UWB_SmallModule_F103.git

			@@ -5,7 +5,7 @@
			DISCPOLL,
			GETNEARMSG,
			NEARPOLL,
			}tag_state=GETNEARMSG;
			}tag_state=NEARPOLL;
			static dwt_config_t config = {
			2, /* Channel number. */
			DWT_PRF_64M, /* Pulse repetition frequency. */
			@@ -28,7 +28,7 @@

			static uint8_t tx_near_msg[80] = {0};

			static uint32_t frame_seq_nb = 0;
			uint32_t frame_seq_nb = 0, frame_seq_nb2 = 0;
			static uint32_t status_reg = 0;
			static uint8_t rx_buffer[100];
			static uint64_t poll_tx_ts;
			@@ -347,7 +347,7 @@
			flag_rxon=1;
			neartimout_timer=0;
			get_newbase=0;
			timeout=ceil((float)nearbase_num*0.4)+3;
			timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
			//timeout=5;
			mainbase_dist=100000;
			mainbase_lost_count++;
			@@ -446,7 +446,32 @@
			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)
			{
			#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

			//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{
			@@ -477,14 +502,20 @@
			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);
			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);
			UART_PushFrame(usart_send,21);
			#endif

			//dwt_setdelayedtrxtime(final_tx_time);//è®¾ç½®finalååéæ¶é´T5
			@@ -522,7 +553,7 @@
			// }
			tagslotpos=GetRandomSlotPos(rec_tagpos_binary\|tagpos_binary);
			tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
			tag_state=GETNEARMSG;
			tag_state=NEARPOLL;
			}
			// tyncpoll_time=0;
			next_nearbase_num=0;
			@@ -580,13 +611,13 @@
			}

			// printf("%d,%d",temp_sync_timer2,temp_sync_timer1);
			// #ifdef USART_INTEGRATE_OUTPUT
			// usart_send[2] = 4;//æ£å¸¸æ¨¡å¼
			// usart_send[3] = report_num*6+2;//æ£å¸¸æ¨¡å¼
			// checksum = Checksum_u16(&usart_send[2],report_num*6+2);
			// memcpy(&usart_send[4+report_num*6],&checksum,2);
			// UART_PushFrame(usart_send,6+report_num*6);
			// #endif
			#ifdef USART_INTEGRATE_OUTPUT
			usart_send[2] = 4;//æ£å¸¸æ¨¡å¼
			usart_send[3] = report_num*6+2;//æ£å¸¸æ¨¡å¼
			checksum = Checksum_u16(&usart_send[2],report_num*6+2);
			memcpy(&usart_send[4+report_num*6],&checksum,2);
			UART_PushFrame(usart_send,6+report_num*6);
			#endif
			// if(mainbase_lost_count>5)
			// {
			// //tag_state=DISCPOLL;
			@@ -655,6 +686,13 @@
			tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
			}

			#ifdef USART_INTEGRATE_OUTPUT
			usart_send[2] = 4;//æ£å¸¸æ¨¡å¼
			usart_send[3] = report_num*6+2;//æ£å¸¸æ¨¡å¼
			checksum = Checksum_u16(&usart_send[2],report_num*6+2);
			memcpy(&usart_send[4+report_num*6],&checksum,2);
			UART_PushFrame(usart_send,6+report_num*6);
			#endif
			}

			void Tag_App(void)//åéæ¨¡å¼(TAGæ ç¾)
			@@ -735,7 +773,7 @@

			battary = rx_buffer[BATTARY_IDX];
			button = rx_buffer[BUTTON_IDX];
			frame_seq_nb = rx_buffer[SEQUENCE_IDX];
			frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
			if(result==0)
			{
			while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG \| SYS_STATUS_ALL_RX_ERR)))///ä¸ææ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæèåºç°éè¯¯
			@@ -837,7 +875,7 @@

			battary = rx_buffer[BATTARY_IDX];
			button = rx_buffer[BUTTON_IDX];
			frame_seq_nb = rx_buffer[SEQUENCE_IDX];
			frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
			if(result==0)
			{
			while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG \| SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///ä¸ææ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæèåºç°éè¯¯
			@@ -887,7 +925,7 @@
			dis_after_filter=dist_cm;
			hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
			g_flag_Taggetdist[taglist_pos]=0;
			if(hex_dist>-1000&&hex_dist<100000)
			if(hex_dist>-1000&&hex_dist<200000)
			{
			if(abs(hex_dist-his_dist[taglist_pos])<1500\|\|misdist_num[taglist_pos]>3)
			{
			@@ -898,7 +936,7 @@
			#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¦
			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);