UWB_SmallModule_F103.git

			@@ -9,7 +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. */
			@@ -465,7 +465,7 @@
			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);
			IWDG_Feed();
			IWDG_Feed();
			if(temp_dist!=0x1ffff)
			{
			g_Resttimer=0;
			@@ -474,20 +474,17 @@
			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
			@@ -524,20 +521,17 @@
			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
			@@ -998,8 +992,8 @@
			filter_dist=hex_dist/10;
			#endif
			misdist_num[taglist_pos]=0;
			tagdist_list[taglist_pos] = filter_dist;
			his_dist[taglist_pos]=hex_dist;
			tagdist_list[taglist_pos] = filter_dist;
			his_dist[taglist_pos]=hex_dist;
			if(hex_dist>0)
			{
			g_Tagdist[taglist_pos]=hex_dist/10;
			@@ -1007,22 +1001,27 @@
			// g_Tagdist[taglist_pos]= 1;
			}
			#ifdef USART_SINGLE_OUTPUT
			usart_send[2] = 1;//æ£å¸¸æ¨¡å¼
			usart_send[3] = 17;//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);
			if(tagdist_list[taglist_pos]<=0)
			tagdist_list[taglist_pos]=0x2ffff;
			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);
			// usart_send[2] = 1;//æ£å¸¸æ¨¡å¼
			// usart_send[3] = 17;//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);
			// if(tagdist_list[taglist_pos]<=0)
			// tagdist_list[taglist_pos]=0x2ffff;
			// 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);
			memcpy(&usart_send[0],&dev_id,2);
			memcpy(&usart_send[2],&tag_id_recv,2);
			memcpy(&usart_send[4],&tagdist_list[taglist_pos],4);

			UART_PushFrame(usart_send,8);
			#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);
			@@ -1109,29 +1108,29 @@
			// Anchor_RecPoll();
			// break;
			case SYNC:
			memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
			if(rec_syncid<current_syncid)
			{
			current_syncid=rec_syncid;
			flag_syncbase=0;
			sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
			TIM3->CNT = sync_seq*325%1000+15;
			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);
			}

			}
			// memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
			// if(rec_syncid<current_syncid)
			// {
			// current_syncid=rec_syncid;
			// flag_syncbase=0;
			// sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
			// TIM3->CNT = sync_seq*325%1000+15;
			// 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);
			// }
			//
			// }
			break;
			case NEAR_MSG:
			if(anc_id_recv==flag_syncbase)
			@@ -1157,7 +1156,7 @@
			memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
			memcpy(&rec_ancidlist,&rx_buffer[NEARBASEID_INDEX],2*rec_nearbase_num);
			memcpy(&rec_ancdistlist,&rx_buffer[NEARBASEID_INDEX+2rec_nearbase_num],2rec_nearbase_num);
			memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+nearbase_num*4],2);
			memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*4],2);
			#ifdef USART_ALL_OUTPUT
			usart_send[2] = 0x0c;//æ£å¸¸æ¨¡å¼
			usart_send[3] = 8+rec_nearbase_num*4;//æ°æ®æ®µé¿åº¦