = firstpath_power;
			memcpy(&usart_send[18],&rx_buffer[19],2);
			checksum = Checksum_u16(&usart_send[2],20);
			memcpy(&usart_send[22],&checksum,2);
			UART_PushFrame(usart_send,24);
			@@ -1250,6 +1332,7 @@
			usart_send[7] = rx_buffer[SEQUENCEH_IDX];
			usart_send[8] = battary;
			usart_send[9] = button;

			memcpy(&usart_send[10],&rec_tagheight,2);
			usart_send[12] = tag_frequency;
			usart_send[13] = tag_slotpos;
			@@ -1262,7 +1345,7 @@

			checksum = Checksum_u16(&usart_send[2],23+8*rec_nearbase_num);
			memcpy(&usart_send[25+8*rec_nearbase_num],&checksum,2);
			UART_PushFrame(usart_send,27+8*rec_nearbase_num);
			// UART_PushFrame(usart_send,27+8*rec_nearbase_num);

			//////////////////////////////////////////////////////////////