From 4864dd7a1bf69e16045c18bc19220b3ce9f55c72 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 17 六月 2020 23:49:37 +0800
Subject: [PATCH] V1.18华星测试基站防撞版本

---
 源码/核心板/Src/application/global_param.c       |    2 
 源码/核心板/Src/main.c                           |   46 ++++-
 源码/核心板/Src/application/beep_logic_app.c     |  102 +++---------
 源码/核心板/Src/ExternalDevices/beep.h           |    4 
 源码/核心板/Src/stm32f10x_it.c                   |    4 
 源码/核心板/MDK-ARM/Project.uvoptx               |   26 ++
 源码/核心板/Src/application/global_param.h       |    8 +
 源码/核心板/Src/decadriver/deca_device.c         |   17 +
 源码/核心板/MDK-ARM/Project.uvguix.Administrator |  200 +++++++++++++-----------
 源码/核心板/Src/application/dw_app.c             |   64 +++----
 10 files changed, 246 insertions(+), 227 deletions(-)

diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
index 78917f9..7c791ca 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
@@ -15,17 +15,17 @@
     <View>
       <WinId>38003</WinId>
       <ViewName>Registers</ViewName>
-      <TableColWidths>127 127</TableColWidths>
+      <TableColWidths>127 157</TableColWidths>
     </View>
     <View>
       <WinId>346</WinId>
       <ViewName>Code Coverage</ViewName>
-      <TableColWidths>610 160</TableColWidths>
+      <TableColWidths>610 1278</TableColWidths>
     </View>
     <View>
       <WinId>204</WinId>
       <ViewName>Performance Analyzer</ViewName>
-      <TableColWidths>770</TableColWidths>
+      <TableColWidths>943 115 115 715</TableColWidths>
     </View>
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@@ -93,25 +93,25 @@
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       <showCmd>3</showCmd>
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-        <yPos>-32000</yPos>
+        <xPos>-1</xPos>
+        <yPos>-1</yPos>
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         <xPos>-1</xPos>
         <yPos>-1</yPos>
       </MaxPosition>
       <NormalPosition>
-        <Top>4</Top>
-        <Left>-5</Left>
-        <Right>1284</Right>
-        <Bottom>685</Bottom>
+        <Top>-990</Top>
+        <Left>438</Left>
+        <Right>1728</Right>
+        <Bottom>-309</Bottom>
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@@ -1160,7 +1160,7 @@
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@@ -3643,35 +3643,35 @@
       <Doc>
         <Name>..\Src\application\dw_app.h</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>51</TopLine>
-        <CurrentLine>59</CurrentLine>
+        <TopLine>85</TopLine>
+        <CurrentLine>104</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
         <Name>..\Src\application\global_param.c</Name>
-        <ColumnNumber>18</ColumnNumber>
-        <TopLine>1</TopLine>
-        <CurrentLine>1</CurrentLine>
+        <ColumnNumber>6</ColumnNumber>
+        <TopLine>2</TopLine>
+        <CurrentLine>49</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
         <Name>..\Src\application\global_param.h</Name>
-        <ColumnNumber>0</ColumnNumber>
-        <TopLine>15</TopLine>
-        <CurrentLine>29</CurrentLine>
+        <ColumnNumber>32</ColumnNumber>
+        <TopLine>2</TopLine>
+        <CurrentLine>11</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
         <Name>..\Src\application\beep_logic_app.c</Name>
-        <ColumnNumber>0</ColumnNumber>
-        <TopLine>17</TopLine>
-        <CurrentLine>28</CurrentLine>
+        <ColumnNumber>21</ColumnNumber>
+        <TopLine>31</TopLine>
+        <CurrentLine>40</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
@@ -3679,8 +3679,8 @@
       <Doc>
         <Name>..\Src\OnChipDevices\Spi.c</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>141</TopLine>
-        <CurrentLine>148</CurrentLine>
+        <TopLine>120</TopLine>
+        <CurrentLine>135</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
@@ -3688,8 +3688,8 @@
       <Doc>
         <Name>..\Src\OnChipDevices\Usart.c</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>135</TopLine>
-        <CurrentLine>142</CurrentLine>
+        <TopLine>132</TopLine>
+        <CurrentLine>141</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
@@ -3697,7 +3697,7 @@
       <Doc>
         <Name>..\Src\OnChipDevices\Usart.h</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>9</TopLine>
+        <TopLine>3</TopLine>
         <CurrentLine>23</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
@@ -3715,12 +3715,30 @@
       <Doc>
         <Name>..\Src\decadriver\deca_regs.h</Name>
         <ColumnNumber>87</ColumnNumber>
-        <TopLine>264</TopLine>
+        <TopLine>259</TopLine>
         <CurrentLine>260</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
+      <Doc>
+        <Name>..\Src\ExternalDevices\beep.h</Name>
+        <ColumnNumber>26</ColumnNumber>
+        <TopLine>1</TopLine>
+        <CurrentLine>28</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>..\Src\application\serial_at_cmd_app.c</Name>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>1</TopLine>
+        <CurrentLine>1</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
     </MDIGroup>
   </MDIGroups>
 
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
index 8ce029b..d87284d 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
@@ -103,7 +103,7 @@
         <bEvRecOn>1</bEvRecOn>
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
-        <nTsel>6</nTsel>
+        <nTsel>12</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -114,7 +114,7 @@
         <tDlgDll></tDlgDll>
         <tDlgPa></tDlgPa>
         <tIfile></tIfile>
-        <pMon>Segger\JL2CM3.dll</pMon>
+        <pMon>BIN\CMSIS_AGDI.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
         <SetRegEntry>
@@ -125,7 +125,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
-          <Name>d</Name>
+          <Name></Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -255,6 +255,26 @@
           <WinNumber>1</WinNumber>
           <ItemText>rx_buffer</ItemText>
         </Ww>
+        <Ww>
+          <count>19</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>min_dist,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>20</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>hex_dist,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>21</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>sync_timer,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>22</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>synclost_timer,0x0A</ItemText>
+        </Ww>
       </WatchWindow1>
       <MemoryWindow1>
         <Mm>
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/ExternalDevices/beep.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/ExternalDevices/beep.h"
index b862d84..a9aa2cb 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/ExternalDevices/beep.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/ExternalDevices/beep.h"
@@ -24,12 +24,12 @@
 #define OUT2_OFF					GPIO_WriteBit(OUT2_GPIO, OUT2_PIN, Bit_RESET)
 
 #define RELAY1_GPIO  			GPIOB
-#define RELAY1_PIN  			GPIO_Pin_1
+#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 RELAY2_GPIO  			GPIOB
-#define RELAY2_PIN  			GPIO_Pin_2
+#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)
 
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.c"
index a40b977..4454f51 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.c"
@@ -8,11 +8,11 @@
 #define OFFTIME1 0  // 100ms
 
 #define ONTIME2 1   // 100ms
-#define OFFTIME2 1  // 100ms
+#define OFFTIME2 0  // 100ms
 
-#define ONTIME3 1   // 500ms
+#define ONTIME3 5   // 500ms
 #define OFFTIME3 5  // 500ms
-
+u8 distoffset1=0,distoffset2=0;
 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;
@@ -25,65 +25,43 @@
 		min_dist=0xffff;
 		for(i = 0; i < 255;i++)
 		{
-			if(g_Tagdist[i] < min_dist)
+			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_DISTANCE1])
-		{
-			beep_ontime = ONTIME1;
-			beep_offtime = OFFTIME1;
-			beep_state=1;
-		
-		}
-		else if (min_dist <= g_com_map[ALARM_DISTANCE2])
+ if (min_dist <= g_com_map[ALARM_DISTANCE2]+distoffset1)
 		{
 			beep_ontime = ONTIME2;
 			beep_offtime = OFFTIME2;
-			beep_state=1;
+			beep_state=2;
+			distoffset1=20;
+			distoffset2=0;
 		}
-		//else if (min_dist <= g_com_map[ALARM_DISTANCE3])
-//		{
-//			beep_ontime = ONTIME3;
-//			beep_offtime = OFFTIME3;
-//			beep_state=1;
-//		}
+ else if (min_dist <= g_com_map[ALARM_DISTANCE3]+distoffset2)
+		{
+			beep_ontime = ONTIME3;
+			beep_offtime = OFFTIME3;
+			beep_state=1;
+			distoffset1=0;
+			distoffset2=20;
+		}
 		else{
 			beep_state=0;
+			distoffset1=0;
+			distoffset2=0;
 		}
 		
-		if(beep_state==1)
+		if(beep_state!=0)
 		{
 			if(timer_state==1)
 			{
 				if(beep_timer++ < beep_ontime)
 				{
-					switch(g_com_map[ALARM_DEV]) 
-							{
-								case 0:
-									BEEP2_ON;
-									BEEP_OFF;
-									OUT2_OFF;
-									break;
-								case 1:
-									BEEP_ON;
-									BEEP2_OFF;
-									OUT2_OFF;
-									break;
-								case 2:
-									OUT2_ON;
-									BEEP_OFF;
-									BEEP2_OFF;
-									break;
-								default:
-									BEEP2_ON;
-									BEEP_ON;
-									OUT2_ON;
-									break;
-							}				
+					RELAY1_ON;
+					RELAY2_ON;		
 				}else{
 					timer_state=0;
 					beep_timer=0;
@@ -91,23 +69,8 @@
 			}else{
 			    if(beep_timer++ < beep_offtime)
 					{
-						switch(g_com_map[ALARM_DEV]) 
-							{
-								case 0:
-									BEEP2_OFF;
-									break;
-								case 1:
-									BEEP_OFF;
-									break;
-								case 2:
-									OUT2_OFF;
-									break;
-								default:
-									BEEP2_OFF;
-									BEEP_OFF;
-									OUT2_OFF;
-									break;
-							}
+						RELAY1_OFF;
+						RELAY2_OFF;
 					}else{
 							timer_state=1;
 							beep_timer=0;
@@ -116,23 +79,8 @@
 			}
 		
 		}	else {
-			switch(g_com_map[ALARM_DEV]) 
-			{
-				case 0:
-					BEEP2_OFF;
-					break;
-				case 1:
-					BEEP_OFF;
-					break;
-				case 2:
-					OUT2_OFF;
-					break;
-				default:
-					BEEP2_OFF;
-					BEEP_OFF;
-					OUT2_OFF;
-					break;
-			}
+			RELAY1_OFF;
+			 RELAY2_OFF;
 		}
 	}
 }	
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
index ff3a407..ac79717 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
@@ -284,10 +284,10 @@
 }
 u8 test=0;
 u8 anclost_times=0;
-u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;;
+u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
 u16 temp_sync_timer1,temp_sync_timer2;
 u32 rec_tagpos_binary;
-void NearPoll(void)
+ void NearPoll(void)
 {
 	static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
 	uint32_t temp1,temp2,dw_systime;
@@ -296,7 +296,6 @@
 	u32 start_poll;
 	u8 i,j,getsync_flag=0,timeout;
 //	printf("%d",sync_timer);
-		dwt_forcetrxoff();
     dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);			//设置发送后开启接收，并设定延迟时间
     dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);		
 	tag_succ_times = 0;
@@ -379,11 +378,15 @@
 									temp_sync_timer2=sync_timer;
 									memcpy(&temp_sync_timer1,&rx_buffer[ANCTIMEMS],2);
 									memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
-									sync_timer=temp_sync_timer1;
 									exsistbase_list[0]=KEEP_TIMES;
+									
+									if(g_com_map[DEV_ROLE]!=0)
+									{
+									sync_timer=temp_sync_timer1;
 ////									memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);		
 //									
-									tmp_time=tmp_time+650;
+									
+										tmp_time=tmp_time+650;
 									if(tmp_time>999)
 									{
 										tmp_time-=999;
@@ -392,13 +395,13 @@
 											{sync_timer=0;}
 									}
 									TIM3->CNT=tmp_time;
-									
+								}
 //									if(tagslotpos>max_slotpos)
 //										tagslotpos=tagslotpos%(max_slotpos+1);
 //										tyncpoll_time=(tagslotpos-1)*slottime;
 									////////////////////////////
 									rec_nearbasepos=0;
-									exsistbase_list[rec_nearbasepos]=10;
+									exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
 									memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
 									nearbase_distlist[rec_nearbasepos]=temp_dist;
 									
@@ -415,25 +418,10 @@
 									tx_nearfinal_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
 									dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//将发送数据写入DW1000
 									dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
-
+									memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
 									
-									if(temp_dist!=0x1ffff)
-									{
-									#ifndef USART_INTEGRATE_OUTPUT
-										usart_send[2] = 1;//正常模式
-										usart_send[3] = 17;//数据段长度
-										usart_send[4] = frame_seq_nb;//数据段长度
-										memcpy(&usart_send[5],&dev_id,2);
-										memcpy(&usart_send[7],&rec_nearbaseid,2);				
-										memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
-										usart_send[13] = battary;
-										usart_send[14] = button;
-										checksum = Checksum_u16(&usart_send[2],17);
-										memcpy(&usart_send[19],&checksum,2);
-										UART_PushFrame(usart_send,21);
-									#endif
-									}
-									//result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送			
+		
+									
 								}else{
 									rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
 									if(rec_nearbasepos>=last_nearbase_num)          //发现新的基站
@@ -503,7 +491,8 @@
 //					temp_adc=Get_ADC_Value();
 //					random_value=random_value|((temp_adc&0x01)<<i);
 //				}
-				tyncpoll_time = (tagslotpos%max_slotpos)*slottime;	
+				tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
+				tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;	
 			}
 		//	tyncpoll_time=0;
 			next_nearbase_num=0;
@@ -561,13 +550,13 @@
 			}
 			
 		//	printf("%d,%d",temp_sync_timer2,temp_sync_timer1);
-			#ifdef USART_INTEGRATE_OUTPUT		
-				usart_send[2] = 4;//正常模式
-				usart_send[3] = report_num*6+2;//正常模式
-				checksum = Checksum_u16(&usart_send[2],report_num*6+2);
-				memcpy(&usart_send[4+report_num*6],&checksum,2);
-				UART_PushFrame(usart_send,6+report_num*6);
-			#endif
+//			#ifdef USART_INTEGRATE_OUTPUT		
+//				usart_send[2] = 4;//正常模式
+//				usart_send[3] = report_num*6+2;//正常模式
+//				checksum = Checksum_u16(&usart_send[2],report_num*6+2);
+//				memcpy(&usart_send[4+report_num*6],&checksum,2);
+//				UART_PushFrame(usart_send,6+report_num*6);
+//			#endif
 //			if(mainbase_lost_count>5)
 //			{
 //				//tag_state=DISCPOLL;
@@ -584,9 +573,7 @@
 //				anclost_times=0;
 //			}
 
-	dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
-
-
+	dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
 }
 u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
 void GetNearMsg(void)
@@ -628,15 +615,19 @@
 			tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
 			//tagslotpos=rx_buffer[TAGSLOTPOS];
 			memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],next_nearbase_num*2);
+			slottime=ceil((nearbase_num+2)*0.3)+1;
 			tyncpoll_time=tagslotpos*slottime;
 			tag_state=NEARPOLL;
 		}
+	}else{
+			tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
 	}
 }
 
 void Tag_App(void)//发送模式(TAG标签)
 {
 	//LED0_ON;
+	dwt_forcetrxoff();
 	g_Resttimer=0;
 	switch(tag_state)
 	{
@@ -845,6 +836,7 @@
 						misdist_num[taglist_pos]=0;
 					tagdist_list[taglist_pos] = hex_dist;	
 					his_dist[taglist_pos]=hex_dist;	
+						g_Tagdist[taglist_pos]=hex_dist;	
 				#ifndef USART_INTEGRATE_OUTPUT
 					usart_send[2] = 1;//正常模式
 					usart_send[3] = 17;//数据段长度
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
index 13b2883..1899e93 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
@@ -46,6 +46,8 @@
 		g_com_map[CNT_REBOOT]=0;
 		g_com_map[CNT_UPDATE]=0;
 		g_com_map[NEARBASE_NUM]=0;
+		g_com_map[POWER]=67;
+			
 		save_com_map_to_flash();
 	}	
 }
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
index fd8f772..c1ba1ec 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
@@ -8,6 +8,7 @@
 #define DEFAULT_DEV_ID		5555		//默认设备ID是5555
 #define SYNCLOST_TIME     10000  //多久收不到信号变成同步基站
 /*---------------Map Definition-------------------*/
+#define   MAP_SIGN_INDEX        0x0
 #define 	VERSION        			  0x1		
 #define 	DEV_ID								0x2		//设备的Id
 #define 	COM_INTERVAL					0x3		//通讯间隔
@@ -36,6 +37,13 @@
 #define      NEARBASE_ID9                    0x19
 #define      NEARBASE_ID10                   0x1a
 
+#define 	POWER           		0x1B
+#define		IMU_THRES				   	0x1C
+#define   NOMOVESLEEP_TIME    0x1D
+#define   MOTOR_ENABLE        0x1E
+#define   IMU_ENABLE          0x1F
+#define 	FILTER_COEFFICIENT  0x20
+
 #define 	CNT_RESTART						0x30
 #define 	CNT_REBOOT						0x31
 #define 	CNT_UPDATE						0x32
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/decadriver/deca_device.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/decadriver/deca_device.c"
index 75a99e4..e0a39e8 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/decadriver/deca_device.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/decadriver/deca_device.c"
@@ -109,9 +109,10 @@
 #define VBAT_ADDRESS   (0x08)
 #define VTEMP_ADDRESS  (0x09)
 #define XTRIM_ADDRESS  (0x1E)
-
+u8 module_power;
 int dwt_initialise(uint16_t config)
 {
+		u32 power_temp,power_input;
     uint8_t plllockdetect = EC_CTRL_PLLLCK;
     uint16_t otp_addr = 0;
     uint32_t ldo_tune = 0;
@@ -133,8 +134,18 @@
     }
 
     _dwt_enableclocks(FORCE_SYS_XTI); // NOTE: set system clock to XTI - this is necessary to make sure the values read by _dwt_otpread are reliable
-
-    dwt_write32bitreg(TX_POWER_ID, 0x1f1f1f1f);
+		if(module_power>67)
+			{module_power=67;}
+			if(module_power<0)
+			{module_power=0;}
+			if(module_power>36)
+			{
+				power_temp =(module_power-36);
+			}else{
+				power_temp = ((6-(module_power/6))<<5)|(module_power%6);
+			}
+    power_input= power_temp<<24|power_temp<<16|power_temp<<8|power_temp;
+	  dwt_write32bitreg(TX_POWER_ID, power_input);
     // Configure the CPLL lock detect
     dwt_writetodevice(EXT_SYNC_ID, EC_CTRL_OFFSET, 1, &plllockdetect);
 
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
index a145aa0..b48ded5 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
@@ -46,6 +46,7 @@
 }
 u16 tyncpoll_time;
 u16 slottime,max_slotpos;
+extern u8 module_power;
 void Program_Init(void)
 {	float temp;
 	u16 temp2;
@@ -70,20 +71,24 @@
 	slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]/4)+4;
 	max_slotpos=g_com_map[COM_INTERVAL]/slottime;
 	tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;	
+	module_power = g_com_map[POWER];
+		if(module_power>67)
+		{
+			module_power=67;
+		}
 	
+	if(g_com_map[DEV_ROLE])
+	{
+	printf("标签ID: %d .\r\n",dev_id);
+	printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
+	printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
+	}else{
 	
-//	if(g_com_map[DEV_ROLE])
-//	{
-//	printf("标签ID: %d .\r\n",dev_id);
-//	printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
-//	printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
-//	}else{
-//	
-//	anchor_type = dev_id%g_com_map[MAX_REPORT_ANC_NUM];
-//	printf("基站ID: %x .\r\n",dev_id);
-//	printf("基站类型: %c .\r\n",anchor_type+0x41);
-//	printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
-//	}
+	anchor_type = dev_id%g_com_map[MAX_REPORT_ANC_NUM];
+	printf("基站ID: %x .\r\n",dev_id);
+	printf("基站类型: %c .\r\n",anchor_type+0x41);
+	printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
+	}
 	OUT485_DISABLE;
 //	printf("DEVICE PAIRID: %d .\r\n",g_com_map[PAIR_ID]);
 //	printf("DEVICE ALARM DISTANCE: 1.%d 2.%d 3.%d .\r\n",g_com_map[ALARM_DISTANCE1],g_com_map[ALARM_DISTANCE2],g_com_map[ALARM_DISTANCE3]);
@@ -116,7 +121,7 @@
 extern u16 ancidlist_rec[20],ancidlist_send[20];
 void IdleTask(void)
 {
-		main_logic();
+		
 			UART_CheckReceive();
 		UART_CheckSend();
 	if(heartbeat_timer>1000)
@@ -166,6 +171,21 @@
 		//	Delay_ms(100);
 			SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
 	}
+			if(g_com_map[CNT_REBOOT]==1)
+		{
+			g_com_map[CNT_REBOOT]=0;
+			g_com_map[MAP_SIGN_INDEX]=0;
+			save_com_map_to_flash();
+			delay_ms(100);
+			SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
+		}
+		if(g_com_map[CNT_RESTART]==1)
+		{
+			g_com_map[CNT_RESTART]=0;
+			save_com_map_to_flash();
+			delay_ms(100);
+				SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
+		}
 
 	}
 int main(void)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c"
index 03b9687..22aa618 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/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();		
 	time32_incr++;
 	heartbeat_timer++;
 	sync_timer++;	
@@ -77,7 +77,7 @@
 		{
 			if(sync_timer%g_com_map[COM_INTERVAL]==tyncpoll_time&&sync_timer<990&&sync_timer!=last_polltime)
 			{
-			g_start_send_flag=1;
+		//	g_start_send_flag=1;
 			}
 		}
 		

--
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