UWB_SmallModule_F103.git

			@@ -9,11 +9,11 @@
			static dwt_config_t config = {
			2, /* Channel number. */
			DWT_PRF_64M, /* Pulse repetition frequency. */
			DWT_PLEN_128, /* Preamble length. */
			DWT_PLEN_64, /* 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. */
			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. */
			@@ -38,7 +38,7 @@
			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]; ;
			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;
			@@ -309,11 +309,30 @@
			}
			return max_slotpos-1;
			}
			dwt_rxdiag_t d1;
			u8 test=0;
			u8 anclost_times=0;
			u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
			u16 temp_sync_timer1,temp_sync_timer2;
			double firstpath_power, rx_power;
			double f1, f2, r1, r2;
			uint16_t F1,F2,F3,N,C;
			double B = 131072;
			double A = 121.74;
			double min_power;
			double LOS(dwt_rxdiag_t *dia) {
			F1 = dia->firstPathAmp1;
			F2 = dia->firstPathAmp2;
			F3 = dia->firstPathAmp3;
			N = dia->rxPreamCount;
			C = dia->maxGrowthCIR;

			firstpath_power=10* log10((F1F1+F2F2+F3F3)/(NN))-A;
			rx_power=10log10(CB/(N*N))-A;

			// min_power = - 10 * log10((F1 F1 + F2 F2 + F3 * F3) / (C *B));
			return min_power;
			}
			void Poll(void)
			{
			uint32_t frame_len;
			@@ -506,7 +525,7 @@
			flag_rxon=1;
			neartimout_timer=0;
			get_newbase=0;
			timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
			timeout=ceil((float)nearbase_num*SLOT_SCALE)+2;
			//timeout=5;
			mainbase_dist=100000;
			mainbase_lost_count++;
			@@ -551,14 +570,8 @@
			resp_rx_ts = get_rx_timestamp_u64(); //è·å¾RESPONSEæ¥æ¶æ¶é´T4
			recbase_num++;
			memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
			if(last_nearbase_num==0)
			{
			get_newbase=1;
			nearbaseid_list[0]=rec_nearbaseid;
			nearbase_num=1;
			memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
			}
			if(rec_nearbaseid==nearbaseid_list[0])

			if(rec_nearbaseid==mainbase_id)
			{
			//////////////////////////////////æ¶é´åæ¥
			temp_sync_timer2=sync_timer;
			@@ -593,7 +606,7 @@
			rec_nearbasepos=0;

			memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
			nearbase_distlist[rec_nearbasepos]=temp_dist;
			mainbase_dist = temp_dist;
			if(temp_dist!=0x1ffff)
			exsistbase_list[rec_nearbasepos]=KEEP_TIMES;

			@@ -611,35 +624,6 @@
			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)
			{
			#ifdef TAG_OUTPUT
			#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_nb;//æ°æ®æ®µé¿åº¦
			if(g_com_map[DEV_ROLE])
			{
			memcpy(&usart_send[5],&dev_id,2);
			memcpy(&usart_send[7],&rec_nearbaseid,2);
			}else{
			memcpy(&usart_send[5],&rec_nearbaseid,2);
			memcpy(&usart_send[7],&dev_id,2);
			}
			memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
			usart_send[13] = battary;
			usart_send[14] = button;
			checksum = Checksum_u16(&usart_send[2],17);
			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
			}


			}else{
			rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
			@@ -767,17 +751,7 @@
			}

			report_num=0;
			for (i=0;i<last_nearbase_num;i++)
			{
			nearbaseid_list[i]=true_nearbase_idlist[i];
			nearbase_distlist[i]=true_nearbase_distlist[i];
			if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==KEEP_TIMES)
			{
			memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
			memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
			report_num++;
			}
			}

			for(i=0;i<MAX_NEARBASE_NUM;i++)
			{
			nearbase_distlist[i]=0x1ffff;
			@@ -931,7 +905,7 @@
			LED0_BLINK; //æ¯æåä¸æ¬¡éè®¯åéªçä¸æ¬¡
			dis_after_filter=dist_cm;
			hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
			if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<1000)
			if(abs(hex_dist-his_dist[taglist_pos])<1000)
			{
			tagdist_list[taglist_pos] = hex_dist;
			}
			@@ -941,12 +915,14 @@
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			}
			}
			uint32_t time_monitor[10];
			extern uint16_t configremotetagID;
			extern u8 remotetag_paralen;
			u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse;
			u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
			{
			u8 motorstate;
			time_monitor[0] = sync_timer*1000+TIM3->CNT;
			tmp_time=TIM3->CNT;
			memcpy(&tx_nearresp_msg[ANCTIMEMS],&sync_timer,2);
			memcpy(&tx_nearresp_msg[ANCTIMEUS],&tmp_time,2);
			@@ -954,11 +930,11 @@
			memcpy(&tx_nearresp_msg[TAG_ID_IDX],&tag_id_recv,2);
			poll_rx_ts = get_rx_timestamp_u64();//è·å¾Pollåæ¥æ¶æ¶é´T2

			resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbaseposDELAY_BETWEEN_TWO_FRAME_UUS) UUS_TO_DWT_TIME)) >> 8;//è®¡ç®Responseåéæ¶é´T3ã
			resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+(ancrec_nearbasepos)DELAY_BETWEEN_TWO_FRAME_UUS) UUS_TO_DWT_TIME)) >> 8;//è®¡ç®Responseåéæ¶é´T3ã
			dwt_setdelayedtrxtime(resp_tx_time);//è®¾ç½®Responseåéæ¶é´T3
			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(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
			{
			motorstate =0;
			@@ -1048,6 +1024,10 @@
			int64_t tof_dtu;
			resp_tx_ts = get_tx_timestamp_u64();//è·å¾responseåéæ¶é´T3
			final_rx_ts = get_rx_timestamp_u64();//è·å¾finalæ¥æ¶æ¶é´T6

			dwt_setrxtimeout(0);//è®¾å®æ¥æ¶è¶æ¶æ¶é´ï¼0ä½æ²¡æè¶æ¶æ¶é´
			dwt_rxenable(0);//æå¼æ¥æ¶

			final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//ä»æ¥æ¶æ°æ®ä¸è¯»åT1ï¼T4ï¼T5
			final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+ancrec_nearbasepos*4], &resp_rx_ts);
			final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
			@@ -1055,6 +1035,7 @@
			poll_rx_ts_32 = (uint32_t)poll_rx_ts;//ä½¿ç¨32ä½æ°æ®è®¡ç®
			resp_tx_ts_32 = (uint32_t)resp_tx_ts;
			final_rx_ts_32 = (uint32_t)final_rx_ts;
			time_monitor[1] = sync_timer*1000+TIM3->CNT;
			Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
			Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
			Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
			@@ -1063,7 +1044,11 @@
			tof = tof_dtu * DWT_TIME_UNITS;
			distance = tof * SPEED_OF_LIGHT;//è·ç¦»=åé*é£è¡æ¶é´
			dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //è·ç¦»åå»ç«æ£ç³»æ°
			dist_cm = dist_no_bias * 100; //dis ä¸ºåä½ä¸ºcmçè·ç¦»
			dist_cm = dist_no_bias * 100; //dis ä¸ºåä½ä¸ºcmçè·ç¦»
			// dwt_readdiagnostics(&d1);
			// time_monitor[2] = sync_timer*1000+TIM3->CNT;
			// LOS(&d1);
			// time_monitor[3] = sync_timer*1000+TIM3->CNT;
			/--------------------------ä»¥ä¸ä¸ºéæµè·é»è¾------------------------/
			//dist_cm=33000;

			@@ -1222,11 +1207,11 @@
			tagpos_rec[(u8)temp_tagpos]=1;
			rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];

			if(rec_nearbase_num>ancidlist_num)
			{
			ancidlist_num=rec_nearbase_num;
			memcpy(ancidlist_rec,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
			}

			if(anc_id_recv==dev_id)
			{
			Anchor_RecNearPoll(0);
			}else{

			for(i=0;i<rec_nearbase_num;i++)
			{
			@@ -1234,10 +1219,11 @@
			if(tempid==dev_id)
			{
			seize_anchor=0; //éæ¢å ãå·²åå¨åè¡¨ä¸
			Anchor_RecNearPoll(i);
			Anchor_RecNearPoll(i+1);
			break;
			}
			}
			}
			//æ¢å æ¨¡å¼
			// if(i==rec_nearbase_num)
			// {