UWB_SmallModule_F103.git

			@@ -166,7 +166,7 @@

			u16 tag_time_recv[TAG_NUM_IN_SYS];
			u8 usart_send[100],usart_send_anc[100];
			u8 battary,button;
			u8 battary,button,tag_frequency,tag_slotpos;
			extern uint8_t g_pairstart;
			void tag_sleep_configuraion(void)
			{
			@@ -176,14 +176,14 @@

			extern uint8_t g_start_send_flag;
			u8 g_start_sync_flag;
			void SyncPoll(u8 sync_seq,uint32_t sync_baseid)
			void SyncPoll(u8 sync_seq)
			{u8 result;
			g_start_sync_flag=1; //ä¸ææ¨¡å¼ï¼éåºç»ç«¯åï¼éè¦éæ°æ¥è¿
			dwt_forcetrxoff(); //å³éæ¥æ¶ï¼ä»¥é²å¨RX ON ç¶æ


			tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
			memcpy(&tx_sync_msg[ANCHOR_ID_IDX],&sync_baseid,4);
			memcpy(&tx_sync_msg[ANCHOR_ID_IDX],&dev_id,4);
			dwt_writetxdata(sizeof(tx_sync_msg), tx_sync_msg, 0);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
			dwt_writetxfctrl(sizeof(tx_sync_msg), 0);//è®¾ç½®è¶å®½å¸¦åéæ°æ®é¿åº¦
			dwt_starttx(DWT_START_TX_IMMEDIATE);
			@@ -922,7 +922,6 @@
			u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
			{
			u8 motorstate;
			time_monitor[0] = sync_timer*1000+TIM3->CNT;
			tmp_time=TIM3->CNT;
			memcpy(&tx_nearresp_msg[ANCTIMEMS],&sync_timer,2);
			memcpy(&tx_nearresp_msg[ANCTIMEUS],&tmp_time,2);
			@@ -935,18 +934,6 @@
			dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//è®¾ç½®åéå®æåå¼å¯æ¥æ¶å»¶è¿æ¶é´
			dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//æ¥æ¶è¶æ¶æ¶é´
			dwt_readdiagnostics(&d1);
			if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
			{
			motorstate =0;
			}else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
			{
			motorstate =2;
			}else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
			{
			motorstate =1;
			}else{
			motorstate =0;
			}

			if(new_tagid)
			{
			@@ -969,7 +956,7 @@
			tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)\|motorstate;
			remotetag_paralen = 2+3;
			remotetag_para[0] = 2;
			remotetag_para[1] = 6;
			remotetag_para[1] = pwtag.index;
			remotetag_para[2] = 2;
			memcpy(&remotetag_para[3],&pwtag.group_interval[i],2);
			memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,remotetag_paralen);
			@@ -998,6 +985,8 @@
			battary = rx_buffer[BATTARY_IDX];
			button = rx_buffer[BUTTON_IDX];
			frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
			tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
			tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
			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¯¯
			@@ -1025,8 +1014,8 @@
			resp_tx_ts = get_tx_timestamp_u64();//è·å¾responseåéæ¶é´T3
			final_rx_ts = get_rx_timestamp_u64();//è·å¾finalæ¥æ¶æ¶é´T6

			dwt_setrxtimeout(0);//è®¾å®æ¥æ¶è¶æ¶æ¶é´ï¼0ä½æ²¡æè¶æ¶æ¶é´
			dwt_rxenable(0);//æå¼æ¥æ¶
			// dwt_setrxtimeout(0);//è®¾å®æ¥æ¶è¶æ¶æ¶é´ï¼0ä½æ²¡æè¶æ¶æ¶é´
			// dwt_rxenable(0);//æå¼æ¥æ¶

			final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//ä»æ¥æ¶æ°æ®ä¸è¯»åT1ï¼T4ï¼T5
			final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+ancrec_nearbasepos*4], &resp_rx_ts);
			@@ -1045,13 +1034,13 @@
			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 * 100; //dis ä¸ºåä½ä¸ºcmçè·ç¦»
			// dwt_readdiagnostics(&d1);
			dwt_readdiagnostics(&d1);
			// time_monitor[2] = sync_timer*1000+TIM3->CNT;
			// LOS(&d1);
			// time_monitor[3] = sync_timer*1000+TIM3->CNT;
			LOS(&d1);
			time_monitor[3] = sync_timer*1000+TIM3->CNT;
			/--------------------------ä»¥ä¸ä¸ºéæµè·é»è¾------------------------/
			//dist_cm=33000;

			GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_RESET);
			LED0_BLINK; //æ¯æåä¸æ¬¡éè®¯åéªçä¸æ¬¡
			dis_after_filter=dist_cm;
			hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
			@@ -1073,6 +1062,10 @@
			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-firstpath_power)*10;
			usart_send[17] = tag_frequency;
			usart_send[18] = tag_slotpos;
			checksum = Checksum_u16(&usart_send[2],17);
			memcpy(&usart_send[19],&checksum,2);
			UART_PushFrame(usart_send,21);
			@@ -1109,8 +1102,10 @@
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			}
			}

			extern u16 synclost_count;
			uint32_t current_syncid=0xffffffff,synclost_timer;
			extern u8 flag_syncbase;
			extern u8 flag_syncbase,waitsync_flag;
			u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
			u16 ancidlist_rec[20],ancidlist_send[20];
			void Anchor_App(void)
			@@ -1134,7 +1129,7 @@
			if (status_reg & SYS_STATUS_RXFCG)//æåæ¥æ¶
			{ u16 tag_recv_interval;
			float temp_tagpos;

			time_monitor[0] = sync_timer*1000+TIM3->CNT;
			g_Resttimer=0;
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//æ¸é¤æ å¿ä½
			frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//è·å¾æ¥æ¶æ°æ®é¿åº¦
			@@ -1144,34 +1139,24 @@
			memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
			switch(rx_buffer[MESSAGE_TYPE_IDX])
			{
			uint16_t checksum;
			case POLL:
			if (anchor_type == rx_buffer[ANC_TYPE_IDX])
			Anchor_RecPoll();
			break;
			case SYNC:
			memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
			if(rec_syncid<current_syncid)
			{
			current_syncid=rec_syncid;
			if(anc_id_recv==g_com_map[SYNCBASEID])
			{
			synclost_count = 0;
			flag_syncbase=0;
			sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
			TIM3->CNT = sync_seq*325%1000+15;
			sync_timer = sync_seq*325/1000;
			TIM3->CNT = (sync_seq*325%1000)-80;
			sync_timer = (sync_seq*325/1000);
			synclost_timer=0;
			//SyncPoll(sync_seq,rec_syncid);
			}else if(rec_syncid==current_syncid)
			{
			if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
			{
			flag_syncbase=0;
			sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
			TIM3->CNT = sync_seq*325%1000+5;
			sync_timer = sync_seq*325/1000+995;
			synclost_timer=0;
			//SyncPoll(sync_seq,rec_syncid);
			}

			}
			if(g_com_map[BASESYNCSEQ]==2)
			SyncPoll(sync_seq);
			}
			break;
			case NEAR_MSG:
			if(anc_id_recv==dev_id)
			@@ -1183,14 +1168,50 @@
			ancidlist_num=g_com_map[NEARBASE_NUM];
			tx_near_msg[NEARBASENUM_INDEX]=g_com_map[NEARBASE_NUM];
			memcpy(&tx_near_msg[NEARBASEID_INDEX],&g_com_map[NEARBASE_ID1],g_com_map[NEARBASE_NUM]*2);
			send_len=11+ancidlist_num*2+2;
			send_len=21+ancidlist_num*2;
			dwt_writetxdata(send_len, tx_near_msg, 0);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
			dwt_writetxfctrl(send_len, 0);//è®¾ç½®è¶å®½å¸¦åéæ°æ®é¿åº¦
			dwt_starttx(DWT_START_TX_IMMEDIATE);
			}
			break;
			case REG_POLL:
			for(i=0;i<MAX_REGTAGNUM;i++)
			{
			if(tag_id_recv==regtag_map.tagid[i])
			{
			tx_near_msg[REGR_TAGSLOTPOS_INDEX]=regtag_map.tag_slotpos[i];
			tx_near_msg[REGR_TAGFREQ_INDEX] = regtag_map.tag_frequency[i];
			memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
			memcpy(&tx_near_msg[ANCHOR_ID_IDX],&dev_id,2);
			tx_near_msg[MESSAGE_TYPE_IDX] = REG_RESPONSE;
			ancidlist_num=g_com_map[NEARBASE_NUM];
			tx_near_msg[NEARBASENUM_INDEX]=g_com_map[NEARBASE_NUM];
			memcpy(&tx_near_msg[NEARBASEID_INDEX],&g_com_map[NEARBASE_ID1],g_com_map[NEARBASE_NUM]*2);
			send_len=21+ancidlist_num*2;
			dwt_writetxdata(send_len, tx_near_msg, 0);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
			dwt_writetxfctrl(send_len, 0);//è®¾ç½®è¶å®½å¸¦åéæ°æ®é¿åº¦
			dwt_starttx(DWT_START_TX_IMMEDIATE);
			regtag_map.tagid[i] = 0;
			}

			case NEAR_POLL:
			}
			if(i==MAX_REGTAGNUM)
			{
			dwt_readdiagnostics(&d1);
			LOS(&d1);
			usart_send[2]=0x0a;
			usart_send[3]=20;
			memcpy(&usart_send[4],&dev_id,2);
			memcpy(&usart_send[6],&tag_id_recv,2);
			memcpy(&usart_send[8],&rx_buffer[10],9);
			usart_send[17] = firstpath_power;
			checksum = Checksum_u16(&usart_send[2],20);
			memcpy(&usart_send[22],&checksum,2);
			UART_PushFrame(usart_send,24);
			}
			break;
			case NEAR_POLL:
			// GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);
			memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
			taglist_pos=CmpTagInList(tag_id_recv);
			if(taglist_pos==taglist_num)
			@@ -1207,7 +1228,7 @@
			tagpos_rec[(u8)temp_tagpos]=1;
			rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];


			GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);
			if(anc_id_recv==dev_id)
			{
			Anchor_RecNearPoll(0);
			@@ -1218,6 +1239,7 @@
			memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
			if(tempid==dev_id)
			{

			seize_anchor=0; //éæ¢å ãå·²åå¨åè¡¨ä¸
			Anchor_RecNearPoll(i+1);
			break;
			@@ -1232,7 +1254,10 @@
			// }


			break;
			break;
			default:

			break;
			}
			}else{
			#ifdef DEBUG_INF