F103基站代码
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zhyinch
2021-03-03 51e6f405ab9a9c4fc21d0e1bc3220e389a72939b 
 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c


@@ -27,8 +27,8 @@


#include "filters.h"


#include <stdio.h>


#include "beep.h"






#include "modbus.h"


//#define DEBUG_OUTPUT


/*------------------------------------ Marcos ------------------------------------------*/


/* Inter-ranging delay period, in milliseconds. */


#define RNG_DELAY_MS 100


@@ -65,19 +65,22 @@


#define FINAL_MSG_TS_LEN 4




#define SYNC_SEQ_IDX             5




//common


#define GROUP_ID_IDX               0


#define ANCHOR_ID_IDX             1


#define TAG_ID_IDX                5


#define MESSAGE_TYPE_IDX          9   


#define DIST_IDX                      10




//Poll


#define ANC_TYPE_IDX                14


#define BATTARY_IDX                  15


#define BUTTON_IDX                  16


#define SEQUENCE_IDX               17


//respose


#define TIMECORRE             14


#define DIST_IDX                      10


#define ANCTIMEMS             14


#define ANCTIMEUS             16


#define ANCSEND_INTERVAL      18




#define POLL                    0x01


#define RESPONSE                0x02


@@ -93,7 +96,7 @@


   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. */


@@ -103,14 +106,14 @@


static uint8_t tx_poll_msg[20] = {0};


static uint8_t tx_sync_msg[14] = {0};


//static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};


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 tx_final_msg[24] = {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[18] = {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. */


static uint32_t frame_seq_nb = 0;	


static uint32_t frame_seq_nb = 0,frame_seq_nb2=0;	


   


/* Hold copy of status register state here for reference, so reader can examine it at a breakpoint. */


static uint32_t status_reg = 0;


@@ -133,7 +136,7 @@




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;


@@ -144,7 +147,7 @@


float dis_after_filter;            //当前距离值


LPFilter_Frac* p_Dis_Filter;      //测距用的低通滤波器




uint16_t g_Tagdist[TAG_NUM_IN_SYS];


int32_t g_Tagdist[TAG_NUM_IN_SYS];


uint8_t g_flag_Taggetdist[256];


/*------------------------------------ Functions ------------------------------------------*/




@@ -234,12 +237,14 @@


   if(clear_judge_cnt++>1000)  //设定1S分频，每秒进一次。判断标志位大于等于2，2s没收到数据就把数据变成0xffff，不触发警报。


   {


      clear_judge_cnt=0;


      for(i=0;i<255;i++)


      for(i=0;i<100;i++)


      {


         g_flag_Taggetdist[i]++;


         if(g_flag_Taggetdist[i]>=2)


         {


            g_Tagdist[i]=0xffff;


            Modbus_HoldReg[i*2]=1;


            Modbus_HoldReg[i*2+1]=0xffff;


         }


      }


   }


@@ -274,10 +279,16 @@


   tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;


   tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;


   


   memcpy(&tx_poll_msg[GROUP_ID_IDX], &group_id, 1);


   memcpy(&tx_final_msg[GROUP_ID_IDX], &group_id, 1);


   memcpy(&tx_resp_msg[GROUP_ID_IDX], &group_id, 1);


	


   memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 4);


   memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 4);


   memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 4);


   memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 4);


	


   memcpy(&tx_resp_msg[ANCSEND_INTERVAL], &g_com_map[COM_INTERVAL], 2);


}   


uint16_t Checksum_u16(uint8_t* pdata, uint32_t len) 


{


@@ -312,25 +323,32 @@


uint16_t g_Resttimer;


uint8_t result;


u8 tag_succ_times=0;


int32_t hex_dist;


int32_t hex_dist,hex_dist2;


u16 checksum;


int8_t tag_delaytime;


extern uint16_t sync_timer;


u16 tmp_time;


extern float dw_vbat;


extern u16 slottime,max_slotnum,current_slotpos,tyncpoll_time;


void Tag_App(void)//发送模式(TAG标签)


{


   uint32_t frame_len;


   uint32_t final_tx_time;


   u32 start_poll;


   u8 i;


   u8 i,getsync_flag=0;


   u8 bat_percent;


   //LED0_ON;


   dwt_forcetrxoff();


   g_Resttimer=0;


    dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);         //设置发送后开启接收，并设定延迟时间


    dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);      


   tag_succ_times = 0;


   tx_poll_msg[BATTARY_IDX] = Get_Battary();


   bat_percent=(dw_vbat-2.8)/0.5*100;


   if(bat_percent>100)


      bat_percent=100;


   tx_poll_msg[BATTARY_IDX] = bat_percent;//Get_Battary();


   tx_poll_msg[BUTTON_IDX] = !READ_KEY0;


   tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;




   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. */


@@ -343,11 +361,14 @@


    * set by dwt_setrxaftertxdelay() has elapsed. */


   dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置


   start_poll = time32_incr;


               #ifdef DEBUG_OUTPUT


        printf("P包发送,基站ID: %d .\r\n",i);


            #endif


   /* 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)))//不断查询芯片状态直到成功接收或者发生错误


   { if(time32_incr - start_poll>20)


      NVIC_SystemReset();


      UART_CheckReceive();


      IdleTask();


      


   };




@@ -371,23 +392,38 @@


      /* Check that the frame is the expected response from the companion "DS TWR responder" example.


       * As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */


      


      if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据


      {


      if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据


      { u16 anc_id_recv,rec_com_interval;


         /* Retrieve poll transmission and response reception timestamp. */


         poll_tx_ts = get_tx_timestamp_u64();                              //获得POLL发送时间T1


         resp_rx_ts = get_rx_timestamp_u64();                              //获得RESPONSE接收时间T4


         


                     if(i==0)


                        {


                        tag_delaytime=rx_buffer[TIMECORRE];


                     if(tag_delaytime>g_com_map[COM_INTERVAL]/2)


                     {


                     tag_delaytime=tag_delaytime-g_com_map[COM_INTERVAL];


                     }


                        }


								


         memcpy(&anchor_dist_last_frm[0], &rx_buffer[DIST_IDX], 4);


         if(getsync_flag==0&&g_com_map[DEV_ROLE])


         {


            getsync_flag=1;


         memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);


         memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],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;


      }


         memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);


         memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);


         memcpy(&rec_com_interval,&rx_buffer[ANCSEND_INTERVAL],  2);


         if(rec_com_interval>4&&rec_com_interval!=g_com_map[COM_INTERVAL])


         {


            g_com_map[COM_INTERVAL]=rec_com_interval;


            save_com_map_to_flash();


            delay_ms(100);


            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   


         }


		


         /* 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;//计算final包发送时间，T5=T4+Treply2


         dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5


@@ -406,27 +442,43 @@


         dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度


         result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送


         


             #ifdef DEBUG_OUTPUT


            printf("F包发送,基站ID: %d .\r\n",i);


            #endif


            


         tag_succ_times++;


         


            LED0_BLINK;


			


					


            g_Resttimer=0;


               memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);


               if(hex_dist2!=0xffff)


               {	


               g_Tagdist[anc_id_recv]=   hex_dist2;


               g_flag_Taggetdist[anc_id_recv]=0;




               if(!g_com_map[MODBUS_MODE])


               {


               hex_dist2 = hex_dist2;		


               usart_send[2] = 1;//正常模式


               usart_send[3] = 17;//数据段长度


               usart_send[4] = frame_seq_nb;//数据段长度


               memcpy(&usart_send[5],&dev_id,2);


               memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);


               hex_dist = anchor_dist_last_frm[0];;


               memcpy(&usart_send[9],&hex_dist,4);


               usart_send[13] = battary;


				


               memcpy(&usart_send[9],&hex_dist2,4);


               usart_send[13] = bat_percent;


               usart_send[14] = button;


               checksum = Checksum_u16(&usart_send[2],17);


               memcpy(&usart_send[19],&checksum,2);


               UART_PushFrame(usart_send,21);




               }


            }


      //         memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);


         /* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */


         if(result==0)


         {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成


         {


			


            while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成


         { };


      }


         /* Clear TXFRS event. */


@@ -443,6 +495,9 @@


   }


   else


   {


          #ifdef DEBUG_OUTPUT


            printf("R包失败错误信息: %x .\r\n",status_reg);


            #endif


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


      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);


      random_delay_tim = DFT_RAND_DLY_TIM_MS;


@@ -450,9 +505,9 @@


//   deca_sleep(10);


}


//   dwt_entersleep();


   if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM])


   if(tag_succ_times<1)


   {


   //poll_timer +=time32_incr&0x7+3;


      tyncpoll_time=(current_slotpos--%max_slotnum)*slottime;


   }




   /* Execute a delay between ranging exchanges. */


@@ -460,12 +515,15 @@


}


int8_t correction_time;


extern uint8_t sync_seq;


extern uint16_t sync_timer;


#define TDFILTER


//#define CHECK_UID


extern uint8_t UID_ERROR;


extern u16 dist_threshold;


u8 misdist_num[TAG_NUM_IN_SYS];


void Anchor_App(void)


{


   uint32_t frame_len;


   uint32_t resp_tx_time;


	


   /* Clear reception timeout to start next ranging process. */


   dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间




@@ -476,7 +534,6 @@


   while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误


   { 


      IdleTask();


      g_Resttimer=0;


   };




   if (status_reg & SYS_STATUS_RXFCG)//成功接收


@@ -505,12 +562,12 @@


//         tag_recv_interval = tag_recv_timer + 65535 - tag_time_recv[tag_id_recv];


//      }


      


      if (rx_buffer[MESSAGE_TYPE_IDX] == POLL&&(anchor_type == rx_buffer[ANC_TYPE_IDX])) //判断是否是poll包数据


      if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == POLL&&(anchor_type == rx_buffer[ANC_TYPE_IDX])) //判断是否是poll包数据


      {


         correction_time=tag_timer-tag_id_recv*3;


                     if(correction_time == g_com_map[COM_INTERVAL])


                        correction_time = 0;


                        tx_resp_msg[TIMECORRE] = correction_time;


         tmp_time=TIM3->CNT;


         memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2);


         memcpy(&tx_resp_msg[ANCTIMEUS],&tmp_time,2);




//                     if(correction_time>10)


//                     {correction_time++;}


                     


@@ -527,7 +584,7 @@




         /* Write and send the response message. See NOTE 9 below.*/


         if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)


         memcpy(&tx_resp_msg[DIST_IDX], &anchor_dist_last_frm[tag_id_recv-TAG_ID_START], 4);


         memcpy(&tx_resp_msg[DIST_IDX], &g_Tagdist[tag_id_recv], 4);


      


         dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//写入发送数据


         dwt_writetxfctrl(sizeof(tx_resp_msg), 0);//设定发送长度


@@ -535,9 +592,12 @@




         battary = rx_buffer[BATTARY_IDX];


         button = rx_buffer[BUTTON_IDX];


         frame_seq_nb = rx_buffer[SEQUENCE_IDX];


         frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];


         /* We assume that the transmission is achieved correctly, now poll for reception of expected "final" frame or error/timeout.


          * See NOTE 7 below. */


            #ifdef DEBUG_OUTPUT


            printf("收到POLL包，标签ID: %d .\r\n",tag_id_recv);


            #endif


         if(result==0)


         {


            while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))///不断查询芯片状态直到接收成功或者出现错误


@@ -559,7 +619,7 @@


            /* Check that the frame is a final message sent by "DS TWR initiator" example.


             * As the sequence number field of the frame is not used in this example, it can be zeroed to ease the validation of the frame. */


         


            if (rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,4)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,4)) //判断是否为Final包


            if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,4)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,4)) //判断是否为Final包


            {


               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;


@@ -575,6 +635,10 @@


               final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_TS_IDX], &resp_rx_ts);


               final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);




               #ifdef CHECK_UID


               if(UID_ERROR==1)


                  poll_rx_ts=0;


               #endif


               /* Compute time of flight. 32-bit subtractions give correct answers even if clock has wrapped. See NOTE 10 below. */


               poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使用32位数据计算


               resp_tx_ts_32 = (uint32_t)resp_tx_ts;


@@ -589,56 +653,86 @@


               distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间


               dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数




               dist_cm = dist_no_bias * 100; //dis ä¸ºå•ä½ä¸ºcm的距离


               dist_cm = dist_no_bias * 1000; //dis ä¸ºå•ä½ä¸ºcm的距离


//               dist[TAG_ID] = LP(dis, TAG_ID); //LP ä¸ºä½Žé€šæ»¤æ³¢å™¨ï¼Œè®©æ•°æ®æ›´ç¨³å®š


               


               /*--------------------------以下为非测距逻辑------------------------*/


             #ifdef DEBUG_OUTPUT


            printf("收到FINAL包，标签ID: %d .\r\n",tag_id_recv);


            #endif


               LED0_BLINK; //每成功一次通讯则闪烁一次


               g_UWB_com_interval = 0;


               dis_after_filter=dist_cm;


               hex_dist = (int16_t)(dist_cm+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)


               g_Resttimer=0;


               hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;


               if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)


               {


                  g_Tagdist[tag_id_recv-TAG_ID_START] = hex_dist;


                  anchor_dist_last_frm[tag_id_recv-TAG_ID_START] = hex_dist;


               }


               if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<dist_threshold||misdist_num[tag_id_recv-TAG_ID_START]>4)


               {


                  int32_t filter_dist;


                  misdist_num[tag_id_recv-TAG_ID_START]=0;


               if(hex_dist<1000000&&hex_dist>-10000)


               {		


                  #ifdef TDFILTER


                  NewTrackingDiffUpdate(tag_id_recv-TAG_ID_START, (float)hex_dist);


                  filter_dist=pos_predict[tag_id_recv-TAG_ID_START]/10;


                  #else


                  filter_dist=hex_dist/10;


                  #endif


                  anchor_dist_last_frm[tag_id_recv-TAG_ID_START]=filter_dist;


                  g_Tagdist[tag_id_recv]=   filter_dist;


					


               his_dist[tag_id_recv-TAG_ID_START]=hex_dist;


               g_flag_Taggetdist[tag_id_recv]=0;


               if(!g_com_map[MODBUS_MODE])


               {


                  usart_send[2] = 1;//正常模式


                  usart_send[3] = 17;//数据段长度


                  usart_send[4] = frame_seq_nb2;//数据段长度


                  memcpy(&usart_send[5],&tag_id_recv,2);


                  memcpy(&usart_send[7],&dev_id,2);


                  


               usart_send[2] = 1;//正常模式


               usart_send[3] = 17;//数据段长度


               usart_send[4] = frame_seq_nb;//数据段长度


               memcpy(&usart_send[5],&tag_id_recv,2);


               memcpy(&usart_send[7],&dev_id,2);


					


               memcpy(&usart_send[9],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],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);




					


                  memcpy(&usart_send[9],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],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);


               }	


               //   memcpy(&Modbus_HoldReg[tag_id_recv*2],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4);


               Modbus_HoldReg[tag_id_recv*2]=g_Tagdist[tag_id_recv-TAG_ID_START]>>16;


               Modbus_HoldReg[tag_id_recv*2+1]=g_Tagdist[tag_id_recv-TAG_ID_START];


               //dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);




                  }


					


               }


               else{


                  misdist_num[tag_id_recv-TAG_ID_START]++;


               }


            }


            }


         }else{


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


            #ifdef DEBUG_OUTPUT


            printf("F包失败错误信息: %x .\r\n",status_reg);


            #endif


            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);


         }


      }else if(rx_buffer[MESSAGE_TYPE_IDX] == SYNC)


      {


         if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)


         if(rx_buffer[SYNC_SEQ_IDX]<sync_seq&&sync_mainbase==0)


         {


            sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;


            SysTick->VAL   =00;


            sync_timer=0;


            TIM3->CNT = sync_seq*325%1000+15;


            sync_timer = sync_seq*325/1000;


            SyncPoll(sync_seq);


         }


      }


   }


   else


   {


         #ifdef DEBUG_OUTPUT


            printf("P包失败错误信息: %x .\r\n",status_reg);


            #endif


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


      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);


   }