UWB_SmallModule_F103.git

			@@ -64,6 +64,8 @@
			#define FINAL_MSG_FINAL_TX_TS_IDX 18
			#define FINAL_MSG_TS_LEN 4

			#define SYNC_SEQ_IDX 5

			#define GROUP_ID_IDX 0
			#define ANCHOR_ID_IDX 1
			#define TAG_ID_IDX 5
			@@ -75,11 +77,13 @@
			#define BUTTON_IDX 16
			#define SEQUENCE_IDX 17
			//respose
			#define TIMECORRE 14
			#define ANCTIMEMS 14
			#define ANCTIMEUS 16

			#define POLL 0x01
			#define RESPONSE 0x02
			#define FINAL 0x03
			#define SYNC 0x04

			/------------------------------------ Variables ------------------------------------------/
			/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
			@@ -98,11 +102,12 @@

			/* Frames used in the ranging process. See NOTE 2 below. */
			static uint8_t tx_poll_msg[20] = {0};
			static uint8_t tx_sync_msg[14] = {0};
			//static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
			static uint8_t tx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};

			//static uint8_t rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
			static uint8_t tx_resp_msg[18] = {0};
			static uint8_t tx_resp_msg[20] = {0};
			//static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};

			/* Frame sequence number, incremented after each transmission. */
			@@ -268,10 +273,12 @@
			tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
			tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
			tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
			tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;

			memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 4);
			memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 4);
			memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 4);

			memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 4);
			}
			uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
			{
			@@ -292,18 +299,31 @@
			dwt_configuresleep(0x940, 0x7);
			dwt_entersleep();
			}
			extern uint8_t g_start_send_flag;
			u8 g_start_sync_flag;
			void SyncPoll(u8 sync_seq)
			{
			g_start_sync_flag=1;
			dwt_forcetrxoff();
			tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
			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);
			}
			uint16_t g_Resttimer;
			uint8_t result;
			u8 tag_succ_times=0;
			int32_t hex_dist;
			u16 checksum;
			int8_t tag_delaytime;
			extern uint16_t sync_timer;
			u16 tmp_time;
			void Tag_App(void)//åéæ¨¡å¼(TAGæ ç¾)
			{
			uint32_t frame_len;
			uint32_t final_tx_time;
			u32 start_poll;
			u8 i;
			u8 i,getsync_flag=0;
			//LED0_ON;
			dwt_forcetrxoff();
			g_Resttimer=0;
			@@ -313,11 +333,11 @@
			tx_poll_msg[BATTARY_IDX] = Get_Battary();
			tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
			tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;

			GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);
			for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
			{
			/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
			tx_poll_msg[ANC_TYPE_IDX] = i;
			tx_poll_msg[ANC_TYPE_IDX] = i-1;

			dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
			dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//è®¾ç½®è¶å®½å¸¦åéæ°æ®é¿åº¦
			@@ -360,15 +380,21 @@
			poll_tx_ts = get_tx_timestamp_u64(); //è·å¾POLLåéæ¶é´T1
			resp_rx_ts = get_rx_timestamp_u64(); //è·å¾RESPONSEæ¥æ¶æ¶é´T4

			if(i==0)
			{
			tag_delaytime=rx_buffer[TIMECORRE];
			if(tag_delaytime>g_com_map[COM_INTERVAL]/2)
			{
			tag_delaytime=tag_delaytime-g_com_map[COM_INTERVAL];
			}
			}

			if(getsync_flag==0)
			{
			getsync_flag=1;
			memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
			memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
			tmp_time=tmp_time+450;
			if(tmp_time>999)
			{
			tmp_time-=999;
			sync_timer++;
			if(sync_timer>=1010)
			{sync_timer=0;}
			}
			TIM3->CNT=tmp_time;
			}
			memcpy(&anchor_dist_last_frm[0], &rx_buffer[DIST_IDX], 4);
			memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
			/* Compute final message transmission time. See NOTE 9 below. */
			@@ -442,7 +468,8 @@

			}
			int8_t correction_time;
			extern uint8_t g_start_send_flag;
			extern uint8_t sync_seq;

			void Anchor_App(void)
			{
			uint32_t frame_len;
			@@ -455,7 +482,7 @@
			dwt_rxenable(0);//æå¼æ¥æ¶

			/* Poll for reception of a frame or error/timeout. See NOTE 7 below. */
			while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG \| SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag)//ä¸ææ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæèåºç°éè¯¯
			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();
			g_Resttimer=0;
			@@ -489,10 +516,10 @@

			if (rx_buffer[MESSAGE_TYPE_IDX] == POLL&&(anchor_type == rx_buffer[ANC_TYPE_IDX])) //å¤ææ¯å¦æ¯pollåæ°æ®
			{
			correction_time=tag_timer-tag_id_recv*3;
			if(correction_time == g_com_map[COM_INTERVAL])
			correction_time = 0;
			tx_resp_msg[TIMECORRE] = correction_time;
			tmp_time=TIM3->CNT;
			memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2);
			memcpy(&tx_resp_msg[ANCTIMEUS],&tmp_time,2);

			// if(correction_time>10)
			// {correction_time++;}

			@@ -593,7 +620,7 @@
			memcpy(&usart_send[5],&tag_id_recv,2);
			memcpy(&usart_send[7],&dev_id,2);

			memcpy(&usart_send[9],&hex_dist,4);
			memcpy(&usart_send[9],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4);
			usart_send[13] = battary;
			usart_send[14] = button;
			checksum = Checksum_u16(&usart_send[2],17);
			@@ -608,6 +635,16 @@
			/* Clear RX error events in the DW1000 status register. */
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			}
			}else if(rx_buffer[MESSAGE_TYPE_IDX] == SYNC)
			{
			if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
			// if(rx_buffer[SYNC_SEQ_IDX]==2)
			{
			sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
			TIM3->CNT = sync_seq*325%1000+15;
			sync_timer = sync_seq*325/1000;
			SyncPoll(sync_seq);
			}
			}
			}
			else