UWB_SmallModule_F103.git

zhyinch

2020-04-27 5bfa1bc693623159c5059067f8db7589fabd04a1

V1.22

已修改6个文件

	源码/核心板/MDK-ARM/Project.uvguix.Administrator	364 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/MDK-ARM/Project.uvoptx	41 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/application/dw_app.c	147 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/application/dw_app.h	2 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/main.c	14 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	源码/核心板/Src/stm32f10x_it.c	13 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史

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

@@ -15,7 +15,7 @@
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          <Filename>E:\GIT\UWB_SmallModule\å©§æ®ç\Src\decadriver\deca_device.c</Filename>
          <ExecCommand></ExecCommand>
          <Expression>\\UWB_Projects\../Src/application/serial_at_cmd_app.c\36</Expression>
          <Expression>\\UWB_Projects\../Src/decadriver/deca_device.c\2747</Expression>
        </Bp>
        <Bp>
          <Number>1</Number>
          <Type>0</Type>
          <LineNumber>709</LineNumber>
          <EnabledFlag>1</EnabledFlag>
          <Address>0</Address>
          <ByteObject>0</ByteObject>
          <HtxType>0</HtxType>
          <ManyObjects>0</ManyObjects>
          <SizeOfObject>0</SizeOfObject>
          <BreakByAccess>0</BreakByAccess>
          <BreakIfRCount>0</BreakIfRCount>
          <Filename>..\Src\application\dw_app.c</Filename>
          <ExecCommand></ExecCommand>
          <Expression></Expression>
        </Bp>
      </Breakpoint>
      <WatchWindow1>
@@ -252,6 +268,21 @@
          <WinNumber>1</WinNumber>
          <ItemText>usart_timer,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>16</count>
          <WinNumber>1</WinNumber>
          <ItemText>tyncpoll_time</ItemText>
        </Ww>
        <Ww>
          <count>17</count>
          <WinNumber>1</WinNumber>
          <ItemText>nearbaseid_list</ItemText>
        </Ww>
        <Ww>
          <count>18</count>
          <WinNumber>1</WinNumber>
          <ItemText>sync_timer,0x0A</ItemText>
        </Ww>
      </WatchWindow1>
      <MemoryWindow1>
        <Mm>

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -22,7 +22,9 @@
static uint8_t tx_sync_msg[14] = {0};
static uint8_t tx_final_msg[60] = {0};
static uint8_t tx_resp_msg[22] = {0};
static uint8_t tx_near_msg[80] = {0};
static uint8_t tx_nearpoll_msg[80] = {0};
static uint8_t tx_nearresp_msg[80] = {0};
static uint8_t tx_nearfinal_msg[80] = {0};

static uint32_t frame_seq_nb = 0;    
static uint32_t status_reg = 0;
@@ -144,8 +146,9 @@
    memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
    memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
    memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 2);
    memcpy(&tx_near_msg[ANCHOR_ID_IDX], &dev_id, 2);
    memcpy(&tx_near_msg[TAG_ID_IDX], &dev_id, 2);
    memcpy(&tx_nearresp_msg[ANCHOR_ID_IDX], &dev_id, 2);
    memcpy(&tx_nearpoll_msg[TAG_ID_IDX], &dev_id, 2);
    memcpy(&tx_nearfinal_msg[TAG_ID_IDX], &dev_id, 2);
}    
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len) 
{
@@ -158,7 +161,7 @@
}

u16 tag_time_recv[TAG_NUM_IN_SYS];
u8 usart_send[100];
u8 usart_send[100],usart_send_anc[100];
u8 battary,button;
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
@@ -259,14 +262,14 @@
    //nearbase_num=0;
    recbase_num=0;
    
    tx_near_msg[BATTARY_IDX] = Get_Battary();
    tx_near_msg[BUTTON_IDX] = !READ_KEY0;
    tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
    tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
    memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
    tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;	
    memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);	
    dwt_writetxdata(13+2*nearbase_num, tx_near_msg, 0);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
    tx_nearpoll_msg[BATTARY_IDX] = Get_Battary();
    tx_nearpoll_msg[BUTTON_IDX] = !READ_KEY0;
    tx_nearpoll_msg[SEQUENCE_IDX] = frame_seq_nb++;
    tx_nearpoll_msg[NEARBASENUM_INDEX] = nearbase_num;
    memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
    tx_nearpoll_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;	
    memcpy(&tx_nearpoll_msg[ANCHOR_ID_IDX],&mainbase_id,2);	
    dwt_writetxdata(13+2*nearbase_num, tx_nearpoll_msg, 0);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
    dwt_writetxfctrl(13+2*nearbase_num, 0);//è®¾ç½®è¶å®½å¸¦åéæ°æ®é¿åº¦
    dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//å¼å¯åéï¼åéå®æåçå¾ä¸æ®µæ¶é´å¼å¯æ¥æ¶ï¼çå¾æ¶é´å¨dwt_setrxaftertxdelayä¸è®¾ç½®

@@ -320,7 +323,7 @@
                                {
                                nearbaseid_list[0]=rec_nearbaseid;
                                nearbase_num=1;
                                memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
                                memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
                                }
                                if(rec_nearbaseid==nearbaseid_list[0])
                                {
@@ -356,11 +359,11 @@
                                    temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);
                                //    dwt_setdelayedtrxtime(final_tx_time);//è®¾ç½®finalååéæ¶é´T5
                                    final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//finalåå®éåéæ¶é´æ¯è®¡ç®æ¶é´å ä¸åéå¤©çº¿delay
                                    final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//å°T1ï¼T4ï¼T5åå¥åéæ°æ®
                                    final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
                                    final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
                                    tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
                                    dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//å°åéæ°æ®åå¥DW1000
                                    final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//å°T1ï¼T4ï¼T5åå¥åéæ°æ®
                                    final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
                                    final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
                                    tx_nearfinal_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
                                    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¦
                                    if(temp_dist!=0x1ffff)
                                    {
@@ -385,15 +388,15 @@
                                    {
                                        nearbase_num++;
                                        nearbaseid_list[nearbase_num] = rec_nearbaseid;
                                        memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
                                        memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
                                    }
                                    
                                    exsistbase_list[rec_nearbasepos]=1;
                                    memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                                    nearbase_distlist[rec_nearbasepos]=temp_dist;
                                    
                                    final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);								
                                    dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//å°åéæ°æ®åå¥DW1000
                                    final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);								
                                    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¦
                                    LED0_BLINK;
                                    if(temp_dist!=0x1ffff)
@@ -500,44 +503,44 @@

}

void GetNearMsg(void)
{
    u32 start_poll,frame_len;
    memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
    memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
    tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
	
    dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);            //è®¾ç½®åéåå¼å¯æ¥æ¶ï¼å¹¶è®¾å®å»¶è¿æ¶é´
  dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);	
    dwt_writetxdata(12, tx_near_msg, 0);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
    dwt_writetxfctrl(12, 0);//è®¾ç½®è¶å®½å¸¦åéæ°æ®é¿åº¦
    dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);
    start_poll = time32_incr;
    /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
    while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//ä¸ææ¥è¯¢è¯çç¶æç´å°æåæ¥æ¶æèåçéè¯¯
    { if(time32_incr - start_poll>20)
        NVIC_SystemReset();
    };
    if(status_reg==0xffffffff)
    {
        NVIC_SystemReset();
    }
    if (status_reg & SYS_STATUS_RXFCG)//å¦ææåæ¥æ¶
    {
        dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//æ¸æ¥å¯åå¨æ å¿ä½
        frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;    //è·å¾æ¥æ¶å°çæ°æ®é¿åº¦
        dwt_readrxdata(rx_buffer, frame_len, 0);   //è¯»åæ¥æ¶æ°æ®
        if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //å¤ææ¥æ¶å°çæ°æ®æ¯å¦æ¯responseæ°æ®
        {
            nearbase_num=rx_buffer[NEARBASENUM_INDEX];
            tagslotpos=rx_buffer[TAGSLOTPOS];
            memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
            slottime=ceil((nearbase_num+2)*0.3)+1;
            tyncpoll_time=tagslotpos*slottime;
            tag_state=NEARPOLL;
        }
    }
}
//void GetNearMsg(void)
//{
//    u32 start_poll,frame_len;
//    memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
//    memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
//    tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
//	
//    dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);            //è®¾ç½®åéåå¼å¯æ¥æ¶ï¼å¹¶è®¾å®å»¶è¿æ¶é´
//  dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);	
//    dwt_writetxdata(12, tx_near_msg, 0);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
//    dwt_writetxfctrl(12, 0);//è®¾ç½®è¶å®½å¸¦åéæ°æ®é¿åº¦
//    dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);
//    start_poll = time32_incr;
//    /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
//    while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//ä¸ææ¥è¯¢è¯çç¶æç´å°æåæ¥æ¶æèåçéè¯¯
//    { if(time32_incr - start_poll>20)
//        NVIC_SystemReset();
//    };
//    if(status_reg==0xffffffff)
//    {
//        NVIC_SystemReset();
//    }
//    if (status_reg & SYS_STATUS_RXFCG)//å¦ææåæ¥æ¶
//    {
//        dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//æ¸æ¥å¯åå¨æ å¿ä½
//        frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;    //è·å¾æ¥æ¶å°çæ°æ®é¿åº¦
//        dwt_readrxdata(rx_buffer, frame_len, 0);   //è¯»åæ¥æ¶æ°æ®
//        if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //å¤ææ¥æ¶å°çæ°æ®æ¯å¦æ¯responseæ°æ®
//        {
//            nearbase_num=rx_buffer[NEARBASENUM_INDEX];
//            tagslotpos=rx_buffer[TAGSLOTPOS];
//            memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
//            slottime=ceil((nearbase_num+2)*0.3)+1;
//            tyncpoll_time=tagslotpos*slottime;
//            tag_state=NEARPOLL;
//        }
//    }
//}

void Tag_App(void)//åéæ¨¡å¼(TAGæ ç¾)
{
@@ -654,10 +657,10 @@
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
{
            tmp_time=TIM3->CNT;
            memcpy(&tx_near_msg[ANCTIMEMS],&sync_timer,2);
            memcpy(&tx_near_msg[ANCTIMEUS],&tmp_time,2);
            memcpy(&tx_near_msg[TAGSLOTPOS],&taglist_pos,2);
            memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
            memcpy(&tx_nearresp_msg[ANCTIMEMS],&sync_timer,2);
            memcpy(&tx_nearresp_msg[ANCTIMEUS],&tmp_time,2);
            memcpy(&tx_nearresp_msg[TAGSLOTPOS],&taglist_pos,2);
            memcpy(&tx_nearresp_msg[TAG_ID_IDX],&tag_id_recv,2);
            poll_rx_ts = get_rx_timestamp_u64();//è·å¾Pollåæ¥æ¶æ¶é´T2

            resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//è®¡ç®Responseåéæ¶é´T3ã
@@ -668,13 +671,13 @@
            if(new_tagid)
            {
                tagdist_list[taglist_pos]=0x1ffff;
                memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
                memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
            }else{
                memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
                memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
            }
    
            tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
            dwt_writetxdata(20, tx_near_msg, 0);//åå¥åéæ°æ®
            tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
            dwt_writetxdata(20, tx_nearresp_msg, 0);//åå¥åéæ°æ®
            dwt_writetxfctrl(20, 0);//è®¾å®åéé¿åº¦
            result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//å»¶è¿åéï¼çå¾æ¥æ¶

@@ -695,7 +698,7 @@
                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®
            if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2))
            if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2)) //æ¢å anchor å¤±è´¥
            {
                return 1;
            }
@@ -749,8 +752,8 @@
                    memcpy(&usart_send[19],&checksum,2);
                    UART_PushFrame(usart_send,21);
                #else        
                    memcpy(&usart_send[4+6*anc_report_num],&tag_id_recv,2);
                    memcpy(&usart_send[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
                    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);
                    anc_report_num++;
                #endif
                    }else{
@@ -838,14 +841,14 @@
                     memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
                    if(tempid==dev_id)
                    {
                        seize_anchor=0;
                        seize_anchor=0;  //éæ¢å ãå·²åå¨åè¡¨ä¸
                        Anchor_RecNearPoll(i);    
                        break;
                    }                        
                }
                    if(i==rec_nearbase_num)
                    {
                        seize_anchor=1;
                        seize_anchor=1;   //æ¢å anchor
                        Anchor_RecNearPoll(i);    
                    }
                

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.h

@@ -115,7 +115,7 @@
extern uint32_t g_UWB_com_interval;
extern float dis_after_filter;
extern LPFilter_Frac* p_Dis_Filter;        //æµè·ç¨çä½éæ»¤æ³¢å¨
extern u8 usart_send[100];
extern u8 usart_send[100],usart_send_anc[100];

void IdleTask(void);
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len);

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -65,7 +65,7 @@
        save_com_map_to_flash();
#endif
    OUT485_ENABLE;
    g_com_map[VERSION] = 0x010b;	
    g_com_map[VERSION] = 0x010c;	
    dev_id = g_com_map[DEV_ID];
    slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]/3)+1;
    max_slotpos=g_com_map[COM_INTERVAL]/slottime;
@@ -125,11 +125,11 @@
    if(g_com_map[DEV_ROLE]==0&&usart_send_flag)
    {u16 checksum;
                usart_send_flag=0;
                usart_send[2] = 4;//æ£å¸¸æ¨¡å¼
                usart_send[3] = anc_report_num*6+2;//æ£å¸¸æ¨¡å¼
                checksum = Checksum_u16(&usart_send[2],anc_report_num*6+2);
                memcpy(&usart_send[4+anc_report_num*6],&checksum,2);
                UART_PushFrame(usart_send,6+anc_report_num*6);
                usart_send_anc[2] = 5;//æ£å¸¸æ¨¡å¼
                usart_send_anc[3] = anc_report_num*6+2;//æ£å¸¸æ¨¡å¼
                checksum = Checksum_u16(&usart_send_anc[2],anc_report_num*6+2);
                memcpy(&usart_send_anc[4+anc_report_num*6],&checksum,2);
                UART_PushFrame(usart_send_anc,6+anc_report_num*6);
                anc_report_num=0;        
    }
    if(g_com_map[CNT_UPDATE]==1)
@@ -163,6 +163,8 @@
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
    usart_send[0]=0x55;
    usart_send[1]=0xAA;
    usart_send_anc[0]=0x55;
    usart_send_anc[1]=0xAA;
    
    while(1)
    {

 Ô´Âë/ºËÐÄ°å/Src/stm32f10x_it.c

@@ -66,7 +66,14 @@
    {
        tag_recv_timer++;
        TagDistClear();
        if(g_com_map[ALARM_DEV]!=0)
    if(g_com_map[ANC_POLL])
        {
            if((sync_timer-10)%g_com_map[COM_INTERVAL]==tyncpoll_time&&sync_timer>=10&&sync_timer!=1010)
            {
            g_start_send_flag=1;
            }
        }
        //if(g_com_map[ALARM_DEV]!=0)
            main_logic();
        #ifdef USART_INTEGRATE_OUTPUT
        if(usart_timer++>=g_com_map[COM_INTERVAL])
@@ -87,9 +94,9 @@
                SyncPoll(0);
        }
    }else{        //æ ç¾åæ¥å¤ç
        if((sync_timer-10)%g_com_map[COM_INTERVAL]==tyncpoll_time&&sync_timer>=10)
        if((sync_timer-10)%g_com_map[COM_INTERVAL]==tyncpoll_time&&sync_timer>=10&&sync_timer!=1010)
        {
            GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_SET);
        //    GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_SET);
        g_start_send_flag=1;
        }

			@@ -120,7 +120,7 @@
			<SetRegEntry>
			<Number>0</Number>
			<Key>DLGUARM</Key>
			<Name>d</Name>
			<Name></Name>
			</SetRegEntry>
			<SetRegEntry>
			<Number>0</Number>
			@@ -157,18 +157,34 @@
			<Bp>
			<Number>0</Number>
			<Type>0</Type>
			<LineNumber>36</LineNumber>
			<LineNumber>2747</LineNumber>
			<EnabledFlag>1</EnabledFlag>
			<Address>134249374</Address>
			<Address>134256476</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\application\serial_at_cmd_app.c</Filename>
			<Filename>E:\GIT\UWB_SmallModule\å©§æ®ç\Src\decadriver\deca_device.c</Filename>
			<ExecCommand></ExecCommand>
			<Expression>\\UWB_Projects\../Src/application/serial_at_cmd_app.c\36</Expression>
			<Expression>\\UWB_Projects\../Src/decadriver/deca_device.c\2747</Expression>
			</Bp>
			<Bp>
			<Number>1</Number>
			<Type>0</Type>
			<LineNumber>709</LineNumber>
			<EnabledFlag>1</EnabledFlag>
			<Address>0</Address>
			<ByteObject>0</ByteObject>
			<HtxType>0</HtxType>
			<ManyObjects>0</ManyObjects>
			<SizeOfObject>0</SizeOfObject>
			<BreakByAccess>0</BreakByAccess>
			<BreakIfRCount>0</BreakIfRCount>
			<Filename>..\Src\application\dw_app.c</Filename>
			<ExecCommand></ExecCommand>
			<Expression></Expression>
			</Bp>
			</Breakpoint>
			<WatchWindow1>
			@@ -252,6 +268,21 @@
			<WinNumber>1</WinNumber>
			<ItemText>usart_timer,0x0A</ItemText>
			</Ww>
			<Ww>
			<count>16</count>
			<WinNumber>1</WinNumber>
			<ItemText>tyncpoll_time</ItemText>
			</Ww>
			<Ww>
			<count>17</count>
			<WinNumber>1</WinNumber>
			<ItemText>nearbaseid_list</ItemText>
			</Ww>
			<Ww>
			<count>18</count>
			<WinNumber>1</WinNumber>
			<ItemText>sync_timer,0x0A</ItemText>
			</Ww>
			</WatchWindow1>
			<MemoryWindow1>
			<Mm>

			@@ -22,7 +22,9 @@
			static uint8_t tx_sync_msg[14] = {0};
			static uint8_t tx_final_msg[60] = {0};
			static uint8_t tx_resp_msg[22] = {0};
			static uint8_t tx_near_msg[80] = {0};
			static uint8_t tx_nearpoll_msg[80] = {0};
			static uint8_t tx_nearresp_msg[80] = {0};
			static uint8_t tx_nearfinal_msg[80] = {0};

			static uint32_t frame_seq_nb = 0;
			static uint32_t status_reg = 0;
			@@ -144,8 +146,9 @@
			memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
			memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
			memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 2);
			memcpy(&tx_near_msg[ANCHOR_ID_IDX], &dev_id, 2);
			memcpy(&tx_near_msg[TAG_ID_IDX], &dev_id, 2);
			memcpy(&tx_nearresp_msg[ANCHOR_ID_IDX], &dev_id, 2);
			memcpy(&tx_nearpoll_msg[TAG_ID_IDX], &dev_id, 2);
			memcpy(&tx_nearfinal_msg[TAG_ID_IDX], &dev_id, 2);
			}
			uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
			{
			@@ -158,7 +161,7 @@
			}

			u16 tag_time_recv[TAG_NUM_IN_SYS];
			u8 usart_send[100];
			u8 usart_send[100],usart_send_anc[100];
			u8 battary,button;
			extern uint8_t g_pairstart;
			void tag_sleep_configuraion(void)
			@@ -259,14 +262,14 @@
			//nearbase_num=0;
			recbase_num=0;

			tx_near_msg[BATTARY_IDX] = Get_Battary();
			tx_near_msg[BUTTON_IDX] = !READ_KEY0;
			tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
			tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
			memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
			tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
			memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
			dwt_writetxdata(13+2*nearbase_num, tx_near_msg, 0);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
			tx_nearpoll_msg[BATTARY_IDX] = Get_Battary();
			tx_nearpoll_msg[BUTTON_IDX] = !READ_KEY0;
			tx_nearpoll_msg[SEQUENCE_IDX] = frame_seq_nb++;
			tx_nearpoll_msg[NEARBASENUM_INDEX] = nearbase_num;
			memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
			tx_nearpoll_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
			memcpy(&tx_nearpoll_msg[ANCHOR_ID_IDX],&mainbase_id,2);
			dwt_writetxdata(13+2*nearbase_num, tx_nearpoll_msg, 0);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
			dwt_writetxfctrl(13+2*nearbase_num, 0);//è®¾ç½®è¶å®½å¸¦åéæ°æ®é¿åº¦
			dwt_starttx(DWT_START_TX_IMMEDIATE \| DWT_RESPONSE_EXPECTED);//å¼å¯åéï¼åéå®æåçå¾ä¸æ®µæ¶é´å¼å¯æ¥æ¶ï¼çå¾æ¶é´å¨dwt_setrxaftertxdelayä¸è®¾ç½®

			@@ -320,7 +323,7 @@
			{
			nearbaseid_list[0]=rec_nearbaseid;
			nearbase_num=1;
			memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
			memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
			}
			if(rec_nearbaseid==nearbaseid_list[0])
			{
			@@ -356,11 +359,11 @@
			temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);
			// dwt_setdelayedtrxtime(final_tx_time);//è®¾ç½®finalååéæ¶é´T5
			final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//finalåå®éåéæ¶é´æ¯è®¡ç®æ¶é´å ä¸åéå¤©çº¿delay
			final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//å°T1ï¼T4ï¼T5åå¥åéæ°æ®
			final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
			final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
			tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
			dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//å°åéæ°æ®åå¥DW1000
			final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//å°T1ï¼T4ï¼T5åå¥åéæ°æ®
			final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
			final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
			tx_nearfinal_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
			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¦
			if(temp_dist!=0x1ffff)
			{
			@@ -385,15 +388,15 @@
			{
			nearbase_num++;
			nearbaseid_list[nearbase_num] = rec_nearbaseid;
			memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
			memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
			}

			exsistbase_list[rec_nearbasepos]=1;
			memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
			nearbase_distlist[rec_nearbasepos]=temp_dist;

			final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
			dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//å°åéæ°æ®åå¥DW1000
			final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
			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¦
			LED0_BLINK;
			if(temp_dist!=0x1ffff)
			@@ -500,44 +503,44 @@

			}

			void GetNearMsg(void)
			{
			u32 start_poll,frame_len;
			memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
			memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
			tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;

			dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //è®¾ç½®åéåå¼å¯æ¥æ¶ï¼å¹¶è®¾å®å»¶è¿æ¶é´
			dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
			dwt_writetxdata(12, tx_near_msg, 0);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
			dwt_writetxfctrl(12, 0);//è®¾ç½®è¶å®½å¸¦åéæ°æ®é¿åº¦
			dwt_starttx(DWT_START_TX_IMMEDIATE\| DWT_RESPONSE_EXPECTED);
			start_poll = time32_incr;
			/* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
			while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG \| SYS_STATUS_ALL_RX_ERR)))//ä¸ææ¥è¯¢è¯çç¶æç´å°æåæ¥æ¶æèåçéè¯¯
			{ if(time32_incr - start_poll>20)
			NVIC_SystemReset();
			};
			if(status_reg==0xffffffff)
			{
			NVIC_SystemReset();
			}
			if (status_reg & SYS_STATUS_RXFCG)//å¦ææåæ¥æ¶
			{
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG \| SYS_STATUS_TXFRS);//æ¸æ¥å¯åå¨æ å¿ä½
			frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //è·å¾æ¥æ¶å°çæ°æ®é¿åº¦
			dwt_readrxdata(rx_buffer, frame_len, 0); //è¯»åæ¥æ¶æ°æ®
			if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //å¤ææ¥æ¶å°çæ°æ®æ¯å¦æ¯responseæ°æ®
			{
			nearbase_num=rx_buffer[NEARBASENUM_INDEX];
			tagslotpos=rx_buffer[TAGSLOTPOS];
			memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
			slottime=ceil((nearbase_num+2)*0.3)+1;
			tyncpoll_time=tagslotpos*slottime;
			tag_state=NEARPOLL;
			}
			}
			}
			//void GetNearMsg(void)
			//{
			// u32 start_poll,frame_len;
			// memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
			// memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
			// tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
			//
			// dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //è®¾ç½®åéåå¼å¯æ¥æ¶ï¼å¹¶è®¾å®å»¶è¿æ¶é´
			// dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
			// dwt_writetxdata(12, tx_near_msg, 0);//å°Pollåæ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå»
			// dwt_writetxfctrl(12, 0);//è®¾ç½®è¶å®½å¸¦åéæ°æ®é¿åº¦
			// dwt_starttx(DWT_START_TX_IMMEDIATE\| DWT_RESPONSE_EXPECTED);
			// start_poll = time32_incr;
			// /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
			// while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG \| SYS_STATUS_ALL_RX_ERR)))//ä¸ææ¥è¯¢è¯çç¶æç´å°æåæ¥æ¶æèåçéè¯¯
			// { if(time32_incr - start_poll>20)
			// NVIC_SystemReset();
			// };
			// if(status_reg==0xffffffff)
			// {
			// NVIC_SystemReset();
			// }
			// if (status_reg & SYS_STATUS_RXFCG)//å¦ææåæ¥æ¶
			// {
			// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG \| SYS_STATUS_TXFRS);//æ¸æ¥å¯åå¨æ å¿ä½
			// frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //è·å¾æ¥æ¶å°çæ°æ®é¿åº¦
			// dwt_readrxdata(rx_buffer, frame_len, 0); //è¯»åæ¥æ¶æ°æ®
			// if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //å¤ææ¥æ¶å°çæ°æ®æ¯å¦æ¯responseæ°æ®
			// {
			// nearbase_num=rx_buffer[NEARBASENUM_INDEX];
			// tagslotpos=rx_buffer[TAGSLOTPOS];
			// memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
			// slottime=ceil((nearbase_num+2)*0.3)+1;
			// tyncpoll_time=tagslotpos*slottime;
			// tag_state=NEARPOLL;
			// }
			// }
			//}

			void Tag_App(void)//åéæ¨¡å¼(TAGæ ç¾)
			{
			@@ -654,10 +657,10 @@
			u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
			{
			tmp_time=TIM3->CNT;
			memcpy(&tx_near_msg[ANCTIMEMS],&sync_timer,2);
			memcpy(&tx_near_msg[ANCTIMEUS],&tmp_time,2);
			memcpy(&tx_near_msg[TAGSLOTPOS],&taglist_pos,2);
			memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
			memcpy(&tx_nearresp_msg[ANCTIMEMS],&sync_timer,2);
			memcpy(&tx_nearresp_msg[ANCTIMEUS],&tmp_time,2);
			memcpy(&tx_nearresp_msg[TAGSLOTPOS],&taglist_pos,2);
			memcpy(&tx_nearresp_msg[TAG_ID_IDX],&tag_id_recv,2);
			poll_rx_ts = get_rx_timestamp_u64();//è·å¾Pollåæ¥æ¶æ¶é´T2

			resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbaseposDELAY_BETWEEN_TWO_FRAME_UUS) UUS_TO_DWT_TIME)) >> 8;//è®¡ç®Responseåéæ¶é´T3ã
			@@ -668,13 +671,13 @@
			if(new_tagid)
			{
			tagdist_list[taglist_pos]=0x1ffff;
			memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
			memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
			}else{
			memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
			memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
			}

			tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
			dwt_writetxdata(20, tx_near_msg, 0);//åå¥åéæ°æ®
			tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
			dwt_writetxdata(20, tx_nearresp_msg, 0);//åå¥åéæ°æ®
			dwt_writetxfctrl(20, 0);//è®¾å®åéé¿åº¦
			result = dwt_starttx(DWT_START_TX_DELAYED \| DWT_RESPONSE_EXPECTED);//å»¶è¿åéï¼çå¾æ¥æ¶

			@@ -695,7 +698,7 @@
			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®
			if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2))
			if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2)) //æ¢å anchor å¤±è´¥
			{
			return 1;
			}
			@@ -749,8 +752,8 @@
			memcpy(&usart_send[19],&checksum,2);
			UART_PushFrame(usart_send,21);
			#else
			memcpy(&usart_send[4+6*anc_report_num],&tag_id_recv,2);
			memcpy(&usart_send[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
			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);
			anc_report_num++;
			#endif
			}else{
			@@ -838,14 +841,14 @@
			memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
			if(tempid==dev_id)
			{
			seize_anchor=0;
			seize_anchor=0; //éæ¢å ãå·²åå¨åè¡¨ä¸
			Anchor_RecNearPoll(i);
			break;
			}
			}
			if(i==rec_nearbase_num)
			{
			seize_anchor=1;
			seize_anchor=1; //æ¢å anchor
			Anchor_RecNearPoll(i);
			}

			@@ -115,7 +115,7 @@
			extern uint32_t g_UWB_com_interval;
			extern float dis_after_filter;
			extern LPFilter_Frac* p_Dis_Filter; //æµè·ç¨çä½éæ»¤æ³¢å¨
			extern u8 usart_send[100];
			extern u8 usart_send[100],usart_send_anc[100];

			void IdleTask(void);
			uint16_t Checksum_u16(uint8_t* pdata, uint32_t len);

			@@ -65,7 +65,7 @@
			save_com_map_to_flash();
			#endif
			OUT485_ENABLE;
			g_com_map[VERSION] = 0x010b;
			g_com_map[VERSION] = 0x010c;
			dev_id = g_com_map[DEV_ID];
			slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]/3)+1;
			max_slotpos=g_com_map[COM_INTERVAL]/slottime;
			@@ -125,11 +125,11 @@
			if(g_com_map[DEV_ROLE]==0&&usart_send_flag)
			{u16 checksum;
			usart_send_flag=0;
			usart_send[2] = 4;//æ£å¸¸æ¨¡å¼
			usart_send[3] = anc_report_num*6+2;//æ£å¸¸æ¨¡å¼
			checksum = Checksum_u16(&usart_send[2],anc_report_num*6+2);
			memcpy(&usart_send[4+anc_report_num*6],&checksum,2);
			UART_PushFrame(usart_send,6+anc_report_num*6);
			usart_send_anc[2] = 5;//æ£å¸¸æ¨¡å¼
			usart_send_anc[3] = anc_report_num*6+2;//æ£å¸¸æ¨¡å¼
			checksum = Checksum_u16(&usart_send_anc[2],anc_report_num*6+2);
			memcpy(&usart_send_anc[4+anc_report_num*6],&checksum,2);
			UART_PushFrame(usart_send_anc,6+anc_report_num*6);
			anc_report_num=0;
			}
			if(g_com_map[CNT_UPDATE]==1)
			@@ -163,6 +163,8 @@
			RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
			usart_send[0]=0x55;
			usart_send[1]=0xAA;
			usart_send_anc[0]=0x55;
			usart_send_anc[1]=0xAA;

			while(1)
			{

			@@ -66,7 +66,14 @@
			{
			tag_recv_timer++;
			TagDistClear();
			if(g_com_map[ALARM_DEV]!=0)
			if(g_com_map[ANC_POLL])
			{
			if((sync_timer-10)%g_com_map[COM_INTERVAL]==tyncpoll_time&&sync_timer>=10&&sync_timer!=1010)
			{
			g_start_send_flag=1;
			}
			}
			//if(g_com_map[ALARM_DEV]!=0)
			main_logic();
			#ifdef USART_INTEGRATE_OUTPUT
			if(usart_timer++>=g_com_map[COM_INTERVAL])
			@@ -87,9 +94,9 @@
			SyncPoll(0);
			}
			}else{ //æ ç¾åæ¥å¤ç
			if((sync_timer-10)%g_com_map[COM_INTERVAL]==tyncpoll_time&&sync_timer>=10)
			if((sync_timer-10)%g_com_map[COM_INTERVAL]==tyncpoll_time&&sync_timer>=10&&sync_timer!=1010)
			{
			GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_SET);
			// GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_SET);
			g_start_send_flag=1;
			}