UWB_SmallModule_F103.git

			@@ -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++;
			@@ -402,7 +402,7 @@
			temp_sync_timer2=sync_timer;
			memcpy(&temp_sync_timer1,&rx_buffer[ANCTIMEMS],2);
			memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
			exsistbase_list[0]=KEEP_TIMES;


			if(g_com_map[DEV_ROLE]!=0)
			{
			@@ -426,10 +426,12 @@
			// tyncpoll_time=(tagslotpos-1)*slottime;
			////////////////////////////
			rec_nearbasepos=0;
			exsistbase_list[rec_nearbasepos]=KEEP_TIMES;

			memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
			nearbase_distlist[rec_nearbasepos]=temp_dist;

			if(temp_dist!=0x1ffff)
			exsistbase_list[rec_nearbasepos]=KEEP_TIMES;

			mainbase_lost_count=0;
			flag_finalsend=1;
			final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUSnearbase_num+500) UUS_TO_DWT_TIME)) >> 8;
			@@ -444,7 +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{
			@@ -457,9 +484,11 @@
			memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
			}

			exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
			memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
			nearbase_distlist[rec_nearbasepos]=temp_dist;

			if(temp_dist!=0x1ffff)
			exsistbase_list[rec_nearbasepos]=KEEP_TIMES;

			final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
			dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//å°åéæ°æ®åå¥DW1000
			@@ -473,8 +502,14 @@
			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;
			@@ -731,7 +766,7 @@

			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¯¯
			@@ -781,7 +816,9 @@
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			}
			}
			u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor;
			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;
			@@ -799,7 +836,7 @@

			if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
			{
			motorstate =3;
			motorstate =0;
			}else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
			{
			motorstate =2;
			@@ -809,7 +846,7 @@
			}else{
			motorstate =0;
			}
			tx_nearresp_msg[MOTORSTATE_INDEX]=motorstate;

			if(new_tagid)
			{
			tagdist_list[taglist_pos]=0x1ffff;
			@@ -819,14 +856,23 @@
			}
			tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
			tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;

			tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)\|motorstate;
			waittagconfig_reponse=0;
			if(remotesend_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&configremotetagID,2))
			{
			memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,remotetag_paralen);
			dwt_writetxdata(22+remotetag_paralen, tx_nearresp_msg, 0);//åå¥åéæ°æ®
			dwt_writetxfctrl(22+remotetag_paralen, 0);//è®¾å®åéé¿åº¦
			waittagconfig_reponse=1;
			}else{
			dwt_writetxdata(22, tx_nearresp_msg, 0);//åå¥åéæ°æ®
			dwt_writetxfctrl(22, 0);//è®¾å®åéé¿åº¦
			}
			result = dwt_starttx(DWT_START_TX_DELAYED \| DWT_RESPONSE_EXPECTED);//å»¶è¿åéï¼çå¾æ¥æ¶

			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¯¯
			@@ -876,7 +922,7 @@
			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)
			{
			@@ -887,7 +933,7 @@
			#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);
			@@ -906,6 +952,18 @@
			misdist_num[taglist_pos]++;
			}
			}
			if(rx_buffer[TAGCONFIGSUCCESS_INDEX]==1&&waittagconfig_reponse)
			{
			waittagconfig_reponse = 0;
			remotesend_state = 0;
			usart_send[2] = 7;//æ£å¸¸æ¨¡å¼
			usart_send[3] = 5;//æ°æ®æ®µé¿åº¦
			memcpy(&usart_send[4],&tag_id_recv,2);
			usart_send[6] = 1;//æ°æ®æ®µé¿åº¦
			checksum = Checksum_u16(&usart_send[2],5);
			memcpy(&usart_send[7],&checksum,2);
			UART_PushFrame(usart_send,9);
			}
			}
			}else{
			//printf("%x/n",status_reg);
			@@ -944,7 +1002,7 @@
			dwt_readrxdata(rx_buffer, frame_len, 0);//è¯»åæ¥æ¶æ°æ®
			memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
			//å°æ¶å°çtag_idåå«åå¥åæ¬¡éè®¯çåä¸ï¼ä¸ºå¤æ ç¾éè®¯æå¡ï¼é²æ¢ä¸æ¬¡éè®¯ä¸æ¥æ¶å°ä¸åIDæ ç¾çæ°æ®
			tag_id_recv = rx_buffer[TAG_ID_IDX];
			memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
			switch(rx_buffer[MESSAGE_TYPE_IDX])
			{
			// case POLL: