UWB_SmallModule_F103.git

			@@ -79,6 +79,7 @@
			//respose
			#define ANCTIMEMS 14
			#define ANCTIMEUS 16
			#define TAGSLOTPOS 18

			#define POLL 0x01
			#define RESPONSE 0x02
			@@ -107,7 +108,7 @@
			static uint8_t tx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};

			//static uint8_t rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
			static uint8_t tx_resp_msg[20] = {0};
			static uint8_t tx_resp_msg[22] = {0};
			//static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};

			/* Frame sequence number, incremented after each transmission. */
			@@ -134,7 +135,7 @@

			static double tof;

			uint32_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;
			uint8_t random_delay_tim = 0;
			@@ -318,6 +319,8 @@
			int8_t tag_delaytime;
			extern uint16_t sync_timer;
			u16 tmp_time;
			int32_t temp_dist;
			u16 tagslotpos;
			void Tag_App(void)//åéæ¨¡å¼(TAGæ ç¾)
			{
			uint32_t frame_len;
			@@ -337,7 +340,7 @@
			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-1;
			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¦
			@@ -385,6 +388,7 @@
			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)
			{
			@@ -394,6 +398,9 @@
			{sync_timer=0;}
			}
			TIM3->CNT=tmp_time;
			if(tagslotpos>max_slotpos)
			tagslotpos=tagslotpos%(max_slotpos+1);
			tyncpoll_time=(tagslotpos-1)*slottime;
			}
			memcpy(&anchor_dist_last_frm[0], &rx_buffer[DIST_IDX], 4);
			memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
			@@ -418,14 +425,21 @@
			tag_succ_times++;

			LED0_BLINK;

			// temp_dist=anchor_dist_last_frm[0];
			// if(anchor_dist_last_frm[0]>1000000)
			// {
			// temp_dist=anchor_dist_last_frm[0]-0xffffffff;
			// temp_dist+=0xffff;
			// anchor_dist_last_frm[0]=temp_dist;
			// }


			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¦
			memcpy(&usart_send[5],&dev_id,2);
			memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);
			hex_dist = anchor_dist_last_frm[0];;
			hex_dist = anchor_dist_last_frm[0]+(int16_t)g_com_map[DIST_OFFSET];
			memcpy(&usart_send[9],&hex_dist,4);
			usart_send[13] = battary;
			usart_send[14] = button;
			@@ -456,19 +470,47 @@
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			random_delay_tim = DFT_RAND_DLY_TIM_MS;
			}
			// deca_sleep(10);
			}
			// dwt_entersleep();
			if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM])
			{
			//poll_timer +=time32_incr&0x7+3;
			}

			/* Execute a delay between ranging exchanges. */
			if(getsync_flag==0)
			{
			tagslotpos--;
			if(tagslotpos==0\|\|tagslotpos>max_slotpos)
			{
			tagslotpos=max_slotpos;
			}
			tyncpoll_time=(tagslotpos-1)*slottime;
			}

			}

			int8_t correction_time;
			extern uint8_t sync_seq;
			u16 taglist_num=0,taglist_pos;
			u16 tagid_list[TAG_NUM_IN_SYS];
			u8 tagofflinetime[TAG_NUM_IN_SYS];
			void TagListUpdate(void)
			{
			u16 i,j=0,temp[TAG_NUM_IN_SYS];
			for(i=0;i<taglist_num;i++)
			{
			if(tagofflinetime[i]++<QUIT_SLOT_TIME)
			{
			tagid_list[j]=tagid_list[i];
			tagofflinetime[j++]=tagofflinetime[i];
			}
			}
			taglist_num=j;
			}
			u16 CmpTagInList(u16 tagid)
			{u16 i;
			for(i=0;i<taglist_num;i++)
			{
			if(memcmp(&tagid,&tagid_list[i],2)==0)
			return i+1;
			}
			return 0;
			}

			void Anchor_App(void)
			{
			@@ -507,19 +549,19 @@
			//tag_id_recv = rx_buffer[TAG_ID_IDX];
			memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],4);
			memcpy(&tx_resp_msg[TAG_ID_IDX],&tag_id_recv,4);
			//tx_resp_msg[TAG_ID_IDX] = tag_id_recv;
			// if(tag_recv_timer>tag_time_recv[tag_id_recv-TAG_ID_START])
			// { tag_recv_interval = tag_recv_timer - tag_time_recv[tag_id_recv];
			// }else{
			// tag_recv_interval = tag_recv_timer + 65535 - tag_time_recv[tag_id_recv];
			// }

			taglist_pos=CmpTagInList(tag_id_recv);
			if(taglist_pos==0)
			{
			tagid_list[taglist_num++]=tag_id_recv;
			taglist_pos=taglist_num;
			}
			tagofflinetime[taglist_pos-1]=0;
			if (rx_buffer[MESSAGE_TYPE_IDX] == POLL&&(anchor_type == rx_buffer[ANC_TYPE_IDX])) //å¤ææ¯å¦æ¯pollåæ°æ®
			{
			tmp_time=TIM3->CNT;
			memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2);
			memcpy(&tx_resp_msg[ANCTIMEUS],&tmp_time,2);

			memcpy(&tx_resp_msg[TAGSLOTPOS],&taglist_pos,2);
			// if(correction_time>10)
			// {correction_time++;}

			@@ -602,10 +644,11 @@
			// dist[TAG_ID] = LP(dis, TAG_ID); //LP ä¸ºä½éæ»¤æ³¢å¨ï¼è®©æ°æ®æ´ç¨³å®

			/--------------------------ä»¥ä¸ä¸ºéæµè·é»è¾------------------------/
			//dist_cm=33000;

			LED0_BLINK; //æ¯æåä¸æ¬¡éè®¯åéªçä¸æ¬¡
			g_UWB_com_interval = 0;
			dis_after_filter=dist_cm;
			hex_dist = (int16_t)(dist_cm+g_com_map[DIST_OFFSET]);
			hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
			if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
			if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<1000)
			{
			@@ -626,10 +669,6 @@
			checksum = Checksum_u16(&usart_send[2],17);
			memcpy(&usart_send[19],&checksum,2);
			UART_PushFrame(usart_send,21);


			//dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);

			}
			}else{
			/* Clear RX error events in the DW1000 status register. */