V2.30

zhyinch

2021-09-28 66b13717fce3890b464d0b43eb61b94ea7cdf56e

V2.30

1. 修改所有基站输出，变成只有主基站输出测距信息
2.测距信息带信号强度。

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

@@ -15,17 +15,17 @@
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      <WinId>38003</WinId>
      <ViewName>Registers</ViewName>
      <TableColWidths>176 176</TableColWidths>
      <TableColWidths>175 176</TableColWidths>
    </View>
    <View>
      <WinId>346</WinId>
      <ViewName>Code Coverage</ViewName>
      <TableColWidths>679 100</TableColWidths>
      <TableColWidths>770 110</TableColWidths>
    </View>
    <View>
      <WinId>204</WinId>
      <ViewName>Performance Analyzer</ViewName>
      <TableColWidths>401 139 139 100</TableColWidths>
      <TableColWidths>502 139 139 100</TableColWidths>
    </View>
  </SECTreeCtrl>

@@ -93,8 +93,8 @@
      <flags>2</flags>
      <showCmd>3</showCmd>
      <MinPosition>
        <xPos>-1</xPos>
        <yPos>-1</yPos>
        <xPos>-32000</xPos>
        <yPos>-32000</yPos>
      </MinPosition>
      <MaxPosition>
        <xPos>-1</xPos>
@@ -102,8 +102,8 @@
      </MaxPosition>
      <NormalPosition>
        <Top>44</Top>
        <Left>106</Left>
        <Right>1542</Right>
        <Left>100</Left>
        <Right>1536</Right>
        <Bottom>727</Bottom>
      </NormalPosition>
    </WindowPosition>
@@ -490,7 +490,7 @@
        <RecentRowIndex>0</RecentRowIndex>
        <RectRecentDocked>
          <Len>16</Len>
          <Data>000000008F020000000600000E030000</Data>
          <Data>0300000092020000FD050000F5020000</Data>
        </RectRecentDocked>
        <RectRecentFloat>
          <Len>16</Len>
@@ -520,7 +520,7 @@
      <Window>
        <RegID>199</RegID>
        <PaneID>199</PaneID>
        <IsVisible>0</IsVisible>
        <IsVisible>1</IsVisible>
        <IsFloating>0</IsFloating>
        <IsTabbed>0</IsTabbed>
        <IsActivated>0</IsActivated>
@@ -1799,14 +1799,14 @@
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        <RegID>59399</RegID>
        <Name>Build</Name>
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          <Len>783</Len>
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        <OriginalItems>
          <Len>583</Len>
@@ -3579,7 +3579,7 @@
        <Name>Debug</Name>
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          <Len>2362</Len>
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        <OriginalItems>
          <Len>898</Len>
@@ -3607,44 +3607,44 @@
      <Doc>
        <Name>..\Src\main.c</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>218</TopLine>
        <CurrentLine>224</CurrentLine>
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        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\application\dw_app.c</Name>
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        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\application\global_param.c</Name>
        <ColumnNumber>26</ColumnNumber>
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        <CurrentLine>52</CurrentLine>
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        <TopLine>20</TopLine>
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        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\application\global_param.h</Name>
        <ColumnNumber>12</ColumnNumber>
        <TopLine>14</TopLine>
        <CurrentLine>27</CurrentLine>
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        <TopLine>22</TopLine>
        <CurrentLine>15</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\application\dw_app.h</Name>
        <ColumnNumber>24</ColumnNumber>
        <TopLine>23</TopLine>
        <CurrentLine>30</CurrentLine>
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        <TopLine>83</TopLine>
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@@ -3670,7 +3670,7 @@
      <Doc>
        <Name>..\Src\OnChipDevices\Spi.c</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>141</TopLine>
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@@ -3706,7 +3706,7 @@
      <Doc>
        <Name>..\Src\OnChipDevices\Rcc_Nvic_Systick.c</Name>
        <ColumnNumber>22</ColumnNumber>
        <TopLine>179</TopLine>
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@@ -3723,9 +3723,9 @@
      </Doc>
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@@ -3733,7 +3733,7 @@
      <Doc>
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        <ColumnNumber>0</ColumnNumber>
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@@ -3787,7 +3787,7 @@
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@@ -3841,7 +3841,7 @@
      <Doc>
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 Ô´Âë/ºËÐÄ°å/MDK-ARM/Project.uvoptx

@@ -130,7 +130,7 @@
        <SetRegEntry>
          <Number>0</Number>
          <Key>DLGUARM</Key>
          <Name>d</Name>
          <Name></Name>
        </SetRegEntry>
        <SetRegEntry>
          <Number>0</Number>
@@ -155,7 +155,7 @@
        <SetRegEntry>
          <Number>0</Number>
          <Key>DLGTARM</Key>
          <Name>(1010=-1,-1,-1,-1,0)(1007=108,145,295,420,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=18,3,664,676,0)(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=767,133,1188,538,1)(121=1005,0,1426,405,0)(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=475,231,923,645,0)(161=167,212,615,626,0)(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=108,145,295,420,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=18,3,664,676,0)(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=1005,0,1426,405,0)(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=475,231,923,645,0)(161=167,212,615,626,0)(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>
@@ -205,6 +205,26 @@
          <WinNumber>1</WinNumber>
          <ItemText>module_power,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>8</count>
          <WinNumber>1</WinNumber>
          <ItemText>dist_cm,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>9</count>
          <WinNumber>1</WinNumber>
          <ItemText>hex_dist,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>10</count>
          <WinNumber>1</WinNumber>
          <ItemText>signalpower_list,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>11</count>
          <WinNumber>1</WinNumber>
          <ItemText>decid,0x0A</ItemText>
        </Ww>
      </WatchWindow1>
      <MemoryWindow1>
        <Mm>

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

@@ -16,74 +16,74 @@
uint16_t min_dist;
void main_logic(void)    //主逻辑在这里执行
{
    static uint8_t beep_state,timer_state,beep_timer,beep_ontime,beep_offtime;
    uint16_t i;
    //除UWB之外的其他代码...
    static uint16_t beep_judge_cnt = 0;
    if(beep_judge_cnt++ >= 100)
    {	
        beep_judge_cnt = 0;
        min_dist=0xffff;
        for(i = 0; i < 255;i++)
        {
            if(g_Tagdist[i] < min_dist&&g_Tagdist[i]>g_com_map[ALARM_DISTANCE1])
            {
                min_dist=g_Tagdist[i];
            }
				
        }
		
 if (min_dist <= g_com_map[ALARM_DISTANCE2]+distoffset1)
        {
            beep_ontime = ONTIME2;
            beep_offtime = OFFTIME2;
            beep_state=2;
            distoffset1=0;
            distoffset2=0;
        }
 else if (min_dist <= g_com_map[ALARM_DISTANCE3]+distoffset2)
        {
            beep_ontime = ONTIME3;
            beep_offtime = OFFTIME3;
            beep_state=1;
            distoffset1=0;
            distoffset2=0;
        }
        else{
            beep_state=0;
            distoffset1=0;
            distoffset2=0;
        }
		
        if(beep_state!=0)
        {
            if(timer_state==1)
            {
                if(beep_timer++ < beep_ontime)
                {
                    RELAY1_ON;
                    RELAY2_ON;		
                }else{
                    timer_state=0;
                    beep_timer=0;
                }
            }else{
                if(beep_timer++ < beep_offtime)
                    {
                        RELAY1_OFF;
                        RELAY2_OFF;
                    }else{
                            timer_state=1;
                            beep_timer=0;
                    }
				
            }
		
        }    else {
            RELAY1_OFF;
             RELAY2_OFF;
        }
    }
//    static uint8_t beep_state,timer_state,beep_timer,beep_ontime,beep_offtime;
//    uint16_t i;
//    //除UWB之外的其他代码...
//    static uint16_t beep_judge_cnt = 0;
//    if(beep_judge_cnt++ >= 100)
//    {	
//        beep_judge_cnt = 0;
//        min_dist=0xffff;
//        for(i = 0; i < 255;i++)
//        {
//            if(g_Tagdist[i] < min_dist&&g_Tagdist[i]>g_com_map[ALARM_DISTANCE1])
//            {
//                min_dist=g_Tagdist[i];
//            }
//				
//        }
//		
// if (min_dist <= g_com_map[ALARM_DISTANCE2]+distoffset1)
//        {
//            beep_ontime = ONTIME2;
//            beep_offtime = OFFTIME2;
//            beep_state=2;
//            distoffset1=0;
//            distoffset2=0;
//        }
// else if (min_dist <= g_com_map[ALARM_DISTANCE3]+distoffset2)
//        {
//            beep_ontime = ONTIME3;
//            beep_offtime = OFFTIME3;
//            beep_state=1;
//            distoffset1=0;
//            distoffset2=0;
//        }
//        else{
//            beep_state=0;
//            distoffset1=0;
//            distoffset2=0;
//        }
//		
//        if(beep_state!=0)
//        {
//            if(timer_state==1)
//            {
//                if(beep_timer++ < beep_ontime)
//                {
//                    RELAY1_ON;
//                    RELAY2_ON;		
//                }else{
//                    timer_state=0;
//                    beep_timer=0;
//                }
//            }else{
//                if(beep_timer++ < beep_offtime)
//                    {
//                        RELAY1_OFF;
//                        RELAY2_OFF;
//                    }else{
//                            timer_state=1;
//                            beep_timer=0;
//                    }
//				
//            }
//		
//        }    else {
//            RELAY1_OFF;
//             RELAY2_OFF;
//        }
//    }
}    



 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -930,7 +930,7 @@
                    usart_send[18] = tag_slotpos;
                    checksum = Checksum_u16(&usart_send[2],17);
                    memcpy(&usart_send[19],&checksum,2);
                //    UART_PushFrame(usart_send,21);
                    UART_PushFrame(usart_send,21);
                #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);
@@ -953,7 +953,7 @@
extern uint16_t configremotetagID;
extern u8 remotetag_paralen;
u8 finalsend=0;

u16 signalpower_list[TAG_NUM_IN_SYS];
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
{
    
@@ -973,11 +973,10 @@
            
            if(new_tagid)
            {
                tagdist_list[taglist_pos]=0x1ffff;
                memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
            }else{
                memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
                tagdist_list[taglist_pos]=0x1ffff;	
            }
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
            memcpy(&tx_nearresp_msg[ANC_SIGNALPOWER],&signalpower_list[taglist_pos],2);
            tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
            tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
            tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
@@ -1004,12 +1003,15 @@
                            break;
                        }                
                    }
                }else{
                    
                }
                    
                if(finalsend == 0)
                {
                        dwt_writetxdata(24, tx_nearresp_msg, 0);//写入发送数据
                        dwt_writetxfctrl(24, 0);//设定发送长度
                    memcpy(&tx_nearresp_msg[MAXRANGE_DISTANCE],&g_com_map[MAXRANGDIST_INDEX],2);
                        dwt_writetxdata(28, tx_nearresp_msg, 0);//写入发送数据
                        dwt_writetxfctrl(28, 0);//设定发送长度
                }
                    
//             if(remotesend_state&&tag_id_recv==configremotetagID)
@@ -1088,7 +1090,8 @@
                        misdist_num[taglist_pos]=0;
                    tagdist_list[taglist_pos] = hex_dist;    
                    his_dist[taglist_pos]=hex_dist;    
                        g_Tagdist[taglist_pos]=hex_dist;	
                    g_Tagdist[taglist_pos]=hex_dist;	
                    signalpower_list[taglist_pos] = ((uint8_t)firstpath_power<<8)|(uint8_t)((rx_power-firstpath_power)*10);
                #ifndef USART_INTEGRATE_OUTPUT
                    usart_send[2] = 1;//正常模式 
                    usart_send[3] = 17;//数据段长度
@@ -1144,7 +1147,7 @@
extern u8 flag_syncbase,waitsync_flag;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num,zero_matrix[100]={0};
u16 ancidlist_rec[20],ancidlist_send[20];
u16 recnearbaselist_id[30];
u16 recnearbaselist_id[30],rec_taganc_signalpower_list[11];
int32_t recnearbaselist_dist[30];
int16_t rec_tagheight;
void Anchor_App(void)
@@ -1179,6 +1182,39 @@
        switch(rx_buffer[MESSAGE_TYPE_IDX])
        {
            uint16_t checksum;
            case DISCOVERPOLL:
                if (anchor_type == rx_buffer[ANCHOR_ID_IDX])
                {
                taglist_pos=CmpTagInList(tag_id_recv);
                if(taglist_pos==taglist_num)
                {
                    taglist_pos=taglist_num;
                    tagid_list[taglist_num++]=tag_id_recv;
					
                    new_tagid=1;
                }else{
                    new_tagid=0;
                }
                tagofflinetime[taglist_pos]=0;
                
                rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
                if(rec_nearbase_num>=30)
                {
                    break;
                }
                battary = rx_buffer[BATTARY_IDX];
                button = rx_buffer[BUTTON_IDX];
                frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
            tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
            tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
               
      ////////////////基站汇总模式数据          
               memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6],2);
                memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
                memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4);
                Anchor_RecPoll();
                }
                break;
            case SPOLL:
                //if (anchor_type == rx_buffer[ANC_TYPE_IDX])
            if(dev_id==anc_id_recv)
@@ -1330,9 +1366,12 @@
            tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
            tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
      ////////////////基站汇总模式数据          
                memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6+4],2);
                memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*8+6],2);
                memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
                memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4+4);
                memcpy(&rec_taganc_signalpower_list,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6+4],rec_nearbase_num*2+2);
                if(anc_id_recv == dev_id )
                {
                usart_send[2] = 0x0c;//正常模式 
                    usart_send[3] = 15+8*(rec_nearbase_num+1);//数据段长度
                    memcpy(&usart_send[4],&tag_id_recv,2);
@@ -1350,11 +1389,12 @@
                    memcpy(&usart_send[17],&anc_id_recv,2);
                    memcpy(&usart_send[19],&recnearbaselist_id,2*rec_nearbase_num);
                    memcpy(&usart_send[19+rec_nearbase_num*2],&recnearbaselist_dist,4*rec_nearbase_num+4);
					
                     memcpy(&usart_send[19+rec_nearbase_num*6+4],&rec_taganc_signalpower_list,2*rec_nearbase_num+2);
                    
                    checksum = Checksum_u16(&usart_send[2],23+8*rec_nearbase_num);
                    memcpy(&usart_send[25+8*rec_nearbase_num],&checksum,2);
                    UART_PushFrame(usart_send,27+8*rec_nearbase_num);

                }
    //////////////////////////////////////////////////////////////            
                
                

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.h

@@ -26,6 +26,7 @@
//#define TAG_OUTPUT
#define HEX_OUTPUT

#define ANCHORTYPE_NUM   5
#define MAX_NEARBASE_NUM 12
#define MAX_RFPOWER   67
#define DEFAULT_RFPOWER   30
@@ -77,6 +78,7 @@
#define NEAR_RESPONSE               0x07
#define NEAR_FINAL                       0x08
#define SPOLL                                 0x09
#define DISCOVERPOLL                                 0x0a

#define REG_POLL                           0x10
#define REG_RESPONSE                   0x11
@@ -88,13 +90,15 @@
//Poll
#define ANC_TYPE_IDX                     14
//respose
#define DIST_IDX                             10
#define ANCTIMEMS             14
#define ANCTIMEUS             16
#define MAINBASE_INDEX        18
#define MOTORSTATE_INDEX      19
#define NR_NEARSWITCH_DISTANCE   20
#define REMOTEPARA_INDEX      22
#define DIST_IDX                     10
#define ANCTIMEMS                   14
#define ANCTIMEUS                   16
#define MAINBASE_INDEX              18
#define MOTORSTATE_INDEX            19
#define NR_NEARSWITCH_DISTANCE      20
#define REMOTEPARA_INDEX            22
#define MAXRANGE_DISTANCE           22
#define ANC_SIGNALPOWER             24

#define TAGSLOTPOS                        7
//Final

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

@@ -39,17 +39,18 @@
        g_com_map[ANC_POLL]=0;
        g_com_map[ALARM_DEV] = 0;
        g_com_map[NEARSWITCH_DISTANCE_INDEX] = 0;    //默认报警距离50cm
        g_com_map[ALARM_DISTANCE2] = 0;    //默认报警距离50cm
//        g_com_map[ALARM_DISTANCE2] = 0;    //默认报警距离50cm
        g_com_map[ALARM_DISTANCE3] = 0;    //默认报警距离50cm
        g_com_map[HEARTBEAT]=1;
        g_com_map[CNT_RESTART]=0;
        g_com_map[CNT_REBOOT]=0;
        g_com_map[CNT_UPDATE]=0;
        g_com_map[NEARBASE_NUM]=0;
        g_com_map[NEARBASE_NUM]=5;
        g_com_map[POWER]=DEFAULT_RFPOWER;
        g_com_map[SYNCBASEID] = 0;
        g_com_map[BASESYNCSEQ] = 0;
        g_com_map[HEIGHTOFFEST_INDEX] = 0;
        g_com_map[MAXRANGDIST_INDEX] = 65535;
        memcpy(&g_com_map[BOARD_TYPE],boardtype,4);    
        //save_com_map_to_flash();
    }    

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

@@ -21,7 +21,7 @@
#define     ALARM_DEV                        0x9        //是哪个设备报警
#define        ALARM_DISTANCE1            0xA        //小于多少距离报警
#define   NEARSWITCH_DISTANCE_INDEX 0x0A
#define        ALARM_DISTANCE2            0xB        //小于多少距离报警
#define        MAXRANGDIST_INDEX            0xB        //小于多少距离报警
#define        ALARM_DISTANCE3            0xC        //小于多少距离报警
#define        PAIR_ID                            0xD        //小于多少距离报警
#define        HEARTBEAT               0xE

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -72,6 +72,7 @@
        if(g_com_map[IMU_THRES]<1)
        {g_com_map[IMU_THRES]=1;}
}
u16 decid;
void Program_Init(void)
{    float temp;
    u16 temp2;
@@ -94,14 +95,15 @@
#endif
    OUT485_ENABLE;
    ComMapCheck();
    g_com_map[VERSION] = 0x021a;	
    g_com_map[VERSION] = 0x021e;	
    dev_id = g_com_map[DEV_ID];
    slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
    max_slotpos=g_com_map[COM_INTERVAL]/slottime;
    tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;    
    module_power = g_com_map[POWER];
    total_slotnum = 1000/g_com_map[COM_INTERVAL];
    anchor_type = dev_id%3;
    decid = (g_com_map[DEV_ID]/0x1000)*1000+((g_com_map[DEV_ID]%0x1000)/0x100)*100+((g_com_map[DEV_ID]%0x100)/0x10)*10+((g_com_map[DEV_ID]%0x10));
    anchor_type = decid%g_com_map[MAX_REPORT_ANC_NUM];
    

        
@@ -160,7 +162,7 @@
UART_PushFrame(hbsend,16);
}
extern u8 g_start_sync_flag,usart_send_flag,anc_report_num;
u16 heartbeat_timer,poll_timer;
u16 heartbeat_timer=58000,poll_timer;
int16_t sync_timer;
extern u8 flag_newsecond, tagpos_rec[50], tagpos_send[50],ancidlist_num;
uint32_t tagpos_binary;

 Ô´Âë/ºËÐÄ°å/Src/stm32f10x_it.c

@@ -46,7 +46,7 @@
    if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET)  //??TIM3????????
        {
        TIM_ClearITPendingBit(TIM3, TIM_IT_Update  );  //??TIMx?????? 
    main_logic();		
//    main_logic();		
    time32_incr++;
    heartbeat_timer++;
    sync_timer++;