#include "mk_trace.h"
|
#include "mk_uwb.h"
|
#include "mk_phy.h"
|
#include "mk_misc.h"
|
#include "mk_power.h"
|
#include "mk_sleep_timer.h"
|
#include "lib_ranging.h"
|
#include "dw_app.h"
|
#include "board.h"
|
#include "mk_calib.h"
|
|
#if defined(MK_SS_TWR_DW_INIT)
|
|
extern int simple_main(void);
|
|
/* Ranging period: 1s */
|
#define RANGING_PERIOD_MS (1000)
|
|
/* This is the delay from the end of the poll frame transmission to the enable of the receiver */
|
#define POLL_TX_TO_RESP_RX_DLY_US 750U //yuan700
|
|
#define RESP_RX_TO_FINAL_TX_DLY_US 550U
|
|
/* Poll delay: 1s */
|
#define POLL_DELAY 100U
|
|
/* Receive response timeout */
|
#define RESP_RX_TIMEOUT_US 1000U //Yuan500 10mssuccess 300jixian
|
|
/* Field index in frame */
|
#define MSG_SEQ_NUM_IDX 2
|
#define FINAL_MSG_POLL_TX_TS_IDX 10
|
#define FINAL_MSG_RESP_RX_TS_IDX 14
|
#define FINAL_MSG_FINAL_TX_TS_IDX 18
|
uint16_t CmpTagInList(uint16_t tagid);
|
uint16_t AddNewTagIntoList(uint16_t tagid);
|
void AnchorListUpdate(void);
|
void Rank_ANchor_list_by_dis(void);
|
struct mk_uwb_configure
|
{
|
uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
|
struct UWB_CONFIG_T phy_cfg;
|
};
|
uint32_t dev_id;
|
uint8_t group_id;
|
/* Default communication configuration. */
|
static struct mk_uwb_configure config = {
|
.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
|
.phy_cfg.ch_num = 9, /* Channel number. */
|
.phy_cfg.code_index = 9, /* TRX preamble code */
|
.phy_cfg.mean_prf = MEAN_PRF_64M, /* Mean prf 64/128/256M */
|
.phy_cfg.data_bit_rate = DATA_BR_6M8, /* Data rate 6.8M */
|
.phy_cfg.sync_sym = PREAM_LEN_128, /* Preamble duration, length of preamble 128 */
|
.phy_cfg.sfd_sym = BPRF_NSFD2_8, /* Identifier for SFD sequence */
|
.phy_cfg.ranging_bit = 1, /* ranging bit set 1 */
|
.phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF, /* IEEE802.15.4z - BPRF mode */
|
.phy_cfg.sts_pkt_cfg = STS_PKT_CFG_0, /* SP0 Frame */
|
.phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1, /* Number of STS segments in the frame */
|
.phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
|
.phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
|
};
|
|
/* Buffer to store received frame */
|
static uint8_t rx_buf[150];
|
static uint8_t uwb_sendbuffer[150];
|
/* Frames used in the ranging process
|
* Poll message:
|
* - byte 0 - 1: 0x8841 to indicate a data frame using 16-bit addressing.
|
* - byte 2: sequence number, incremented for each new frame.
|
* - byte 3 - 4: PAN Id 0x4B4d
|
* - byte 5 - 6: Destination address
|
* - byte 7 - 8: Source address
|
* - byte 9: Message type (0x02 RANGING_POLL / 0x03 RANGING_RESPONSE / 0x04 RANGING_FINAL)
|
* Response message:
|
* - byte 10: activity code (0x07 to tell the initiator to go on with the ranging exchange)
|
* Final message:
|
* - byte 10 - 13: poll message transmission timestamp.
|
* - byte 14 - 17: response message reception timestamp.
|
* - byte 18 - 21: final message transmission timestamp.
|
*/
|
static uint8_t tx_poll_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x02};
|
static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x4D, 0x49, 0x53, 0x45, 0x03, 0x07};
|
static uint8_t tx_final_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x04, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
/* Count value of phy counter when transmitting and receiving frames */
|
static uint32_t poll_tx_en_start_u32;
|
static uint32_t resp_rx_en_start_u32;
|
static uint32_t final_tx_en_start_u32;
|
|
/* 41 bits timestamps of frames transmission/reception. */
|
static int64_t poll_tx_ts_i64;
|
static int64_t resp_rx_ts_i64;
|
static int64_t final_tx_ts_i64;
|
|
/* Frame sequence number, incremented after each transmission. */
|
static uint8_t frame_seq_nb = 0;
|
|
static volatile uint16_t rx_state;
|
static volatile uint16_t rx_state1;
|
static volatile uint16_t rx_length;
|
//DW
|
uint16_t rec_nearbaseid;
|
uint8_t temp_tag_num;
|
int32_t test2;
|
static uint8_t receive_flag=0;
|
static uint8_t rec_tag_index,tag_num_tosend;
|
|
uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
|
uint16_t taglist_total_num,taglist_current_index; //µ±Ç°Áбí×ÜÊýÁ¿
|
uint8_t taglist_keeptime[MAX_TAG_LIST_NUM]; //ÿ¸ö±êÇ©´æ»îʱ¼ä
|
uint16_t taglist_id[MAX_TAG_LIST_NUM],taglist_dist[MAX_TAG_LIST_NUM]; //±êÇ©¾àÀëºÍ±êÇ©µÄID
|
|
int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
|
uint8_t anclost_times=0 , mainbase_lost_count=0,exsistbase_list[MAX_NEARBASE_NUM],get_newbase=0,nearbase_num,last_nearbase_num,next_nearbase_num;
|
uint16_t nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],rec_nearbaseid,rec_nearbasepos;
|
uint16_t u16_nearbase_distlist[MAX_NEARBASE_NUM];
|
uint32_t temp_count1=0;
|
uint32_t temp_count2=0;
|
uint32_t temp_count3=0;
|
uint32_t tempflag=0;
|
int32_t freq_offset,freq_offset_filter;
|
enum SIMPLE_FSM_T
|
{
|
SIMPLE_IDLE = 0,
|
SIMPLE_POLL = 1,
|
SIMPLE_RESPONSE = 2,
|
SIMPLE_FINAL = 3,
|
};
|
void uwb_poll_buffer_construct(void)
|
{
|
for(uint8_t i=0;i<nearbase_num;i++) //±êÇ©¾àÀë32λת³É16λ
|
{
|
u16_nearbase_distlist[i] = nearbase_distlist[i];
|
}
|
uwb_sendbuffer[GROUP_ID_IDX] = group_id;
|
memcpy(&uwb_sendbuffer[TAG_ID_IDX],&dev_id,2);
|
//uwb_sendbuffer[BATTARY_IDX] = bat_percent;
|
uwb_sendbuffer[SEQUENCE_IDX] = frame_seq_nb++;
|
uwb_sendbuffer[NEARBASENUM_INDEX] = nearbase_num;
|
memcpy(&uwb_sendbuffer[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);//»ùÕ¾id
|
memcpy(&uwb_sendbuffer[NEARBASEID_INDEX+nearbase_num*2],&u16_nearbase_distlist,nearbase_num*2);
|
uwb_sendbuffer[MESSAGE_TYPE_IDX] = MBX_POLL;
|
memcpy(&uwb_sendbuffer[ANCHOR_ID_IDX],&mainbase_id,2);
|
}
|
|
static enum SIMPLE_FSM_T state = SIMPLE_IDLE;
|
|
/**
|
* @brief Correct TX timestamp of the ranging frame.
|
*
|
* @param[in] timestamp PHY timer count of TX
|
* @return TX timestamp (unit: 15.65ps)
|
*/
|
static int64_t ranging_tx_time_correct(uint32_t timestamp)
|
{
|
int64_t tx_timestamp = ranging_tx_time(timestamp);
|
|
// correct antenna delay (TX using the same antenna as RX)
|
tx_timestamp += ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;
|
|
return tx_timestamp;
|
}
|
|
/**
|
* @brief Correct RX timestamp of the ranging frame.
|
*
|
* @param[in] ind MAC RX report
|
* @return RX timestamp (unit: 15.65ps)
|
*/
|
static int64_t ranging_rx_time_correct(const struct MAC_HW_REPORT_T *ind)
|
{
|
int64_t rx_timestamp = ranging_rx_time(ind);
|
|
// correct antenna delay
|
rx_timestamp -= ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;
|
|
return rx_timestamp;
|
}
|
|
/* RX done process handler. */
|
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
|
{
|
// Power off radio
|
power_off_radio();
|
|
rx_state = rx_report->err_code;
|
|
/** UWB RX success */
|
if (rx_state == UWB_RX_OK)
|
{
|
/* Received data does not contain FCS */
|
rx_length = rx_report->pkt_len;
|
memcpy(rx_buf, rx_report->pkt_data, rx_length);
|
/* Calculate rx timestamp */
|
resp_rx_ts_i64 = ranging_rx_time_correct(rx_report);
|
temp_count2=phy_timer_count_get();
|
//»ñÈ¡·¢Éä¶ËʱÖÓÆ«²î
|
freq_offset=phy_freq_offset_get();
|
freq_offset_filter=average_filter(freq_offset);//»ñȡƵƫ
|
int32_t ppm = freq_offset_filter / (int32_t)(ch_center_freq_map[UWB_CH_NUM] * 1e-6);
|
calib_xtal38m4_load_cap_auto_tune(ppm);//ÀûÓõçÈݵ÷Õû¾§ÕñÊÊÅäƵƫӦÔÚÍêÕûµÄÒ»°üÖ®ºóµ÷Õû£¬ÐèÒª¹Ø±ÕXTAL_AUTO_TUNE_EN ºê¶¨Òå±ÜÃâÊÕ°üÖÐ;У׼µ¼Ö²â¾à´íÎó
|
receive_flag=1;
|
|
}
|
else
|
{
|
/* UWB_PLD_ERR payload error */
|
/* UWB_PHR_ERR PHR error */
|
/* UWB_SFD_ERR Sfd error */
|
/* UWB_BD_ERR Preamble detection error */
|
/* UWB_TO_ERR Receive timeout */
|
/* UWB_STS_ERR STS error */
|
rx_state1=rx_report->err_code;
|
rx_length = 0;
|
receive_flag=2;
|
temp_count2=phy_timer_count_get();
|
}
|
|
}
|
|
/* TX done process handler. */
|
static void tx_int_callback(struct MAC_HW_REPORT_T *tx_report)
|
{
|
// Power off radio
|
power_off_radio();
|
|
/** UWB TX success */
|
if (tx_report->err_code == UWB_TX_OK)
|
{
|
temp_count1=phy_timer_count_get();//²âÊÔ
|
}
|
}
|
|
|
|
//×¢Ò⣺ÒòΪÐÂ×¢²áµÄ±êÇ©²¢²»ÖªµÀ»ùÕ¾ÒѾÊÕµ½ÁË£¬ËùÒÔÒªÔÚÏÂÒ»°üÁ¢¿Ì½«ÐµıêÇ©ID·¢³ö£¬·ñÔò±êÇ©»áÒ»Ö±ÇÀÕ¼»ùÕ¾µÄpoll°ü¡£
|
//·½·¨Êǽ«ÐÂ×¢²áµÄ±êÇ©Ìí¼Óµ½Ï´η¢Ë͵ıêÇ©ÁбíÍ·²¿£¬ÆäËû±êÇ©ÒÀ´ÎÏòºóŲ¶¯¡£
|
uint16_t AddNewTagIntoList(uint16_t tagid)
|
{
|
uint16_t newindex_cal = taglist_current_index+25;//µ±Ç°Ë÷Òý+25£¬ÎªÏ´ÎË÷ÒýÒª·¢³öµÄÖµµÄ×î´óÖµ£¬Èç¹û×ÜÊýСÓÚÕâ¸öÖµ£¬¼´¿É·Åµ½×îºóÃæ¡£
|
if(newindex_cal>=taglist_total_num) //Èç¹ûµ±Ç°Ë÷ÒýÊÇ×îºóÒ»°ü£¬ÄÇô¾Í¼Óµ½×ÜË÷ÒýµÄºóÃ棬Èç¹û²»ÊǾͼӵ½ÏÂÒ»´ÎÆðʼË÷ÒýλÖá£
|
{
|
newindex_cal = taglist_total_num;
|
|
}else{
|
for(uint16_t i=taglist_total_num;i>newindex_cal;i--) //´ÓºóÍùǰŲµØ·½??¾ÍÊDzåÈë
|
{
|
taglist_id[i]=taglist_id[i-1];
|
taglist_dist[i]=taglist_dist[i-1];
|
taglist_keeptime[i]=taglist_keeptime[i-1];
|
}
|
}
|
taglist_total_num++;
|
taglist_id[newindex_cal] = tagid;
|
taglist_dist[newindex_cal] = 0;
|
taglist_keeptime[newindex_cal] = TAG_KEEPTIMES;
|
return newindex_cal;
|
}
|
uint8_t FindNearBasePos(uint16_t baseid)//Ñ°ÕÒµ±Ç°ÁбíÖеĻùÕ¾·µ»ØË÷Òý
|
{
|
uint8_t i;
|
for(i=0;i<nearbase_num;i++)
|
{
|
if(baseid==nearbaseid_list[i])
|
return i;
|
}
|
if(i==nearbase_num)
|
return nearbase_num;
|
}
|
|
void AnchorListUpdate(void)
|
{
|
next_nearbase_num = 0;
|
int j=0;
|
for(int i=0;i<nearbase_num;i++)
|
{
|
if(exsistbase_list[i]>0)
|
{
|
exsistbase_list[i]--;
|
next_nearbase_num++;
|
true_exsistbase_list[j]=exsistbase_list[i];
|
true_nearbase_idlist[j]=nearbaseid_list[i];
|
true_nearbase_distlist[j++]=nearbase_distlist[i];
|
|
}
|
nearbase_num = next_nearbase_num;//¸üÐÂÏÖ´æ»ùÕ¾Êý
|
last_nearbase_num = next_nearbase_num;//¸üе±Ç°»ùÕ¾Êý
|
}
|
}
|
|
void Rank_ANchor_list_by_dis(void)//°´ÕÕÄ¿Ç°µÄ»ùÕ¾¾àÀë½øÐÐðÅÝÅÅÐòÓÃÁÙʱÊý×鷽ʽ½«×î½üµÄ·Åµ½×îÇ°Ã棬×îÔ¶µÄ·Åµ½×îºóÃæ
|
{
|
for(int i=0;i<last_nearbase_num-1;i++)
|
{
|
for(int j=0;j<last_nearbase_num-1;j++)
|
{
|
if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
|
{
|
uint32_t temp_dist,temp_id,temp_exsis;
|
temp_dist=true_nearbase_distlist[j];
|
temp_id = true_nearbase_idlist[j];
|
temp_exsis=true_exsistbase_list[j];
|
true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
|
true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
|
true_exsistbase_list[j]=true_exsistbase_list[j+1];
|
|
true_nearbase_distlist[j+1]=temp_dist;
|
true_nearbase_idlist[j+1]=temp_id;
|
true_exsistbase_list[j+1]=temp_exsis;
|
}
|
}
|
}
|
for (int i=0;i<last_nearbase_num;i++)
|
{
|
nearbaseid_list[i]=true_nearbase_idlist[i];
|
nearbase_distlist[i]=true_nearbase_distlist[i];
|
exsistbase_list[i] = true_exsistbase_list[i];
|
}
|
}
|
uint16_t CmpTagInList(uint16_t tagid)//ÕÒÕâ¸öÐÂÒ»°üµÄ»ùÕ¾ÔÚ²»ÔÚÏÖ´æµÄtaglistÖÐÔڵĻ°¶ÔӦλÖøüдæ»îʱ¼ä£¬²»ÔÚ¾ÍÔö¼Ó£¨È·±£ÓÐЧÊýÁ¿Ð¡ÓÚ×î´óÉèÖÃÊý£©
|
{
|
uint16_t temp;
|
for(uint8_t i=0;i<taglist_total_num;i++)
|
{
|
if(memcmp(&tagid,&taglist_id[i],2)==0)
|
{
|
taglist_keeptime[i] = TAG_KEEPTIMES;
|
return i;
|
}
|
}
|
if(taglist_total_num<MAX_TAG_LIST_NUM)
|
temp = AddNewTagIntoList(tagid);
|
return temp;
|
}
|
|
int simple_main(void)
|
{
|
// The following peripherals will be initialized in the uwb_open function
|
// phy/mac/aes/lsp/phy timers initialized
|
uwb_open();
|
|
// Set calibration parameters
|
uwb_calibration_params_set(config.phy_cfg.ch_num);
|
|
// set advanced parameters
|
struct PHY_ADV_CONFIG_T adv_config = {
|
.thres_fap_detect = 40,
|
.nth_scale_factor = 4,
|
.ranging_performance_mode = 0,
|
.skip_weakest_port_en = 0,
|
};
|
phy_adv_params_configure(&adv_config);
|
|
// uwb configure
|
uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);
|
|
ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
|
|
// Register rx interrupt callback function
|
mac_register_process_handler(tx_int_callback, rx_int_callback);
|
|
//#if LOW_POWER_EN
|
// // Initialize low power mode
|
// power_init();
|
// // Enable sleep timer
|
// sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, NULL);
|
//#endif
|
uwb_poll_buffer_construct();
|
temp_tag_num=0;//ÁÙʱÊýÁ¿Îª0
|
poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//·¢ËͱØÐëÒªÑÓʱ·¢ËͲſÉÒÔÓÃÓÚ²â¾à·ñÔòÁ¢¼´·¢ËÍ»á»ñȡʱ¼ä´Á²»¶Ô£¬ÐèÒª¼ÆËã³ÌÐòÔËÐÐʱ¼ä£¬±ÜÃâÉèÖùýȥʱ¼ä
|
tempflag=uwb_tx(uwb_sendbuffer,13+4*nearbase_num,1,poll_tx_en_start_u32);//Á¢¼´·¢ËÍ
|
poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
|
while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É
|
temp_count2=phy_timer_count_get();
|
resp_rx_en_start_u32 = poll_tx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);//ÉèÖ÷¢ËͶàÉÙsºó½ÓÊÕ°´target¶ÀÁ¢Ê±¼äÆðµãËã+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_USΪ·¢ËͺóÒª¶à¾Ã¿ªÆô½ÓÊÕʱ¼ä
|
temp_resp=resp_rx_en_start_u32;
|
//tempflag=uwb_rx(1, resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);//¿ªÆô½ÓÊܲ¢ÉèÖýÓÊÕ³¬Ê±
|
tempflag=uwb_rx(0,0, RESP_RX_TIMEOUT_US);
|
temp_count3=phy_timer_count_get();
|
while(mac_is_busy());//µÈ´ý½ÓÊÕÍê³É
|
temp_count2=phy_timer_count_get();
|
start_receive_count=phy_timer_count_get();
|
poll_timeout=nearbase_num*50000+50000;//¶àÒ»¸ö¶à0.4msĬÈÏ0.4ms¼ÆËãΪ0.125*4*100000
|
end_receive_count=start_receive_count+poll_timeout;
|
if(end_receive_count>=UINT32_MAX)
|
{end_receive_count-=UINT32_MAX;}
|
current_count=phy_timer_count_get();
|
while(current_count<end_receive_count||current_count>end_receive_count+62400000)//Ñ»·½ÓÊÜ°üÌå,ÈôΪ124.8KÔòÊÇ+62400000
|
{
|
current_count=phy_timer_count_get();//²»¶Ïˢе±Ç°¼ÆÊýÆ÷Öµ
|
if(receive_flag==1)//³É¹¦½ÓÊÕÊý¾Ý
|
{
|
receive_flag=0;
|
|
//½ÓÊճɹ¦ÔòÅжÏÊÇ·ñΪͬһ×é
|
if (rx_buf[MESSAGE_TYPE_IDX] == MBX_RESPONSE&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2)&&rx_buf[GROUP_ID_IDX]==group_id) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
|
{
|
memcpy(&rec_nearbaseid,&rx_buf[ANCHOR_ID_IDX],2);
|
if(last_nearbase_num==0)
|
{
|
nearbaseid_list[0]=rec_nearbaseid;
|
nearbase_num=1;
|
exsistbase_list[0]=KEEP_TIMES;
|
SetANCTimestap(0,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2,(uint32_t)poll_tx_ts_i64);//Õâ¸öÊǸĹýµÄ²ÎÊý
|
}
|
// if(rec_nearbaseid==nearbaseid_list[0])
|
// {
|
// exsistbase_list[0]=KEEP_TIMES;
|
// SetANCTimestap(0,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2);//Õâ¸öÊǸĹýµÄ²ÎÊý
|
// }
|
else
|
{
|
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
|
SetANCTimestap(rec_nearbasepos,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2,(uint32_t)poll_tx_ts_i64);
|
if(rec_nearbasepos>=last_nearbase_num) //·¢ÏÖеĻùÕ¾
|
{
|
//get_newbase=1;
|
nearbase_num++;
|
nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
|
}
|
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;//¸üдæ»îʱ¼ä
|
}
|
memset(rx_buf, 0, sizeof(rx_buf));//Çå¿Õ½ÓÊÕµ½µÄÓÃÍêµÄÊý×é
|
rx_length=0;//Çå0³¤¶È
|
uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
|
while(mac_is_busy());
|
}
|
}else if(receive_flag==2){//½ÓÊÕ³ö´í
|
receive_flag=0;
|
tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
|
temp_count3=phy_timer_count_get();
|
while(mac_is_busy());
|
temp_count1=phy_timer_count_get();
|
}
|
//¹Ø±ÕUWBapi
|
//uwb_close();
|
CalculateDists(poll_tx_ts_i64); //¼ÆËã¾àÀë²¢¸üоàÀë±í
|
AnchorListUpdate();//¸üдæ»î»ùÕ¾Áбí
|
Rank_ANchor_list_by_dis();//ðÅÝÅÅÐòÖØа´¾àÀëÖØÐÂÅÅÁлùÕ¾Áбí×îС¾àÀë´æ»õ»ùÕ¾·Åµ½×îÇ°Ãæ
|
}
|
}
|
#endif
|
