UWB_SmallModule_F103.git

			@@ -120,7 +120,9 @@
			* For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
			* performance. */
			Reset_DW1000();//éå¯DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
			status_reg = dwt_read32bitreg(SYS_STATUS_ID);
			dwt_initialise(DWT_LOADUCODE);//åå§åDW1000
			status_reg = dwt_read32bitreg(SYS_STATUS_ID);
			Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //è®¾ç½®ä¸ºå¿«éæ¨¡å¼

			/* Configure DW1000. See NOTE 6 below. */
			@@ -171,6 +173,7 @@
			dwt_configuresleep(0x940, 0x7);
			dwt_entersleep();
			}

			extern uint8_t g_start_send_flag;
			u8 g_start_sync_flag;
			void SyncPoll(u8 sync_seq,uint32_t sync_baseid)
			@@ -311,6 +314,162 @@
			u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
			u16 temp_sync_timer1,temp_sync_timer2;

			void Poll(void)
			{
			uint32_t frame_len;
			uint32_t final_tx_time;
			u32 start_poll;
			int32_t mindist=999999,minid=-1,temp_dist;
			u8 i,getsync_flag=0;
			dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //è®¾ç½®åéåå¼å¯æ¥æ¶ï¼å¹¶è®¾å®å»¶è¿æ¶é´
			dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
			tag_succ_times = 0;
			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);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
			dwt_writetxfctrl(sizeof(tx_poll_msg), 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®
			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)))//ä¸ææ¥è¯¢è¯çç¶æç´å°æåæ¥æ¶æèåçéè¯¯
			{ if(time32_incr - start_poll>20)
			NVIC_SystemReset();
			};
			if(status_reg==0xffffffff)
			{
			NVIC_SystemReset();
			}
			if (status_reg & SYS_STATUS_RXFCG)//å¦ææåæ¥æ¶
			{
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG \| SYS_STATUS_TXFRS);//æ¸æ¥å¯åå¨æ å¿ä½
			frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //è·å¾æ¥æ¶å°çæ°æ®é¿åº¦
			dwt_readrxdata(rx_buffer, frame_len, 0); //è¯»åæ¥æ¶æ°æ®
			if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //å¤ææ¥æ¶å°çæ°æ®æ¯å¦æ¯responseæ°æ®
			{
			poll_tx_ts = get_tx_timestamp_u64(); //è·å¾POLLåéæ¶é´T1
			resp_rx_ts = get_rx_timestamp_u64(); //è·å¾RESPONSEæ¥æ¶æ¶é´T4
			if(getsync_flag==0)
			{
			getsync_flag=1;
			memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
			memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
			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;
			}

			memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4);
			memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
			/* 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;//è®¡ç®finalååéæ¶é´ï¼T5=T4+Treply2
			dwt_setdelayedtrxtime(final_tx_time);//è®¾ç½®finalååéæ¶é´T5
			final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//finalåå®éåéæ¶é´æ¯è®¡ç®æ¶é´å ä¸åéå¤©çº¿delay
			final_msg_set_ts(&tx_final_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//å°T1ï¼T4ï¼T5åå¥åéæ°æ®
			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);
			dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//å°åéæ°æ®åå¥DW1000
			dwt_writetxfctrl(sizeof(tx_final_msg), 0);//è®¾å®åéæ°æ®é¿åº¦
			result=dwt_starttx(DWT_START_TX_DELAYED);//è®¾å®ä¸ºå»¶è¿åé
			tag_succ_times++;
			LED0_BLINK;

			if(temp_dist<mindist)
			{
			memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
			tag_state=GETNEARMSG;
			trygetnearmsg_times=5;
			mindist=temp_dist;
			}
			if(result==0)
			{while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//ä¸ææ¥è¯¢è¯çç¶æç´å°åéå®æ
			{ };
			}
			/* Clear TXFRS event. */
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//æ¸é¤æ å¿ä½
			random_delay_tim = 0;
			}
			else
			{
			random_delay_tim = DFT_RAND_DLY_TIM_MS; //å¦æéè®¯å¤±è´¥ï¼å°é´éæ¶é´å¢å 5msï¼é¿å¼å ä¸ºå¤æ ç¾åæ¶åéå¼èµ·çå²çªã
			}
			}
			else
			{
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			random_delay_tim = DFT_RAND_DLY_TIM_MS;
			}
			}
			if(getsync_flag==0)
			{
			tagslotpos--;
			if(tagslotpos==0\|\|tagslotpos>max_slotpos)
			{
			tagslotpos=max_slotpos;
			}
			tyncpoll_time=(tagslotpos-1)*slottime;
			}
			mainbase_id=minid;
			}
			u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
			void GetNearMsg(void)
			{
			u32 start_poll,frame_len;

			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] = NEAR_MSG;

			dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //è®¾ç½®åéåå¼å¯æ¥æ¶ï¼å¹¶è®¾å®å»¶è¿æ¶é´
			dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
			dwt_writetxdata(12, tx_near_msg, 0);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
			dwt_writetxfctrl(12, 0);//è®¾ç½®è¶å®½å¸¦åéæ°æ®é¿åº¦
			dwt_starttx(DWT_START_TX_IMMEDIATE\| DWT_RESPONSE_EXPECTED);
			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)))//ä¸ææ¥è¯¢è¯çç¶æç´å°æåæ¥æ¶æèåçéè¯¯
			{ if(time32_incr - start_poll>20)
			NVIC_SystemReset();
			};
			if(status_reg==0xffffffff)
			{
			NVIC_SystemReset();
			}
			if (status_reg & SYS_STATUS_RXFCG)//å¦ææåæ¥æ¶
			{
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG \| SYS_STATUS_TXFRS);//æ¸æ¥å¯åå¨æ å¿ä½
			frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //è·å¾æ¥æ¶å°çæ°æ®é¿åº¦
			dwt_readrxdata(rx_buffer, frame_len, 0); //è¯»åæ¥æ¶æ°æ®
			if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //å¤ææ¥æ¶å°çæ°æ®æ¯å¦æ¯responseæ°æ®
			{
			next_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],next_nearbase_num*2);
			//slottime=ceil((nearbase_num+2)*0.4)+2;
			tyncpoll_time=tagslotpos*slottime;
			tag_state=NEARPOLL;
			}else{
			tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
			}
			}else{
			tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
			}

			}
			void NearPoll(void)
			{
			static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
			@@ -365,6 +524,9 @@
			dwt_forcetrxoff();
			dwt_setdelayedtrxtime(final_tx_time);
			result=dwt_starttx(DWT_START_TX_DELAYED);//è®¾å®ä¸ºå»¶è¿åé
			#ifdef DEBUG_INF
			USART_putc(0x33);
			#endif
			break;
			}
			}
			@@ -425,6 +587,9 @@
			// tagslotpos=tagslotpos%(max_slotpos+1);
			// tyncpoll_time=(tagslotpos-1)*slottime;
			////////////////////////////
			#ifdef DEBUG_INF
			USART_putc(0x31);
			#endif
			rec_nearbasepos=0;

			memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
			@@ -448,6 +613,7 @@
			memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
			if(temp_dist!=0x1ffff)
			{
			#ifdef TAG_OUTPUT
			#ifndef USART_INTEGRATE_OUTPUT
			usart_send[2] = 1;//æ£å¸¸æ¨¡å¼
			usart_send[3] = 17;//æ°æ®æ®µé¿åº¦
			@@ -467,6 +633,7 @@
			memcpy(&usart_send[19],&checksum,2);
			UART_PushFrame(usart_send,21);
			#endif
			#endif

			//dwt_setdelayedtrxtime(final_tx_time);//è®¾ç½®finalååéæ¶é´T5
			// result=dwt_starttx(DWT_START_TX_DELAYED);//è®¾å®ä¸ºå»¶è¿åé
			@@ -483,7 +650,9 @@
			nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
			memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
			}

			#ifdef DEBUG_INF
			USART_putc(0x32);
			#endif
			memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
			nearbase_distlist[rec_nearbasepos]=temp_dist;

			@@ -498,6 +667,7 @@
			// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
			if(temp_dist!=0x1ffff)
			{
			#ifdef TAG_OUTPUT
			#ifndef USART_INTEGRATE_OUTPUT
			usart_send[2] = 1;//æ£å¸¸æ¨¡å¼
			usart_send[3] = 17;//æ°æ®æ®µé¿åº¦
			@@ -517,7 +687,7 @@
			memcpy(&usart_send[19],&checksum,2);
			UART_PushFrame(usart_send,21);
			#endif

			#endif
			//dwt_setdelayedtrxtime(final_tx_time);//è®¾ç½®finalååéæ¶é´T5
			// result=dwt_starttx(DWT_START_TX_DELAYED);//è®¾å®ä¸ºå»¶è¿åé
			//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);//å°åéæ°æ®åå¥DW1000
			@@ -525,6 +695,9 @@
			}
			}
			}else{
			#ifdef DEBUG_INF
			printf("responseåå¤±è´¥ï¼%x/n",status_reg);
			#endif
			dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG\| SYS_STATUS_ALL_RX_ERR);
			if(flag_rxon)
			{dwt_rxenable(0);
			@@ -618,6 +791,9 @@
			memcpy(&usart_send[4+report_num*6],&checksum,2);
			UART_PushFrame(usart_send,6+report_num*6);
			#endif
			#ifdef DEBUG_INF
			printf("åºå·ï¼%d,åºç«æ°éï¼%d/n",(frame_seq_nb-1)&0xff,nearbase_num);
			#endif
			// if(mainbase_lost_count>5)
			// {
			// //tag_state=DISCPOLL;
			@@ -636,57 +812,6 @@
			dwt_forcetrxoff();
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR\| SYS_STATUS_TXFRS \|SYS_STATUS_RXFCG);
			}
			u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
			void GetNearMsg(void)
			{
			u32 start_poll,frame_len;
			if(nearmsg_mainbase)
			{nearmsg_mainbase=0;
			}else{
			nearmsg_mainbase=1;
			}
			memcpy(&tx_near_msg[ANCHOR_ID_IDX],&nearmsg_mainbase,2);
			memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
			tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;

			dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //è®¾ç½®åéåå¼å¯æ¥æ¶ï¼å¹¶è®¾å®å»¶è¿æ¶é´
			dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
			dwt_writetxdata(12, tx_near_msg, 0);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
			dwt_writetxfctrl(12, 0);//è®¾ç½®è¶å®½å¸¦åéæ°æ®é¿åº¦
			dwt_starttx(DWT_START_TX_IMMEDIATE\| DWT_RESPONSE_EXPECTED);
			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)))//ä¸ææ¥è¯¢è¯çç¶æç´å°æåæ¥æ¶æèåçéè¯¯
			{ if(time32_incr - start_poll>20)
			NVIC_SystemReset();
			};
			if(status_reg==0xffffffff)
			{
			NVIC_SystemReset();
			}
			if (status_reg & SYS_STATUS_RXFCG)//å¦ææåæ¥æ¶
			{
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG \| SYS_STATUS_TXFRS);//æ¸æ¥å¯åå¨æ å¿ä½
			frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //è·å¾æ¥æ¶å°çæ°æ®é¿åº¦
			dwt_readrxdata(rx_buffer, frame_len, 0); //è¯»åæ¥æ¶æ°æ®
			if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //å¤ææ¥æ¶å°çæ°æ®æ¯å¦æ¯responseæ°æ®
			{
			next_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],next_nearbase_num*2);
			//slottime=ceil((nearbase_num+2)*0.4)+2;
			tyncpoll_time=tagslotpos*slottime;
			tag_state=NEARPOLL;
			}else{
			tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
			}
			}else{
			tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
			}

			}

			void Tag_App(void)//åéæ¨¡å¼(TAGæ ç¾)
			{
			@@ -697,7 +822,7 @@
			switch(tag_state)
			{
			case DISCPOLL:

			Poll();
			break;
			case GETNEARMSG:
			GetNearMsg();
			@@ -971,6 +1096,9 @@
			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]++;
			@@ -990,7 +1118,9 @@
			}
			}
			}else{
			//printf("%x/n",status_reg);
			#ifdef DEBUG_INF
			printf("finalåå¤±è´¥ï¼%x/n",status_reg);
			#endif
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			}
			}
			@@ -1029,10 +1159,10 @@
			memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
			switch(rx_buffer[MESSAGE_TYPE_IDX])
			{
			// case POLL:
			// if (anchor_type == rx_buffer[ANC_TYPE_IDX])
			// Anchor_RecPoll();
			// break;
			case POLL:
			if (anchor_type == rx_buffer[ANC_TYPE_IDX])
			Anchor_RecPoll();
			break;
			case SYNC:
			memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
			if(rec_syncid<current_syncid)
			@@ -1059,14 +1189,15 @@
			}
			break;
			case NEAR_MSG:
			if(anc_id_recv==flag_syncbase)
			if(anc_id_recv==dev_id)
			{
			rx_buffer[TAGSLOTPOS]=taglist_pos;
			tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
			memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
			memcpy(&tx_near_msg[NEARMSG_EMPTYSLOTPOS_INDEX],&tagpos_binary,4);
			tx_near_msg[NEARBASENUM_INDEX]=ancidlist_num;
			memcpy(&tx_near_msg[NEARBASEID_INDEX],&ancidlist_send,ancidlist_num*2);
			ancidlist_num=g_com_map[NEARBASE_NUM];
			tx_near_msg[NEARBASENUM_INDEX]=g_com_map[NEARBASE_NUM];
			memcpy(&tx_near_msg[NEARBASEID_INDEX],&g_com_map[NEARBASE_ID1],g_com_map[NEARBASE_NUM]*2);
			send_len=11+ancidlist_num*2+2;
			dwt_writetxdata(send_len, tx_near_msg, 0);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
			dwt_writetxfctrl(send_len, 0);//è®¾ç½®è¶å®½å¸¦åéæ°æ®é¿åº¦
			@@ -1107,16 +1238,20 @@
			break;
			}
			}
			if(i==rec_nearbase_num)
			{
			seize_anchor=1; //æ¢å anchor
			Anchor_RecNearPoll(i);
			}
			//æ¢å æ¨¡å¼
			// if(i==rec_nearbase_num)
			// {
			// seize_anchor=1; //æ¢å anchor
			// Anchor_RecNearPoll(i);
			// }


			break;
			}
			}else{
			#ifdef DEBUG_INF
			printf("pollåå¤±è´¥ï¼%x/n",status_reg);
			#endif
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			}
			}