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;
			@@ -120,7 +120,9 @@
			* For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
			* performance. */
			Reset_DW1000();//éå¯DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
			status_reg = dwt_read32bitreg(SYS_STATUS_ID);
			dwt_initialise(DWT_LOADUCODE);//åå§åDW1000
			status_reg = dwt_read32bitreg(SYS_STATUS_ID);
			Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //è®¾ç½®ä¸ºå¿«éæ¨¡å¼

			/* Configure DW1000. See NOTE 6 below. */
			@@ -347,7 +349,7 @@
			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++;
			@@ -365,6 +367,9 @@
			dwt_forcetrxoff();
			dwt_setdelayedtrxtime(final_tx_time);
			result=dwt_starttx(DWT_START_TX_DELAYED);//è®¾å®ä¸ºå»¶è¿åé
			#ifdef DEBUG_INF
			USART_putc(0x33);
			#endif
			break;
			}
			}
			@@ -425,6 +430,9 @@
			// tagslotpos=tagslotpos%(max_slotpos+1);
			// tyncpoll_time=(tagslotpos-1)*slottime;
			////////////////////////////
			#ifdef DEBUG_INF
			USART_putc(0x31);
			#endif
			rec_nearbasepos=0;

			memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
			@@ -446,7 +454,32 @@
			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{
			@@ -458,7 +491,9 @@
			nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
			memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
			}

			#ifdef DEBUG_INF
			USART_putc(0x32);
			#endif
			memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
			nearbase_distlist[rec_nearbasepos]=temp_dist;

			@@ -477,14 +512,20 @@
			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
			@@ -494,6 +535,9 @@
			}
			}
			}else{
			#ifdef DEBUG_INF
			printf("responseåå¤±è´¥ï¼%x/n",status_reg);
			#endif
			dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG\| SYS_STATUS_ALL_RX_ERR);
			if(flag_rxon)
			{dwt_rxenable(0);
			@@ -580,13 +624,16 @@
			}

			// 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
			#ifdef DEBUG_INF
			printf("åºå·ï¼%d,åºç«æ°éï¼%d/n",(frame_seq_nb-1)&0xff,nearbase_num);
			#endif
			// if(mainbase_lost_count>5)
			// {
			// //tag_state=DISCPOLL;
			@@ -735,7 +782,7 @@

			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¯¯
			@@ -785,7 +832,9 @@
			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;
			@@ -824,20 +873,46 @@
			tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
			tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
			tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)\|motorstate;
			if(remotesend_state)
			{
			memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
			dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//åå¥åéæ°æ®
			dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//è®¾å®åéé¿åº¦
			}else{
			dwt_writetxdata(22, tx_nearresp_msg, 0);//åå¥åéæ°æ®
			dwt_writetxfctrl(22, 0);//è®¾å®åéé¿åº¦
			}
			waittagconfig_reponse=0;
			if(pwtag.remain_time>0)
			{uint8_t i;
			for(i=0;i<pwtag.groupnum;i++)
			{
			if(pwtag.groupid[i][0]<=tag_id_recv&&tag_id_recv<=pwtag.groupid[i][1])
			{
			remotesend_state=1;
			tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)\|motorstate;
			remotetag_paralen = 2+3;
			remotetag_para[0] = 2;
			remotetag_para[1] = 6;
			remotetag_para[2] = 2;
			memcpy(&remotetag_para[3],&pwtag.group_interval[i],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¦
			remotesend_state=0;
			break;
			}
			}

			}else{
			dwt_writetxdata(22, tx_nearresp_msg, 0);//åå¥åéæ°æ®
			dwt_writetxfctrl(22, 0);//è®¾å®åéé¿åº¦
			}

			// if(remotesend_state&&tag_id_recv==configremotetagID)
			// {
			// 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{

			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¯¯
			@@ -887,7 +962,7 @@
			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 +973,7 @@
			#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);
			@@ -912,14 +987,31 @@
			memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
			anc_report_num++;
			#endif
			#ifdef DEBUG_INF
			printf("åºå·ï¼%d\r\n",frame_seq_nb2);
			#endif
			}else{
			// printf("%d",hex_dist);
			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);
			#ifdef DEBUG_INF
			printf("finalåå¤±è´¥ï¼%x/n",status_reg);
			#endif
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			}
			}
			@@ -955,7 +1047,7 @@
			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:
			@@ -1046,6 +1138,9 @@
			break;
			}
			}else{
			#ifdef DEBUG_INF
			printf("pollåå¤±è´¥ï¼%x/n",status_reg);
			#endif
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			}
			}