UWB_SmallModule_F103.git

zhyinch

2022-02-18 4a13529748c983ff0d5627a28365ad7737141016

V1.62

已修改13个文件

	源码/核心板/MDK-ARM/Project.uvguix.zhyin	344 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/MDK-ARM/Project.uvoptx	77 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/ExternalDevices/beep.h	2 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/ExternalDevices/dw_driver.h	6 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/OnChipDevices/Rcc_Nvic_Systick.c	20 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/OnChipDevices/Rcc_Nvic_Systick.h	2 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/OnChipDevices/Usart.c	8 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/OnChipDevices/Usart.h	7 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/application/dw_app.c	109 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/application/global_param.h	2 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/application/serial_at_cmd_app.c	2 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/main.c	34 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/stm32f10x_it.c	19 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史

 Ô´Âë/ºËÐÄ°å/MDK-ARM/Project.uvguix.zhyin

@@ -6,7 +6,7 @@
  <Header>### uVision Project, (C) Keil Software</Header>

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        </Ww>
        <Ww>
          <count>4</count>
          <WinNumber>1</WinNumber>
          <ItemText>current_slotnum,0x0A</ItemText>
          <ItemText>true_exsistbase_list</ItemText>
        </Ww>
        <Ww>
          <count>5</count>
          <WinNumber>1</WinNumber>
          <ItemText>temp_sync_timer1,0x0A</ItemText>
          <ItemText>status_reg</ItemText>
        </Ww>
        <Ww>
          <count>6</count>
          <WinNumber>1</WinNumber>
          <ItemText>tyncpoll_time,0x0A</ItemText>
          <ItemText>dw1000local</ItemText>
        </Ww>
        <Ww>
          <count>7</count>
          <WinNumber>1</WinNumber>
          <ItemText>flag_syncbase</ItemText>
          <ItemText>rx_buffer</ItemText>
        </Ww>
        <Ww>
          <count>8</count>
          <WinNumber>1</WinNumber>
          <ItemText>g_Resttimer,0x0A</ItemText>
          <ItemText>pwtag</ItemText>
        </Ww>
        <Ww>
          <count>9</count>
          <WinNumber>1</WinNumber>
          <ItemText>sync_timer,0x0A</ItemText>
          <ItemText>mUsartReceivePack</ItemText>
        </Ww>
        <Ww>
          <count>10</count>
          <WinNumber>1</WinNumber>
          <ItemText>status_reg</ItemText>
          <ItemText>g_com_map</ItemText>
        </Ww>
        <Ww>
          <count>11</count>
          <WinNumber>1</WinNumber>
          <ItemText>status_reg</ItemText>
          <ItemText>g_Resttimer,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>12</count>
          <WinNumber>1</WinNumber>
          <ItemText>testt6,0x0A</ItemText>
          <ItemText>rx_buffer[MESSAGE_TYPE_IDX]</ItemText>
        </Ww>
        <Ww>
          <count>13</count>
          <WinNumber>1</WinNumber>
          <ItemText>testt4,0x0A</ItemText>
          <ItemText>rx_buffer</ItemText>
        </Ww>
        <Ww>
          <count>14</count>
          <WinNumber>1</WinNumber>
          <ItemText>testt5,0x0A</ItemText>
          <ItemText>g_start_send_flag</ItemText>
        </Ww>
        <Ww>
          <count>15</count>
          <WinNumber>1</WinNumber>
          <ItemText>m_EUART_TxFrm_FreeFrmLen,0x0A</ItemText>
          <ItemText>hex_dist,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>16</count>
          <WinNumber>1</WinNumber>
          <ItemText>m_EUART_TxFrames</ItemText>
          <ItemText>rlv,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>17</count>
          <WinNumber>1</WinNumber>
          <ItemText>m_bEUARTPushingFrms</ItemText>
          <ItemText>g_com_map[0X78]</ItemText>
        </Ww>
        <Ww>
          <count>18</count>
          <WinNumber>1</WinNumber>
          <ItemText>m_bEUARTCheckingSend</ItemText>
          <ItemText>g_com_map[0X79]</ItemText>
        </Ww>
        <Ww>
          <count>19</count>
          <WinNumber>1</WinNumber>
          <ItemText>testt,0x0A</ItemText>
          <ItemText>g_com_map</ItemText>
        </Ww>
        <Ww>
          <count>20</count>
          <WinNumber>1</WinNumber>
          <ItemText>tagslotpos</ItemText>
          <ItemText>min_dist,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>21</count>
          <WinNumber>1</WinNumber>
          <ItemText>tagpos_binary</ItemText>
          <ItemText>beep_state</ItemText>
        </Ww>
        <Ww>
          <count>22</count>
          <WinNumber>1</WinNumber>
          <ItemText>tyncpoll_time</ItemText>
          <ItemText>min_dist,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>23</count>
          <WinNumber>1</WinNumber>
          <ItemText>beep_state2</ItemText>
        </Ww>
        <Ww>
          <count>24</count>
          <WinNumber>1</WinNumber>
          <ItemText>g_com_map</ItemText>
        </Ww>
        <Ww>
          <count>25</count>
          <WinNumber>1</WinNumber>
          <ItemText>pack_index</ItemText>
        </Ww>
      </WatchWindow1>
      <MemoryWindow1>
        <Mm>

 Ô´Âë/ºËÐÄ°å/Src/ExternalDevices/beep.h

@@ -27,13 +27,11 @@
#define RELAY1_PIN              GPIO_Pin_0
#define RELAY1_ON                        GPIO_WriteBit(RELAY1_GPIO, RELAY1_PIN, Bit_SET)
#define RELAY1_OFF                    GPIO_WriteBit(RELAY1_GPIO, RELAY1_PIN, Bit_RESET)
#define    READ_RELAY1                 GPIO_ReadInputDataBit(RELAY1_GPIO,RELAY1_PIN)

#define RELAY2_GPIO              GPIOB
#define RELAY2_PIN              GPIO_Pin_1
#define RELAY2_ON                        GPIO_WriteBit(RELAY2_GPIO, RELAY2_PIN, Bit_SET)
#define RELAY2_OFF                    GPIO_WriteBit(RELAY2_GPIO, RELAY2_PIN, Bit_RESET)
#define    READ_RELAY2                 GPIO_ReadInputDataBit(RELAY2_GPIO,RELAY2_PIN)

void Beep_Init(void);


 Ô´Âë/ºËÐÄ°å/Src/ExternalDevices/dw_driver.h

@@ -9,11 +9,11 @@
#define DW1000_RSTn_GPIO            GPIOB
#define DW1000_WAKEUP                GPIO_Pin_8
#define DW1000_WAKEUP_GPIO            GPIOA
#define DW1000_IRQ                    GPIO_Pin_0
#define DW1000_IRQ                    GPIO_Pin_1
#define DW1000_IRQ_GPIO                GPIOA
#define DECAIRQ_EXTI                EXTI_Line0
#define DECAIRQ_EXTI                EXTI_Line1
#define DECAIRQ_EXTI_PORT           GPIO_PortSourceGPIOA
#define DECAIRQ_EXTI_PIN            GPIO_PinSource0
#define DECAIRQ_EXTI_PIN            GPIO_PinSource1

#define deca_sleep(...)                delay_ms(__VA_ARGS__)


 Ô´Âë/ºËÐÄ°å/Src/OnChipDevices/Rcc_Nvic_Systick.c

@@ -129,19 +129,19 @@
    
    /* Enable and set EXTI Interrupt to the lowest priority */
    NVIC_InitStructure.NVIC_IRQChannel = DECAIRQ_EXTI_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 15;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

//        NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
//        NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
//        NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
//        NVIC_Init(&NVIC_InitStructure);
//	
//        NVIC_InitStructure.NVIC_IRQChannel = RTCAlarm_IRQn;
//    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
//    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
//        NVIC_InitStructure.NVIC_IRQChannelCmd =ENABLE;
        NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
        NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
        NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
        NVIC_Init(&NVIC_InitStructure);
	
        NVIC_InitStructure.NVIC_IRQChannel = RTCAlarm_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
        NVIC_InitStructure.NVIC_IRQChannelCmd =ENABLE;
    
    NVIC_Init(&NVIC_InitStructure);
}

 Ô´Âë/ºËÐÄ°å/Src/OnChipDevices/Rcc_Nvic_Systick.h

@@ -4,7 +4,7 @@

#include "stm32f10x.h"

#define DECAIRQ_EXTI_IRQn            EXTI0_IRQn
#define DECAIRQ_EXTI_IRQn            EXTI2_IRQn

void Rcc_Init(void);
void Nvic_Init(void);

 Ô´Âë/ºËÐÄ°å/Src/OnChipDevices/Usart.c

@@ -2,7 +2,6 @@
#include <string.h>
#include <stdio.h>
#include "modbus.h"

//æ°æ®åééååé
EUART_Frame m_EUART_TxFrames[EUART_TX_FRM_SIZE];    //æ°æ®åéå¸§éå    
volatile int8_t m_EUART_TxFrm_Tail = 0;                    //æ°æ®åéå¸§éåå°¾æé
@@ -123,6 +122,7 @@
    UART_DMAConfiguration();
    
}

extern u8 cmd_mode;
u8 overrun_flag=0;
u16 t1,t2,t3,t4;
@@ -270,7 +270,6 @@
}



#ifndef EXUART_USE_TXDMA                            
//æ¥è¯¢æ¹å¼åéæ°æ®
void UART_CheckSend(void)
@@ -333,7 +332,7 @@
 }           // */

#else

 /*
//æ£æ¥æ¯å¦æ°æ®å¸§éè¦åé
void UART_CheckSend(void)
{
@@ -361,12 +360,10 @@
    if(m_EUART_TxFrm_Head == m_EUART_TxFrm_Tail)
    {
        m_bEUARTCheckingSend = 0;
        OUT485_DISABLE;
        return;
    }
    
    //å¼å¯ä¸æ¬¡æ°æ®åé
    OUT485_ENABLE;
    EUART_TX_DMA_CH->CMAR = (uint32_t)m_EUART_TxFrames[m_EUART_TxFrm_Tail].buf;    //è¦åéçååå°å 
    EUART_TX_DMA_CH->CNDTR = m_EUART_TxFrames[m_EUART_TxFrm_Tail].len;        //è¦åéçåèæ°
    EUART_TX_DMA_CH->CCR |= 0x01;                                            //å¼å¯ä¸æ¬¡DMA  
@@ -401,7 +398,6 @@
        m_EUART_TxFrm_Head = 0;
    m_EUART_TxFrm_FreeFrmLen--;
    m_bEUARTPushingFrms = 0;    
    UART_CheckSend();
}

//å°ææ°ä¸å¸§æ°æ®Popåºéå

 Ô´Âë/ºËÐÄ°å/Src/OnChipDevices/Usart.h

@@ -10,7 +10,6 @@
#define OUT485_DISABLE         GPIO_WriteBit(EU_485_GPIO, EU_485_PIN, Bit_RESET);

//#define UART_GPIO_REMAP_ENABLE
#define EXUART_USE_TXDMA
#ifdef UART_GPIO_REMAP_ENABLE
    #define UART_GPIO_REMAP            GPIO_Remap_USART1
    #define EU_RCC_GPIO                RCC_APB2Periph_GPIOB
@@ -31,10 +30,8 @@
#define EUART_RX_DMA_CH             DMA1_Channel5
#define EUART_TX_DMA_CH            DMA1_Channel4

#define EUART_DMA DMA1
#define EUART_TX_DMA_IT_TC DMA1_IT_TC4 
#define EUART_TX_FRM_SIZE        25                //åééåä¸çæå¤§å¸§æ°
#define EUART_TX_FRMBUF_SIZE    100                //åééåæ¯å¸§ç¼åå¤§å°
#define EUART_TX_FRM_SIZE        14                //åééåä¸çæå¤§å¸§æ°
#define EUART_TX_FRMBUF_SIZE    200                //åééåæ¯å¸§ç¼åå¤§å°
#define EUART_RX_BUF_SIZE        200                //æ¥æ¶ç¼åå¤§å°

#define EXT_UART                USART1

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -128,8 +128,9 @@

    /* Configure DW1000. See NOTE 6 below. */
    dwt_configure(&config);//éç½®DW1000
     dwt_setinterrupt(  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¿
@@ -182,11 +183,10 @@
u8 g_start_sync_flag;
void SyncPoll(u8 sync_seq,uint32_t sync_baseid)
{u8 result;
    //g_start_sync_flag=1;   //ä¸ææ¨¡å¼ï¼éåºç»ç«¯åï¼éè¦éæ°æ¥è¿
    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[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»
@@ -198,10 +198,6 @@
                { };
        }
             dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//æ¸æ¥æ å¿ä½
    //    UART_CheckSend();
    //dwt_setinterrupt(  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(0);//è®¾å®æ¥æ¶è¶æ¶æ¶é´ï¼0ä½æ²¡æè¶æ¶æ¶é´
    dwt_rxenable(0);//æå¼æ¥æ¶
}
uint16_t g_Resttimer;
uint8_t result;
@@ -220,13 +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,record_time[10],record_i;
u16 current_slotnum,total_slotnum,target_time,last_time;
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);
@@ -243,11 +239,7 @@
    {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)
{
@@ -430,7 +422,7 @@
                                    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);        
@@ -473,10 +465,10 @@
                                    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)
                                if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
                                    {
                                        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¦
@@ -494,7 +486,6 @@
                                        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

@@ -526,7 +517,7 @@
                                    LED0_BLINK;
//                                    memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
//                                    tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
                                    if(temp_dist!=0x1ffff)
                                    if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
                                    {
                                        #ifdef USART_SINGLE_OUTPUT
                                        usart_send[2] = 1;//æ£å¸¸æ¨¡å¼
@@ -545,7 +536,6 @@
                                        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

@@ -727,7 +717,6 @@
{
    //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)
    {
@@ -745,16 +734,12 @@
    SetNextPollTime(tyncpoll_time);
    g_start_send_flag = 0;        
    GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);    
    UART_CheckSend();
    dwt_setinterrupt(  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(0);//è®¾å®æ¥æ¶è¶æ¶æ¶é´ï¼0ä½æ²¡æè¶æ¶æ¶é´
    dwt_rxenable(0);//æå¼æ¥æ¶
}

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],tagstate_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)
@@ -878,8 +863,6 @@
 //   min_power =  - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
    return min_power;
  }
u8 testt[100],testt2[100],testt3[100],testt4[100],testt6[100],ti;
u16 testt5[100];
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;
@@ -934,11 +917,11 @@
            dwt_writetxfctrl(22, 0);//è®¾å®åéé¿åº¦
            }
            result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//å»¶è¿åéï¼çå¾æ¥æ¶
testt2[ti]=frame_seq_nb2;

            
            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¯¯
                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¯¯
            { };
        }else{
            result++;
@@ -946,7 +929,7 @@
    
            if (status_reg & SYS_STATUS_RXFCG)//æ¥æ¶æå
            {
                testt3[ti]=frame_seq_nb2;
				
                dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//æ¸æ¥æ å¿ä½
                frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//æ°æ®é¿åº¦
                dwt_readrxdata(rx_buffer, frame_len, 0);//è¯»åæ¥æ¶æ°æ®
@@ -995,8 +978,7 @@
                        }
                    
                    g_flag_Taggetdist[taglist_pos]=0;
             testt4[ti]=frame_seq_nb2; 
                            testt5[ti] = hex_dist/10;												
                    
                    if(hex_dist>-100000&&hex_dist<2000000)
                    {
                    if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
@@ -1038,9 +1020,6 @@
                    memcpy(&usart_send[19],&checksum,2);
                    if(g_com_map[MODBUS_MODE]!=1)
                    UART_PushFrame(usart_send,21);
                //USART_puts(usart_send,21);
                    testt6[ti]=frame_seq_nb2; 
                    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);
@@ -1071,7 +1050,6 @@
                        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]++;
@@ -1087,20 +1065,6 @@
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(0);//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)
{
    
@@ -1108,24 +1072,23 @@
    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_setinterrupt(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);
    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();
    };
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);    
    if (status_reg & SYS_STATUS_RXFCG)//æåæ¥æ¶
    { u16 tag_recv_interval;
        float temp_tagpos;
		
	

        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¦
        recpoll_len = frame_len;
@@ -1184,13 +1147,10 @@
        
            case NEAR_POLL:    
                frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
            testt[ti++]=frame_seq_nb2;
            if(ti>100)
                ti=0;
                battary = rx_buffer[BATTARY_IDX];
                button = rx_buffer[BUTTON_IDX];
                rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];                
                                memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
                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+2*rec_nearbase_num],2*rec_nearbase_num);
                memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+nearbase_num*4],2);
@@ -1214,7 +1174,8 @@
                if(taglist_pos==taglist_num)
                {
                    taglist_pos=taglist_num;
                    tagid_list[taglist_num++]=tag_id_recv;					
                    tagid_list[taglist_num++]=tag_id_recv;
					
                    new_tagid=1;
                }else{
                    new_tagid=0;
@@ -1249,13 +1210,9 @@
                
                break;        
        }    
    }
}else{
    }else{
        dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
    }
UART_CheckSend();
    dwt_setinterrupt(  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(0);//è®¾å®æ¥æ¶è¶æ¶æ¶é´ï¼0ä½æ²¡æè¶æ¶æ¶é´
    dwt_rxenable(0);//æå¼æ¥æ¶
}
}


 Ô´Âë/ºËÐÄ°å/Src/application/global_param.h

@@ -28,8 +28,6 @@
#define        PAIR_ID                            0xD        //å°äºå¤å°è·ç¦»æ¥è¦
#define        HEARTBEAT               0xE
#define        MODBUS_MODE                   0xF        //MOBUSÄ£Ê½
#define   RELAY1_STATE_INDEX    0x10
#define   RELAY2_STATE_INDEX    0x11

#define      MODBUS_ADDRESS                    0x10
#define      MODBUS_ID1                    0x11

 Ô´Âë/ºËÐÄ°å/Src/application/serial_at_cmd_app.c

@@ -64,6 +64,7 @@
u8 remotetag_para[30];
u8 remotesend_state=0;
u16 rec_checksum;
extern u8 cmd_mode;
void UsartParseDataHandler(uint8_t data)
{
    static UsartRecvPackState usart_receive_state = UsartReceiveWaitHead0;
@@ -75,6 +76,7 @@
    
    if(usart_receive_state == UsartReceiveWaitChecksum1) {            //è¥æ¶å°æ ¡éªåå.
        checksum = 0;
        cmd_mode = 0;
        for(int i = 0; i<pack_length-5; i++) { 
            checksum += mUsartReceivePack[i];
        }

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -46,7 +46,7 @@
    RCC_Configuration();
    //SystemInit();
    NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
	
    Nvic_Init();
//    Systick_Init();
    TIM3_Int_Init();
    Led_Init();
@@ -55,9 +55,8 @@
    Uart1_Init();
    Spi_Init();
    ADC_Configuration();
    //IWDG_Config(IWDG_Prescaler_128 ,4095);   //10s
    Nvic_Init();
  IWDG_Feed();
    IWDG_Config(IWDG_Prescaler_128 ,4095);   //10s
    IWDG_Feed();
    GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
}
u8 anchor_type;
@@ -100,7 +99,6 @@
        if(dist_threshold>15000)
        {dist_threshold = 15000;}
}
extern u8 needanchorrx;  
u16 JDQ_time;
int16_t g_commap_antdelay;
void Program_Init(void)
@@ -148,7 +146,7 @@
        
    OUT485_ENABLE;
    ComMapCheck();    
    g_com_map[VERSION] = 1<<8|62;
    g_com_map[VERSION] = 1<<8|63;
    FLASH_Read(FLASH_HARDWARE_FLAG, (uint8_t*)&g_com_map[HARDWAREFLAG_INDEX], 16);
    dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]);
    g_commap_antdelay = g_com_map[ANT_LENGTH];
@@ -171,12 +169,11 @@
    
    if(g_com_map[DEV_ROLE])
    {
        needanchorrx = 0;
    printf("æ ç¾ID: %d .\r\n",dev_id);
    printf("éè®¯é´é: %d ms.\r\n",g_com_map[COM_INTERVAL]);
    printf("åæ¬¡éè®¯åºç«æ°é: %dä¸ª.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
    }else{
    needanchorrx = 1;
	
    anchor_type = dev_id%g_com_map[MAX_REPORT_ANC_NUM];
    printf("åºç«ID: %x .\r\n",dev_id);
    printf("åºç«ç±»å: %c .\r\n",anchor_type+0x41);
@@ -228,7 +225,7 @@
{
        
            UART_CheckReceive();
    //    UART_CheckSend();
        UART_CheckSend();
    
    if(heartbeat_timer>1000)
    {
@@ -307,12 +304,9 @@
        {
                SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //è½¯å¤ä½åå°bootloader   
        }
		
        g_com_map[RELAY1_STATE_INDEX] = READ_RELAY1;
        g_com_map[RELAY2_STATE_INDEX] = READ_RELAY2;

    }

    
int main(void)
{
 
@@ -328,23 +322,19 @@
    usart_send[1]=0xAA;
    usart_send_anc[0]=0x55;
    usart_send_anc[1]=0xAA;
    dwt_setrxtimeout(0);//è®¾å®æ¥æ¶è¶æ¶æ¶é´ï¼0ä½æ²¡æè¶æ¶æ¶é´
    dwt_rxenable(0);//æå¼æ¥æ¶

    while(1)
    {
//    g_start_sync_flag=0;
    g_start_sync_flag=0;
    if(g_start_send_flag)
    {
        g_start_send_flag = 0;        
        Tag_App();
        //needanchorrx = 1;
    }
        IdleTask();        
//if(g_com_map[DEV_ROLE]==0)
//    {needanchorrx = 0;
//            Anchor_App();
//       // Anchor_Start();
//    }
if(g_com_map[DEV_ROLE]==0)
        Anchor_App();

    }
}


 Ô´Âë/ºËÐÄ°å/Src/stm32f10x_it.c

@@ -41,7 +41,6 @@
u8 neartimout_timer=0,flag_syncbase=0,flag_newsecond=0;
extern u16 tyncpoll_time,target_time;
extern uint32_t synclost_timer,current_syncid;
u8 needanchorrx=1;
void TIM3_IRQHandler(void)   //TIM3??
{
    if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET)  //??TIM3????????
@@ -68,7 +67,7 @@
        
    if(g_Resttimer++>10000)
    {
    //    NVIC_SystemReset();
        NVIC_SystemReset();
    }


@@ -102,14 +101,13 @@
            flag_syncbase=1;
        }

        if(1)//flag_syncbase)  //æ¬æ¨¡åæ¯åæ¥åºç«
        if(flag_syncbase)  //æ¬æ¨¡åæ¯åæ¥åºç«
        {
        if(sync_timer==995)
        {
            current_syncid = g_com_map[DEV_ID];
            sync_seq=0;
            SyncPoll(sync_seq,current_syncid);
        //    needanchorrx = 1;
                SyncPoll(sync_seq,current_syncid);
        }
    }
    }else{        //æ ç¾åæ¥å¤ç
@@ -143,18 +141,7 @@

  }   
}
u32 status_reg;

void EXTI0_IRQHandler(void)
{
  if(EXTI_GetITStatus(EXTI_Line0)!= RESET)  
  {  
        status_reg = dwt_read32bitreg(SYS_STATUS_ID);
    EXTI_ClearITPendingBit(EXTI_Line0);
    Anchor_App();
    needanchorrx = 1;
  }   
}
void USART1_IRQHandler(void)
{
  if(USART_GetITStatus(EXT_UART, USART_IT_RXNE) != RESET)//?????????

			@@ -125,7 +125,7 @@
			<SetRegEntry>
			<Number>0</Number>
			<Key>DLGUARM</Key>
			<Name>d</Name>
			<Name></Name>
			</SetRegEntry>
			<SetRegEntry>
			<Number>0</Number>
			@@ -150,7 +150,7 @@
			<SetRegEntry>
			<Number>0</Number>
			<Key>DLGTARM</Key>
			<Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=-1,-1,-1,-1,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=767,133,1188,538,0)(121=747,81,1158,476,0)(122=-1,-1,-1,-1,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=346,0,745,345,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=-1,-1,-1,-1,0)(131=-1,-1,-1,-1,0)(132=150,26,744,720,0)(133=-1,-1,-1,-1,0)(160=-1,-1,-1,-1,0)(161=-1,-1,-1,-1,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=677,0,1280,634,0)(151=-1,-1,-1,-1,0)</Name>
			<Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=-1,-1,-1,-1,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=767,133,1188,538,0)(121=747,81,1158,476,0)(122=-1,-1,-1,-1,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=-1,-1,-1,-1,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=-1,-1,-1,-1,0)(131=-1,-1,-1,-1,0)(132=150,26,744,720,0)(133=-1,-1,-1,-1,0)(160=-1,-1,-1,-1,0)(161=-1,-1,-1,-1,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=677,0,1280,634,0)(151=-1,-1,-1,-1,0)</Name>
			</SetRegEntry>
			<SetRegEntry>
			<Number>0</Number>
			@@ -158,24 +158,7 @@
			<Name>-T0</Name>
			</SetRegEntry>
			</TargetDriverDllRegistry>
			<Breakpoint>
			<Bp>
			<Number>0</Number>
			<Type>0</Type>
			<LineNumber>114</LineNumber>
			<EnabledFlag>1</EnabledFlag>
			<Address>134252882</Address>
			<ByteObject>0</ByteObject>
			<HtxType>0</HtxType>
			<ManyObjects>0</ManyObjects>
			<SizeOfObject>0</SizeOfObject>
			<BreakByAccess>0</BreakByAccess>
			<BreakIfRCount>1</BreakIfRCount>
			<Filename>E:\GIT\UWB_SmallModule\å©§æ®ç\Src\main.c</Filename>
			<ExecCommand></ExecCommand>
			<Expression>\\UWB_Projects\../Src/main.c\114</Expression>
			</Bp>
			</Breakpoint>
			<Breakpoint/>
			<WatchWindow1>
			<Ww>
			<count>0</count>
			@@ -185,118 +168,128 @@
			<Ww>
			<count>1</count>
			<WinNumber>1</WinNumber>
			<ItemText>target_time,0x0A</ItemText>
			<ItemText>tyncpoll_time,0x0A</ItemText>
			</Ww>
			<Ww>
			<count>2</count>
			<WinNumber>1</WinNumber>
			<ItemText>time,0x0A</ItemText>
			<ItemText>true_nearbase_distlist</ItemText>
			</Ww>
			<Ww>
			<count>3</count>
			<WinNumber>1</WinNumber>
			<ItemText>record_time,0x0A</ItemText>
			<ItemText>true_nearbase_idlist</ItemText>
			</Ww>
			<Ww>
			<count>4</count>
			<WinNumber>1</WinNumber>
			<ItemText>current_slotnum,0x0A</ItemText>
			<ItemText>true_exsistbase_list</ItemText>
			</Ww>
			<Ww>
			<count>5</count>
			<WinNumber>1</WinNumber>
			<ItemText>temp_sync_timer1,0x0A</ItemText>
			<ItemText>status_reg</ItemText>
			</Ww>
			<Ww>
			<count>6</count>
			<WinNumber>1</WinNumber>
			<ItemText>tyncpoll_time,0x0A</ItemText>
			<ItemText>dw1000local</ItemText>
			</Ww>
			<Ww>
			<count>7</count>
			<WinNumber>1</WinNumber>
			<ItemText>flag_syncbase</ItemText>
			<ItemText>rx_buffer</ItemText>
			</Ww>
			<Ww>
			<count>8</count>
			<WinNumber>1</WinNumber>
			<ItemText>g_Resttimer,0x0A</ItemText>
			<ItemText>pwtag</ItemText>
			</Ww>
			<Ww>
			<count>9</count>
			<WinNumber>1</WinNumber>
			<ItemText>sync_timer,0x0A</ItemText>
			<ItemText>mUsartReceivePack</ItemText>
			</Ww>
			<Ww>
			<count>10</count>
			<WinNumber>1</WinNumber>
			<ItemText>status_reg</ItemText>
			<ItemText>g_com_map</ItemText>
			</Ww>
			<Ww>
			<count>11</count>
			<WinNumber>1</WinNumber>
			<ItemText>status_reg</ItemText>
			<ItemText>g_Resttimer,0x0A</ItemText>
			</Ww>
			<Ww>
			<count>12</count>
			<WinNumber>1</WinNumber>
			<ItemText>testt6,0x0A</ItemText>
			<ItemText>rx_buffer[MESSAGE_TYPE_IDX]</ItemText>
			</Ww>
			<Ww>
			<count>13</count>
			<WinNumber>1</WinNumber>
			<ItemText>testt4,0x0A</ItemText>
			<ItemText>rx_buffer</ItemText>
			</Ww>
			<Ww>
			<count>14</count>
			<WinNumber>1</WinNumber>
			<ItemText>testt5,0x0A</ItemText>
			<ItemText>g_start_send_flag</ItemText>
			</Ww>
			<Ww>
			<count>15</count>
			<WinNumber>1</WinNumber>
			<ItemText>m_EUART_TxFrm_FreeFrmLen,0x0A</ItemText>
			<ItemText>hex_dist,0x0A</ItemText>
			</Ww>
			<Ww>
			<count>16</count>
			<WinNumber>1</WinNumber>
			<ItemText>m_EUART_TxFrames</ItemText>
			<ItemText>rlv,0x0A</ItemText>
			</Ww>
			<Ww>
			<count>17</count>
			<WinNumber>1</WinNumber>
			<ItemText>m_bEUARTPushingFrms</ItemText>
			<ItemText>g_com_map[0X78]</ItemText>
			</Ww>
			<Ww>
			<count>18</count>
			<WinNumber>1</WinNumber>
			<ItemText>m_bEUARTCheckingSend</ItemText>
			<ItemText>g_com_map[0X79]</ItemText>
			</Ww>
			<Ww>
			<count>19</count>
			<WinNumber>1</WinNumber>
			<ItemText>testt,0x0A</ItemText>
			<ItemText>g_com_map</ItemText>
			</Ww>
			<Ww>
			<count>20</count>
			<WinNumber>1</WinNumber>
			<ItemText>tagslotpos</ItemText>
			<ItemText>min_dist,0x0A</ItemText>
			</Ww>
			<Ww>
			<count>21</count>
			<WinNumber>1</WinNumber>
			<ItemText>tagpos_binary</ItemText>
			<ItemText>beep_state</ItemText>
			</Ww>
			<Ww>
			<count>22</count>
			<WinNumber>1</WinNumber>
			<ItemText>tyncpoll_time</ItemText>
			<ItemText>min_dist,0x0A</ItemText>
			</Ww>
			<Ww>
			<count>23</count>
			<WinNumber>1</WinNumber>
			<ItemText>beep_state2</ItemText>
			</Ww>
			<Ww>
			<count>24</count>
			<WinNumber>1</WinNumber>
			<ItemText>g_com_map</ItemText>
			</Ww>
			<Ww>
			<count>25</count>
			<WinNumber>1</WinNumber>
			<ItemText>pack_index</ItemText>
			</Ww>
			</WatchWindow1>
			<MemoryWindow1>
			<Mm>

			@@ -27,13 +27,11 @@
			#define RELAY1_PIN GPIO_Pin_0
			#define RELAY1_ON GPIO_WriteBit(RELAY1_GPIO, RELAY1_PIN, Bit_SET)
			#define RELAY1_OFF GPIO_WriteBit(RELAY1_GPIO, RELAY1_PIN, Bit_RESET)
			#define READ_RELAY1 GPIO_ReadInputDataBit(RELAY1_GPIO,RELAY1_PIN)

			#define RELAY2_GPIO GPIOB
			#define RELAY2_PIN GPIO_Pin_1
			#define RELAY2_ON GPIO_WriteBit(RELAY2_GPIO, RELAY2_PIN, Bit_SET)
			#define RELAY2_OFF GPIO_WriteBit(RELAY2_GPIO, RELAY2_PIN, Bit_RESET)
			#define READ_RELAY2 GPIO_ReadInputDataBit(RELAY2_GPIO,RELAY2_PIN)

			void Beep_Init(void);

			@@ -9,11 +9,11 @@
			#define DW1000_RSTn_GPIO GPIOB
			#define DW1000_WAKEUP GPIO_Pin_8
			#define DW1000_WAKEUP_GPIO GPIOA
			#define DW1000_IRQ GPIO_Pin_0
			#define DW1000_IRQ GPIO_Pin_1
			#define DW1000_IRQ_GPIO GPIOA
			#define DECAIRQ_EXTI EXTI_Line0
			#define DECAIRQ_EXTI EXTI_Line1
			#define DECAIRQ_EXTI_PORT GPIO_PortSourceGPIOA
			#define DECAIRQ_EXTI_PIN GPIO_PinSource0
			#define DECAIRQ_EXTI_PIN GPIO_PinSource1

			#define deca_sleep(...) delay_ms(__VA_ARGS__)

			@@ -129,19 +129,19 @@

			/* Enable and set EXTI Interrupt to the lowest priority */
			NVIC_InitStructure.NVIC_IRQChannel = DECAIRQ_EXTI_IRQn;
			NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
			NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 15;
			NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
			NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

			// NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
			// NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
			// NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
			// NVIC_Init(&NVIC_InitStructure);
			//
			// NVIC_InitStructure.NVIC_IRQChannel = RTCAlarm_IRQn;
			// NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
			// NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
			// NVIC_InitStructure.NVIC_IRQChannelCmd =ENABLE;
			NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
			NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
			NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
			NVIC_Init(&NVIC_InitStructure);

			NVIC_InitStructure.NVIC_IRQChannel = RTCAlarm_IRQn;
			NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
			NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
			NVIC_InitStructure.NVIC_IRQChannelCmd =ENABLE;

			NVIC_Init(&NVIC_InitStructure);
			}

			@@ -4,7 +4,7 @@

			#include "stm32f10x.h"

			#define DECAIRQ_EXTI_IRQn EXTI0_IRQn
			#define DECAIRQ_EXTI_IRQn EXTI2_IRQn

			void Rcc_Init(void);
			void Nvic_Init(void);

			@@ -2,7 +2,6 @@
			#include <string.h>
			#include <stdio.h>
			#include "modbus.h"

			//æ°æ®åééååé
			EUART_Frame m_EUART_TxFrames[EUART_TX_FRM_SIZE]; //æ°æ®åéå¸§éå
			volatile int8_t m_EUART_TxFrm_Tail = 0; //æ°æ®åéå¸§éåå°¾æé
			@@ -123,6 +122,7 @@
			UART_DMAConfiguration();

			}

			extern u8 cmd_mode;
			u8 overrun_flag=0;
			u16 t1,t2,t3,t4;
			@@ -270,7 +270,6 @@
			}



			#ifndef EXUART_USE_TXDMA
			//æ¥è¯¢æ¹å¼åéæ°æ®
			void UART_CheckSend(void)
			@@ -333,7 +332,7 @@
			} // */

			#else

			/*
			//æ£æ¥æ¯å¦æ°æ®å¸§éè¦åé
			void UART_CheckSend(void)
			{
			@@ -361,12 +360,10 @@
			if(m_EUART_TxFrm_Head == m_EUART_TxFrm_Tail)
			{
			m_bEUARTCheckingSend = 0;
			OUT485_DISABLE;
			return;
			}

			//å¼å¯ä¸æ¬¡æ°æ®åé
			OUT485_ENABLE;
			EUART_TX_DMA_CH->CMAR = (uint32_t)m_EUART_TxFrames[m_EUART_TxFrm_Tail].buf; //è¦åéçååå°å
			EUART_TX_DMA_CH->CNDTR = m_EUART_TxFrames[m_EUART_TxFrm_Tail].len; //è¦åéçåèæ°
			EUART_TX_DMA_CH->CCR \|= 0x01; //å¼å¯ä¸æ¬¡DMA
			@@ -401,7 +398,6 @@
			m_EUART_TxFrm_Head = 0;
			m_EUART_TxFrm_FreeFrmLen--;
			m_bEUARTPushingFrms = 0;
			UART_CheckSend();
			}

			//å°ææ°ä¸å¸§æ°æ®Popåºéå

			@@ -10,7 +10,6 @@
			#define OUT485_DISABLE GPIO_WriteBit(EU_485_GPIO, EU_485_PIN, Bit_RESET);

			//#define UART_GPIO_REMAP_ENABLE
			#define EXUART_USE_TXDMA
			#ifdef UART_GPIO_REMAP_ENABLE
			#define UART_GPIO_REMAP GPIO_Remap_USART1
			#define EU_RCC_GPIO RCC_APB2Periph_GPIOB
			@@ -31,10 +30,8 @@
			#define EUART_RX_DMA_CH DMA1_Channel5
			#define EUART_TX_DMA_CH DMA1_Channel4

			#define EUART_DMA DMA1
			#define EUART_TX_DMA_IT_TC DMA1_IT_TC4
			#define EUART_TX_FRM_SIZE 25 //åééåä¸çæå¤§å¸§æ°
			#define EUART_TX_FRMBUF_SIZE 100 //åééåæ¯å¸§ç¼åå¤§å°
			#define EUART_TX_FRM_SIZE 14 //åééåä¸çæå¤§å¸§æ°
			#define EUART_TX_FRMBUF_SIZE 200 //åééåæ¯å¸§ç¼åå¤§å°
			#define EUART_RX_BUF_SIZE 200 //æ¥æ¶ç¼åå¤§å°

			#define EXT_UART USART1

			@@ -128,8 +128,9 @@

			/* Configure DW1000. See NOTE 6 below. */
			dwt_configure(&config);//éç½®DW1000
			dwt_setinterrupt( 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¿
			@@ -182,11 +183,10 @@
			u8 g_start_sync_flag;
			void SyncPoll(u8 sync_seq,uint32_t sync_baseid)
			{u8 result;
			//g_start_sync_flag=1; //ä¸ææ¨¡å¼ï¼éåºç»ç«¯åï¼éè¦éæ°æ¥è¿
			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[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»
			@@ -198,10 +198,6 @@
			{ };
			}
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//æ¸æ¥æ å¿ä½
			// UART_CheckSend();
			//dwt_setinterrupt( 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(0);//è®¾å®æ¥æ¶è¶æ¶æ¶é´ï¼0ä½æ²¡æè¶æ¶æ¶é´
			dwt_rxenable(0);//æå¼æ¥æ¶
			}
			uint16_t g_Resttimer;
			uint8_t result;
			@@ -220,13 +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,record_time[10],record_i;
			u16 current_slotnum,total_slotnum,target_time,last_time;
			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);
			@@ -243,11 +239,7 @@
			{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)
			{
			@@ -430,7 +422,7 @@
			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);
			@@ -473,10 +465,10 @@
			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)
			if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
			{
			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¦
			@@ -494,7 +486,6 @@
			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

			@@ -526,7 +517,7 @@
			LED0_BLINK;
			// memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
			// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
			if(temp_dist!=0x1ffff)
			if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
			{
			#ifdef USART_SINGLE_OUTPUT
			usart_send[2] = 1;//æ£å¸¸æ¨¡å¼
			@@ -545,7 +536,6 @@
			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

			@@ -727,7 +717,6 @@
			{
			//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)
			{
			@@ -745,16 +734,12 @@
			SetNextPollTime(tyncpoll_time);
			g_start_send_flag = 0;
			GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
			UART_CheckSend();
			dwt_setinterrupt( 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(0);//è®¾å®æ¥æ¶è¶æ¶æ¶é´ï¼0ä½æ²¡æè¶æ¶æ¶é´
			dwt_rxenable(0);//æå¼æ¥æ¶
			}

			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],tagstate_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)
			@@ -878,8 +863,6 @@
			// min_power = - 10 * log10((F1 F1 + F2 F2 + F3 * F3) / (C *B));
			return min_power;
			}
			u8 testt[100],testt2[100],testt3[100],testt4[100],testt6[100],ti;
			u16 testt5[100];
			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;
			@@ -934,11 +917,11 @@
			dwt_writetxfctrl(22, 0);//è®¾å®åéé¿åº¦
			}
			result = dwt_starttx(DWT_START_TX_DELAYED \| DWT_RESPONSE_EXPECTED);//å»¶è¿åéï¼çå¾æ¥æ¶
			testt2[ti]=frame_seq_nb2;


			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¯¯
			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¯¯
			{ };
			}else{
			result++;
			@@ -946,7 +929,7 @@

			if (status_reg & SYS_STATUS_RXFCG)//æ¥æ¶æå
			{
			testt3[ti]=frame_seq_nb2;

			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG \| SYS_STATUS_TXFRS);//æ¸æ¥æ å¿ä½
			frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//æ°æ®é¿åº¦
			dwt_readrxdata(rx_buffer, frame_len, 0);//è¯»åæ¥æ¶æ°æ®
			@@ -995,8 +978,7 @@
			}

			g_flag_Taggetdist[taglist_pos]=0;
			testt4[ti]=frame_seq_nb2;
			testt5[ti] = hex_dist/10;

			if(hex_dist>-100000&&hex_dist<2000000)
			{
			if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold\|\|misdist_num[taglist_pos]>3)
			@@ -1038,9 +1020,6 @@
			memcpy(&usart_send[19],&checksum,2);
			if(g_com_map[MODBUS_MODE]!=1)
			UART_PushFrame(usart_send,21);
			//USART_puts(usart_send,21);
			testt6[ti]=frame_seq_nb2;
			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);
			@@ -1071,7 +1050,6 @@
			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]++;
			@@ -1087,20 +1065,6 @@
			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(0);//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)
			{

			@@ -1108,24 +1072,23 @@
			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_setinterrupt(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);
			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();
			};
			//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
			if (status_reg & SYS_STATUS_RXFCG)//æåæ¥æ¶
			{ u16 tag_recv_interval;
			float temp_tagpos;



			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¦
			recpoll_len = frame_len;
			@@ -1184,13 +1147,10 @@

			case NEAR_POLL:
			frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
			testt[ti++]=frame_seq_nb2;
			if(ti>100)
			ti=0;
			battary = rx_buffer[BATTARY_IDX];
			button = rx_buffer[BUTTON_IDX];
			rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
			memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
			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);
			@@ -1214,7 +1174,8 @@
			if(taglist_pos==taglist_num)
			{
			taglist_pos=taglist_num;
			tagid_list[taglist_num++]=tag_id_recv;
			tagid_list[taglist_num++]=tag_id_recv;

			new_tagid=1;
			}else{
			new_tagid=0;
			@@ -1249,13 +1210,9 @@

			break;
			}
			}
			}else{
			}else{
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			}
			UART_CheckSend();
			dwt_setinterrupt( 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(0);//è®¾å®æ¥æ¶è¶æ¶æ¶é´ï¼0ä½æ²¡æè¶æ¶æ¶é´
			dwt_rxenable(0);//æå¼æ¥æ¶
			}
			}

			@@ -28,8 +28,6 @@
			#define PAIR_ID 0xD //å°äºå¤å°è·ç¦»æ¥è¦
			#define HEARTBEAT 0xE
			#define MODBUS_MODE 0xF //MOBUSÄ£Ê½
			#define RELAY1_STATE_INDEX 0x10
			#define RELAY2_STATE_INDEX 0x11

			#define MODBUS_ADDRESS 0x10
			#define MODBUS_ID1 0x11

			@@ -64,6 +64,7 @@
			u8 remotetag_para[30];
			u8 remotesend_state=0;
			u16 rec_checksum;
			extern u8 cmd_mode;
			void UsartParseDataHandler(uint8_t data)
			{
			static UsartRecvPackState usart_receive_state = UsartReceiveWaitHead0;
			@@ -75,6 +76,7 @@

			if(usart_receive_state == UsartReceiveWaitChecksum1) { //è¥æ¶å°æ ¡éªåå.
			checksum = 0;
			cmd_mode = 0;
			for(int i = 0; i<pack_length-5; i++) {
			checksum += mUsartReceivePack[i];
			}

			@@ -46,7 +46,7 @@
			RCC_Configuration();
			//SystemInit();
			NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);

			Nvic_Init();
			// Systick_Init();
			TIM3_Int_Init();
			Led_Init();
			@@ -55,9 +55,8 @@
			Uart1_Init();
			Spi_Init();
			ADC_Configuration();
			//IWDG_Config(IWDG_Prescaler_128 ,4095); //10s
			Nvic_Init();
			IWDG_Feed();
			IWDG_Config(IWDG_Prescaler_128 ,4095); //10s
			IWDG_Feed();
			GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
			}
			u8 anchor_type;
			@@ -100,7 +99,6 @@
			if(dist_threshold>15000)
			{dist_threshold = 15000;}
			}
			extern u8 needanchorrx;
			u16 JDQ_time;
			int16_t g_commap_antdelay;
			void Program_Init(void)
			@@ -148,7 +146,7 @@

			OUT485_ENABLE;
			ComMapCheck();
			g_com_map[VERSION] = 1<<8\|62;
			g_com_map[VERSION] = 1<<8\|63;
			FLASH_Read(FLASH_HARDWARE_FLAG, (uint8_t*)&g_com_map[HARDWAREFLAG_INDEX], 16);
			dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]);
			g_commap_antdelay = g_com_map[ANT_LENGTH];
			@@ -171,12 +169,11 @@

			if(g_com_map[DEV_ROLE])
			{
			needanchorrx = 0;
			printf("æ ç¾ID: %d .\r\n",dev_id);
			printf("éè®¯é´é: %d ms.\r\n",g_com_map[COM_INTERVAL]);
			printf("åæ¬¡éè®¯åºç«æ°é: %dä¸ª.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
			}else{
			needanchorrx = 1;

			anchor_type = dev_id%g_com_map[MAX_REPORT_ANC_NUM];
			printf("åºç«ID: %x .\r\n",dev_id);
			printf("åºç«ç±»å: %c .\r\n",anchor_type+0x41);
			@@ -228,7 +225,7 @@
			{

			UART_CheckReceive();
			// UART_CheckSend();
			UART_CheckSend();

			if(heartbeat_timer>1000)
			{
			@@ -307,12 +304,9 @@
			{
			SCB->AIRCR = 0X05FA0000\|(unsigned int)0x04; //è½¯å¤ä½åå°bootloader
			}

			g_com_map[RELAY1_STATE_INDEX] = READ_RELAY1;
			g_com_map[RELAY2_STATE_INDEX] = READ_RELAY2;

			}


			int main(void)
			{

			@@ -328,23 +322,19 @@
			usart_send[1]=0xAA;
			usart_send_anc[0]=0x55;
			usart_send_anc[1]=0xAA;
			dwt_setrxtimeout(0);//è®¾å®æ¥æ¶è¶æ¶æ¶é´ï¼0ä½æ²¡æè¶æ¶æ¶é´
			dwt_rxenable(0);//æå¼æ¥æ¶

			while(1)
			{
			// g_start_sync_flag=0;
			g_start_sync_flag=0;
			if(g_start_send_flag)
			{
			g_start_send_flag = 0;
			Tag_App();
			//needanchorrx = 1;
			}
			IdleTask();
			//if(g_com_map[DEV_ROLE]==0)
			// {needanchorrx = 0;
			// Anchor_App();
			// // Anchor_Start();
			// }
			if(g_com_map[DEV_ROLE]==0)
			Anchor_App();

			}
			}

			@@ -41,7 +41,6 @@
			u8 neartimout_timer=0,flag_syncbase=0,flag_newsecond=0;
			extern u16 tyncpoll_time,target_time;
			extern uint32_t synclost_timer,current_syncid;
			u8 needanchorrx=1;
			void TIM3_IRQHandler(void) //TIM3??
			{
			if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) //??TIM3????????
			@@ -68,7 +67,7 @@

			if(g_Resttimer++>10000)
			{
			// NVIC_SystemReset();
			NVIC_SystemReset();
			}


			@@ -102,14 +101,13 @@
			flag_syncbase=1;
			}

			if(1)//flag_syncbase) //æ¬æ¨¡åæ¯åæ¥åºç«
			if(flag_syncbase) //æ¬æ¨¡åæ¯åæ¥åºç«
			{
			if(sync_timer==995)
			{
			current_syncid = g_com_map[DEV_ID];
			sync_seq=0;
			SyncPoll(sync_seq,current_syncid);
			// needanchorrx = 1;
			SyncPoll(sync_seq,current_syncid);
			}
			}
			}else{ //æ ç¾åæ¥å¤ç
			@@ -143,18 +141,7 @@

			}
			}
			u32 status_reg;

			void EXTI0_IRQHandler(void)
			{
			if(EXTI_GetITStatus(EXTI_Line0)!= RESET)
			{
			status_reg = dwt_read32bitreg(SYS_STATUS_ID);
			EXTI_ClearITPendingBit(EXTI_Line0);
			Anchor_App();
			needanchorrx = 1;
			}
			}
			void USART1_IRQHandler(void)
			{
			if(USART_GetITStatus(EXT_UART, USART_IT_RXNE) != RESET)//?????????