UWB_SmallModule_F103.git

			@@ -1,5 +1,6 @@
			#include "dw_app.h"
			#include "ADC.h"
			#include "modbus.h"
			#define TDFILTER
			enum enumtagstate
			{
			@@ -8,7 +9,7 @@
			NEARPOLL,
			}tag_state=NEARPOLL;
			static dwt_config_t config = {
			2, /* Channel number. */
			5, /* Channel number. */
			DWT_PRF_64M, /* Pulse repetition frequency. */
			DWT_PLEN_128, /* Preamble length. */
			DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
			@@ -127,9 +128,8 @@

			/* Configure DW1000. See NOTE 6 below. */
			dwt_configure(&config);//éç½®DW1000



			//dwt_setinterrupt(DWT_INT_TFRS \| DWT_INT_RFCG \| (DWT_INT_ARFE \| DWT_INT_RFSL \| DWT_INT_SFDT \| DWT_INT_RPHE \| DWT_INT_RFCE \| DWT_INT_RFTO \| DWT_INT_RXPTO), 1);

			/* Apply default antenna delay value. See NOTE 1 below. */
			dwt_setrxantennadelay(RX_ANT_DLY); //è®¾ç½®æ¥æ¶å¤©çº¿å»¶è¿
			dwt_settxantennadelay(0); //è®¾ç½®åå°å¤©çº¿å»¶è¿
			@@ -186,6 +186,7 @@
			dwt_forcetrxoff(); //å³éæ¥æ¶ï¼ä»¥é²å¨RX ON ç¶æ


			tx_sync_msg[GROUP_ID_IDX] = group_id;
			tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
			memcpy(&tx_sync_msg[ANCHOR_ID_IDX],&sync_baseid,4);
			dwt_writetxdata(sizeof(tx_sync_msg), tx_sync_msg, 0);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
			@@ -215,13 +216,13 @@
			u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
			int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM];
			uint8_t trygetnearmsg_times;
			u16 current_slotnum,total_slotnum,target_time,last_time;
			u16 current_slotnum,total_slotnum,target_time,last_time,record_time[10],record_i;
			u32 rec_tagpos_binary;
			extern uint32_t tagpos_binary;
			void SetNextPollTime(u16 time)
			{
			current_slotnum++;
			if(current_slotnum==total_slotnum)
			if(current_slotnum>=total_slotnum)
			current_slotnum-=total_slotnum;
			//time=5;
			target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time);
			@@ -238,7 +239,11 @@
			{target_time-=1000;}
			if(target_time<0)
			{target_time+=1000;}

			record_time[record_i++]=target_time;
			if(record_i>=10)
			{
			record_i=0;
			}
			}
			u8 FindNearBasePos(u16 baseid)
			{
			@@ -421,7 +426,7 @@
			memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);


			if(g_com_map[DEV_ROLE]!=0)
			//if(g_com_map[DEV_ROLE]!=0)
			{
			sync_timer=temp_sync_timer1;
			//// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
			@@ -464,10 +469,10 @@
			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&&g_com_map[ALARM_DISTANCE1] == 1)
			if(temp_dist!=0x1ffff)
			{
			g_Resttimer=0;
			IWDG_Feed();
			IWDG_Feed();
			#ifdef USART_SINGLE_OUTPUT
			usart_send[2] = 1;//æ£å¸¸æ¨¡å¼
			usart_send[3] = 17;//æ°æ®æ®µé¿åº¦
			@@ -485,6 +490,7 @@
			usart_send[14] = button;
			checksum = Checksum_u16(&usart_send[2],17);
			memcpy(&usart_send[19],&checksum,2);
			if(g_com_map[MODBUS_MODE]!=1)
			UART_PushFrame(usart_send,21);
			#endif

			@@ -516,7 +522,7 @@
			LED0_BLINK;
			// memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
			// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
			if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
			if(temp_dist!=0x1ffff)
			{
			#ifdef USART_SINGLE_OUTPUT
			usart_send[2] = 1;//æ£å¸¸æ¨¡å¼
			@@ -535,6 +541,7 @@
			usart_send[14] = button;
			checksum = Checksum_u16(&usart_send[2],17);
			memcpy(&usart_send[19],&checksum,2);
			if(g_com_map[MODBUS_MODE]!=1)
			UART_PushFrame(usart_send,21);
			#endif

			@@ -716,6 +723,7 @@
			{
			//LED0_ON;
			dwt_forcetrxoff();
			dwt_setinterrupt(DWT_INT_TFRS \| DWT_INT_RFCG \| (DWT_INT_ARFE \| DWT_INT_RFSL \| DWT_INT_SFDT \| DWT_INT_RPHE \| DWT_INT_RFCE \| DWT_INT_RFTO \| DWT_INT_RXPTO), 0);
			GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
			switch(tag_state)
			{
			@@ -738,7 +746,7 @@
			int8_t correction_time,new_tagid=0;
			extern uint8_t sync_seq;
			u16 taglist_num=0,taglist_pos;
			u16 tagid_list[TAG_NUM_IN_SYS];
			u16 tagid_list[TAG_NUM_IN_SYS],tagstate_list[TAG_NUM_IN_SYS];
			u8 tagofflinetime[TAG_NUM_IN_SYS];
			int32_t tagdist_list[TAG_NUM_IN_SYS];
			void TagListUpdate(void)
			@@ -842,6 +850,26 @@
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			}
			}
			double firstpath_power, rx_power,rec_firstpath_power;
			double f1, f2, r1, r2;
			uint16_t F1,F2,F3,N,C;
			double B = 131072;
			double A = 121.74;
			double min_power;
			dwt_rxdiag_t d1;
			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;
			}
			u16 smallcar_idlist[10]={0x4052,0x4032,0x4055,0x4034,0x4016,0x4010,0x4036,0x4027,0x4024,0x4047};
			extern u16 dist_threshold;
			u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
			@@ -940,7 +968,9 @@
			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 * 1000; //dis ä¸ºåä½ä¸ºcmçè·ç¦»
			dist_cm = dist_no_bias * 1000; //dis ä¸ºåä½ä¸ºcmçè·ç¦»
			dwt_readdiagnostics(&d1);
			LOS(&d1);
			/--------------------------ä»¥ä¸ä¸ºéæµè·é»è¾------------------------/
			//dist_cm=33000;
			getrange_success = 1;
			@@ -959,7 +989,7 @@
			if(hex_dist>-100000&&hex_dist<2000000)
			{
			if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold\|\|misdist_num[taglist_pos]>3)
			{
			{u8 i=0;

			g_Resttimer=0;
			IWDG_Feed();
			@@ -991,14 +1021,44 @@
			memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
			usart_send[13] = battary;
			usart_send[14] = button;
			usart_send[15] = firstpath_power;
			usart_send[16] = rx_power;
			checksum = Checksum_u16(&usart_send[2],17);
			memcpy(&usart_send[19],&checksum,2);
			if(g_com_map[MODBUS_MODE]!=1)
			UART_PushFrame(usart_send,21);
			tagstate_list[taglist_pos] = button<<8\|battary;
			#else
			memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
			memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
			anc_report_num++;
			#endif
			for(i=0;i<taglist_num-1;i++)
			{
			if( tagdist_list[i]>tagdist_list[i+1]&&tagdist_list[i+1]!=0)
			{
			int32_t tempdist;
			u16 tempid,tempstate;
			tempdist = tagdist_list[i];
			tempid = tagid_list[i];
			tempstate = tagstate_list[i];

			tagdist_list[i] = tagdist_list[i+1];
			tagid_list[i] = tagid_list[i+1];
			tagstate_list[i] = tagstate_list[i+1];

			tagdist_list[i+1] = tempdist;
			tagid_list[i+1] = tempid;
			tagstate_list[i+1] = tempstate;
			}
			}
			for(i=0;i<taglist_num;i++)
			{
			Modbus_HoldReg[i*4] = tagid_list[i];
			Modbus_HoldReg[i*4+1] = tagstate_list[i];
			memcpy(&Modbus_HoldReg[i*4+2],&tagdist_list[i],4);
			}

			}else{
			// printf("%d",hex_dist);
			misdist_num[taglist_pos]++;
			@@ -1014,6 +1074,19 @@
			extern u8 flag_syncbase;
			u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
			u16 ancidlist_rec[20],ancidlist_send[20],rec_ancidlist[20],rec_ancdistlist[20];
			void Anchor_Start(void)
			{

			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR\| SYS_STATUS_TXFRS \|SYS_STATUS_RXFCG);
			g_start_sync_flag=0;
			dwt_setinterrupt(DWT_INT_TFRS \| DWT_INT_RFCG \| (DWT_INT_ARFE \| DWT_INT_RFSL \| DWT_INT_SFDT \| DWT_INT_RPHE \| DWT_INT_RFCE \| DWT_INT_RFTO \| DWT_INT_RXPTO), 1);
			dwt_setrxtimeout(1000);//è®¾å®æ¥æ¶è¶æ¶æ¶é´ï¼0ä½æ²¡æè¶æ¶æ¶é´
			dwt_rxenable(0);//æå¼æ¥æ¶
			// while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG \| SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//ä¸ææ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæèåºç°éè¯¯
			// {
			// //IdleTask();
			// };
			}
			void Anchor_App(void)
			{

			@@ -1021,17 +1094,19 @@
			u16 tempid;
			uint32_t rec_syncid;

			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR\| SYS_STATUS_TXFRS \|SYS_STATUS_RXFCG);
			g_start_sync_flag=0;
			// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR\| SYS_STATUS_TXFRS \|SYS_STATUS_RXFCG);
			// g_start_sync_flag=0;

			dwt_setrxtimeout(0);//è®¾å®æ¥æ¶è¶æ¶æ¶é´ï¼0ä½æ²¡æè¶æ¶æ¶é´
			dwt_rxenable(0);//æå¼æ¥æ¶
			// GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
			while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG \| SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//ä¸ææ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæèåºç°éè¯¯
			{

			IdleTask();
			};
			// dwt_setrxtimeout(0);//è®¾å®æ¥æ¶è¶æ¶æ¶é´ï¼0ä½æ²¡æè¶æ¶æ¶é´
			// dwt_rxenable(0);//æå¼æ¥æ¶
			//// GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
			// while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG \| SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//ä¸ææ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæèåºç°éè¯¯
			// {
			//
			// IdleTask();
			// };
			dwt_setinterrupt(DWT_INT_TFRS \| DWT_INT_RFCG \| (DWT_INT_ARFE \| DWT_INT_RFSL \| DWT_INT_SFDT \| DWT_INT_RPHE \| DWT_INT_RFCE \| DWT_INT_RFTO \| DWT_INT_RXPTO), 0);
			status_reg = dwt_read32bitreg(SYS_STATUS_ID);
			//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
			if (status_reg & SYS_STATUS_RXFCG)//æåæ¥æ¶
			{ u16 tag_recv_interval;