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/*! ----------------------------------------------------------------------------
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* @file main.c
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* @brief Double-sided two-way ranging (DS TWR) initiator example code
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*
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*
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*
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* @attention
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*
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* Copyright 2015 (c) Decawave Ltd, Dublin, Ireland.
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*
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* All rights reserved.
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*
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* @author Decawave
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*/
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#include <string.h>
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#include "dw_app.h"
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#include "deca_device_api.h"
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#include "deca_regs.h"
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#include "dw_driver.h"
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#include "Spi.h"
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#include "led.h"
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#include "serial_at_cmd_app.h"
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#include "Usart.h"
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#include "global_param.h"
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#include "filters.h"
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#include <stdio.h>
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#include "beep.h"
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#include "modbus.h"
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/*------------------------------------ Marcos ------------------------------------------*/
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/* Inter-ranging delay period, in milliseconds. */
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#define RNG_DELAY_MS 100
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/* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */
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#define TX_ANT_DLY 0
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#define RX_ANT_DLY 32899
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/* UWB microsecond (uus) to device time unit (dtu, around 15.65 ps) conversion factor.
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* 1 uus = 512 / 499.2 µs and 1 µs = 499.2 * 128 dtu. */
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#define UUS_TO_DWT_TIME 65536
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/* Delay between frames, in UWB microseconds. See NOTE 4 below. */
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/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
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#define POLL_TX_TO_RESP_RX_DLY_UUS 150
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/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
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* frame length of approximately 2.66 ms with above configuration. */
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#define RESP_RX_TO_FINAL_TX_DLY_UUS 800
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/* Receive response timeout. See NOTE 5 below. */
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#define RESP_RX_TIMEOUT_UUS 600
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#define POLL_RX_TO_RESP_TX_DLY_UUS 420
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/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
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#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
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/* Receive final timeout. See NOTE 5 below. */
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#define FINAL_RX_TIMEOUT_UUS 4300
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#define SPEED_OF_LIGHT 299702547
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/* Indexes to access some of the fields in the frames defined above. */
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#define FINAL_MSG_POLL_TX_TS_IDX 10
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#define FINAL_MSG_RESP_RX_TS_IDX 14
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#define FINAL_MSG_FINAL_TX_TS_IDX 18
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#define FINAL_MSG_TS_LEN 4
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#define SYNC_SEQ_IDX 5
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#define GROUP_ID_IDX 0
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#define ANCHOR_ID_IDX 1
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#define TAG_ID_IDX 5
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#define MESSAGE_TYPE_IDX 9
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#define DIST_IDX 10
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//Poll
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#define ANC_TYPE_IDX 14
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#define BATTARY_IDX 15
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#define BUTTON_IDX 16
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#define SEQUENCE_IDX 17
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//respose
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#define ANCTIMEMS 14
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#define ANCTIMEUS 16
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#define POLL 0x01
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#define RESPONSE 0x02
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#define FINAL 0x03
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#define SYNC 0x04
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/*------------------------------------ Variables ------------------------------------------*/
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/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
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static dwt_config_t config = {
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2, /* Channel number. */
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DWT_PRF_64M, /* Pulse repetition frequency. */
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DWT_PLEN_128, /* Preamble length. */
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DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
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9, /* TX preamble code. Used in TX only. */
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9, /* RX preamble code. Used in RX only. */
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1, /* Use non-standard SFD (Boolean) */
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DWT_BR_6M8, /* Data rate. */
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DWT_PHRMODE_STD, /* PHY header mode. */
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(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
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};
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/* Frames used in the ranging process. See NOTE 2 below. */
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static uint8_t tx_poll_msg[20] = {0};
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static uint8_t tx_sync_msg[14] = {0};
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//static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
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static uint8_t tx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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//static uint8_t rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
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static uint8_t tx_resp_msg[20] = {0};
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//static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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/* Frame sequence number, incremented after each transmission. */
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static uint32_t frame_seq_nb = 0,frame_seq_nb2=0;
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/* Hold copy of status register state here for reference, so reader can examine it at a breakpoint. */
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static uint32_t status_reg = 0;
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/* Buffer to store received response message.
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* Its size is adjusted to longest frame that this example code is supposed to handle. */
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#define RX_BUF_LEN 24
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static uint8_t rx_buffer[RX_BUF_LEN];
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/* Time-stamps of frames transmission/reception, expressed in device time units.
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* As they are 40-bit wide, we need to define a 64-bit int type to handle them. */
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static uint64_t poll_tx_ts;
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static uint64_t resp_rx_ts;
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static uint64_t final_tx_ts;
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/* Length of the common part of the message (up to and including the function code, see NOTE 2 below). */
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static uint64_t poll_rx_ts;
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static uint64_t resp_tx_ts;
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static uint64_t final_rx_ts;
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static double tof;
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int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
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uint32_t tag_id = 0;
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uint32_t tag_id_recv = 0;
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uint8_t random_delay_tim = 0;
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double distance, dist_no_bias, dist_cm;
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uint32_t g_UWB_com_interval = 0;
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float dis_after_filter; //µ±Ç°¾àÀëÖµ
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LPFilter_Frac* p_Dis_Filter; //²â¾àÓõĵÍͨÂ˲¨Æ÷
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int32_t g_Tagdist[TAG_NUM_IN_SYS];
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uint8_t g_flag_Taggetdist[256];
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/*------------------------------------ Functions ------------------------------------------*/
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/*! ------------------------------------------------------------------------------------------------------------------
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* @fn get_tx_timestamp_u64()
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*
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* @brief Get the TX time-stamp in a 64-bit variable.
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* /!\ This function assumes that length of time-stamps is 40 bits, for both TX and RX!
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*
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* @param none
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*
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* @return 64-bit value of the read time-stamp.
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*/
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static uint64_t get_tx_timestamp_u64(void)
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{
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uint8_t ts_tab[5];
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uint64_t ts = 0;
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int i;
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dwt_readtxtimestamp(ts_tab);
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for (i = 4; i >= 0; i--)
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{
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ts <<= 8;
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ts |= ts_tab[i];
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}
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return ts;
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}
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/*! ------------------------------------------------------------------------------------------------------------------
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* @fn get_rx_timestamp_u64()
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*
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* @brief Get the RX time-stamp in a 64-bit variable.
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* /!\ This function assumes that length of time-stamps is 40 bits, for both TX and RX!
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*
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* @param none
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*
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* @return 64-bit value of the read time-stamp.
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*/
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static uint64_t get_rx_timestamp_u64(void)
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{
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uint8_t ts_tab[5];
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uint64_t ts = 0;
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int i;
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dwt_readrxtimestamp(ts_tab);
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for (i = 4; i >= 0; i--)
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{
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ts <<= 8;
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ts |= ts_tab[i];
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}
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return ts;
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}
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/*! ------------------------------------------------------------------------------------------------------------------
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* @fn final_msg_set_ts()
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*
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* @brief Fill a given timestamp field in the final message with the given value. In the timestamp fields of the final
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* message, the least significant byte is at the lower address.
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*
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* @param ts_field pointer on the first byte of the timestamp field to fill
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* ts timestamp value
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*
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* @return none
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*/
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static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
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{
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int i;
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for (i = 0; i < FINAL_MSG_TS_LEN; i++)
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{
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ts_field[i] = (uint8_t) ts;
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ts >>= 8;
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}
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}
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static void final_msg_get_ts(const uint8_t *ts_field, uint32_t *ts)
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{
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int i;
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*ts = 0;
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for (i = 0; i < FINAL_MSG_TS_LEN; i++)
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{
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*ts += ts_field[i] << (i * 8);
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}
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}
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void TagDistClear(void)
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{
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static uint16_t clear_judge_cnt;
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uint16_t i;
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if(clear_judge_cnt++>1000) //É趨1S·ÖƵ£¬Ã¿Ãë½øÒ»´Î¡£Åжϱê־λ´óÓÚµÈÓÚ2£¬2sûÊÕµ½Êý¾Ý¾Í°ÑÊý¾Ý±ä³É0xffff£¬²»´¥·¢¾¯±¨¡£
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{
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clear_judge_cnt=0;
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for(i=0;i<255;i++)
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{
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g_flag_Taggetdist[i]++;
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if(g_flag_Taggetdist[i]>=20)
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{
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g_Tagdist[i]=0xffff;
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}
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}
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}
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}
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void Dw1000_Init(void)
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{
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/* Reset and initialise DW1000.
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* For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
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* performance. */
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Reset_DW1000();//ÖØÆôDW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
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Spi_ChangePrescaler(SPIx_PRESCALER_SLOW); //ÉèÖÃΪ¿ìËÙģʽ
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dwt_initialise(DWT_LOADUCODE);//³õʼ»¯DW1000
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Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //ÉèÖÃΪ¿ìËÙģʽ
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/* Configure DW1000. See NOTE 6 below. */
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dwt_configure(&config);//ÅäÖÃDW1000
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/* Apply default antenna delay value. See NOTE 1 below. */
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dwt_setrxantennadelay(RX_ANT_DLY); //ÉèÖýÓÊÕÌìÏßÑÓ³Ù
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dwt_settxantennadelay(TX_ANT_DLY); //ÉèÖ÷¢ÉäÌìÏßÑÓ³Ù
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/* Set expected response's delay and timeout. See NOTE 4 and 5 below.
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* As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
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//ÉèÖýÓÊÕ³¬Ê±Ê±¼ä
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}
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void Dw1000_App_Init(void)
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{
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//g_com_map[DEV_ID] = 0x0b;
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tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
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tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
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tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
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tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
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memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 4);
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memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 4);
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memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 4);
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memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 4);
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}
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uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
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{
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uint16_t sum = 0;
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uint32_t i;
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for(i=0; i<len; i++)
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sum += pdata[i];
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sum = ~sum;
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return sum;
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}
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uint16_t tag_time_recv[TAG_NUM_IN_SYS];
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uint8_t usart_send[25];
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uint8_t battary,button;
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extern uint8_t g_pairstart;
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void tag_sleep_configuraion(void)
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{
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dwt_configuresleep(0x940, 0x7);
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dwt_entersleep();
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}
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uint8_t g_start_send_flag;
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uint8_t g_start_sync_flag;
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void SyncPoll(uint8_t sync_seq)
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{
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g_start_sync_flag=1;
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dwt_forcetrxoff();
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tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
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dwt_writetxdata(sizeof(tx_sync_msg), tx_sync_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
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dwt_writetxfctrl(sizeof(tx_sync_msg), 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
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dwt_starttx(DWT_START_TX_IMMEDIATE);
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}
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uint16_t g_Resttimer;
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uint8_t result;
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uint8_t tag_succ_times=0;
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int32_t hex_dist,hex_dist2;
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uint16_t checksum;
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int8_t tag_delaytime;
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extern uint16_t sync_timer;
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uint16_t tmp_time,sync_count;
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uint32_t time32_incr;uint32_t frame_len;
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void Tag_App(void)//·¢ËÍģʽ(TAG±êÇ©)
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{
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uint32_t final_tx_time;
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uint32_t start_poll,id;
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uint8_t i,getsync_flag=0;
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//LED0_ON;
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//dwt_forcetrxoff();
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id = dwt_readdevid() ;
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while (DWT_DEVICE_ID != id)
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{
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id = dwt_readdevid() ;
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}
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g_Resttimer=0;
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dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //ÉèÖ÷¢Ëͺó¿ªÆô½ÓÊÕ£¬²¢É趨ÑÓ³Ùʱ¼ä
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dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
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tag_succ_times = 0;
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tx_poll_msg[BATTARY_IDX] = Get_Battary();
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//tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
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tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
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for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
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{
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/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
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tx_poll_msg[ANC_TYPE_IDX] = i;
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dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
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dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
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/* Start transmission, indicating that a response is expected so that reception is enabled automatically after the frame is sent and the delay
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* set by dwt_setrxaftertxdelay() has elapsed. */
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result=dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//¿ªÆô·¢ËÍ£¬·¢ËÍÍê³ÉºóµÈ´ýÒ»¶Îʱ¼ä¿ªÆô½ÓÊÕ£¬µÈ´ýʱ¼äÔÚdwt_setrxaftertxdelayÖÐÉèÖÃ
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start_poll = time32_incr;
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/* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
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while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//²»¶Ï²éѯоƬ״ֱ̬µ½³É¹¦½ÓÊÕ»òÕß·¢Éú´íÎó
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{
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status_reg = dwt_read32bitreg(SYS_STATUS_ID);
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// if(time32_incr - start_poll>20)
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// NVIC_SystemReset();
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// IdleTask();
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};
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/* Increment frame sequence number after transmission of the poll message (modulo 256). */
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if(status_reg==0xffffffff)
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{
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// NVIC_SystemReset();
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}
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if (status_reg & SYS_STATUS_RXFCG)//Èç¹û³É¹¦½ÓÊÕ
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{
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/* Clear good RX frame event and TX frame sent in the DW1000 status register. */
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dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ¼Ä´æÆ÷±ê־λ
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/* A frame has been received, read it into the local buffer. */
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frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //»ñµÃ½ÓÊÕµ½µÄÊý¾Ý³¤¶È
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dwt_readrxdata(rx_buffer, frame_len, 0); //¶ÁÈ¡½ÓÊÕÊý¾Ý
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/* Check that the frame is the expected response from the companion "DS TWR responder" example.
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* As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
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if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
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{ uint16_t anc_id_recv;
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/* Retrieve poll transmission and response reception timestamp. */
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poll_tx_ts = get_tx_timestamp_u64(); //»ñµÃPOLL·¢ËÍʱ¼äT1
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resp_rx_ts = get_rx_timestamp_u64(); //»ñµÃRESPONSE½ÓÊÕʱ¼äT4
|
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if(getsync_flag==0&&g_com_map[DEV_ROLE])
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{
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getsync_flag=1;
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memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
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memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
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tmp_time=tmp_time+450;
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if(tmp_time>999)
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{
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tmp_time-=999;
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sync_timer++;
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if(sync_timer>=1010)
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{sync_timer=0;}
|
}
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sync_count=(sync_timer*1000+tmp_time)/LPTIMER_LSB;
|
__HAL_LPTIM_CNT_SET(&hlptim1, sync_count);
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for(i=0;i<100;i++)
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{
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lastpoll_count = slot_startcount+i*interval_count;
|
if(lastpoll_count>sync_count)
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{
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__HAL_LPTIM_COMPARE_SET(&hlptim1, lastpoll_count);
|
break;
|
}
|
}
|
|
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// TIM3->CNT=tmp_time;
|
}
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memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
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memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
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/* Compute final message transmission time. See NOTE 9 below. */
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final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//¼ÆËãfinal°ü·¢ËÍʱ¼ä£¬T5=T4+Treply2
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dwt_setdelayedtrxtime(final_tx_time);//ÉèÖÃfinal°ü·¢ËÍʱ¼äT5
|
|
/* Final TX timestamp is the transmission time we programmed plus the TX antenna delay. */
|
final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final°üʵ¼Ê·¢ËÍʱ¼äÊǼÆËãʱ¼ä¼ÓÉÏ·¢ËÍÌìÏßdelay
|
|
/* Write all timestamps in the final message. See NOTE 10 below. */
|
final_msg_set_ts(&tx_final_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//½«T1£¬T4£¬T5дÈë·¢ËÍÊý¾Ý
|
final_msg_set_ts(&tx_final_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
|
final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
|
|
/* Write and send final message. See NOTE 7 below. */
|
|
dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
|
dwt_writetxfctrl(sizeof(tx_final_msg), 0);//É趨·¢ËÍÊý¾Ý³¤¶È
|
result=dwt_starttx(DWT_START_TX_DELAYED);//É趨ΪÑÓ³Ù·¢ËÍ
|
|
tag_succ_times++;
|
|
LED0_BLINK;
|
|
memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
|
// g_Tagdist[anc_id_recv]= hex_dist;
|
// g_flag_Taggetdist[anc_id_recv]=0;
|
if(!g_com_map[MODBUS_MODE])
|
{
|
usart_send[2] = 1;//Õý³£Ä£Ê½
|
usart_send[3] = 17;//Êý¾Ý¶Î³¤¶È
|
usart_send[4] = frame_seq_nb;//Êý¾Ý¶Î³¤¶È
|
memcpy(&usart_send[5],&dev_id,2);
|
memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);
|
|
memcpy(&usart_send[9],&hex_dist2,4);
|
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);
|
}
|
// memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
|
/* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
|
if(result==0)
|
{while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//²»¶Ï²éѯоƬ״ֱ̬µ½·¢ËÍÍê³É
|
{ };
|
}
|
/* Clear TXFRS event. */
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//Çå³ý±ê־λ
|
|
/* Increment frame sequence number after transmission of the final message (modulo 256). */
|
|
random_delay_tim = 0;
|
}
|
else
|
{
|
random_delay_tim = DFT_RAND_DLY_TIM_MS; //Èç¹ûͨѶʧ°Ü£¬½«¼ä¸ôʱ¼äÔö¼Ó5ms£¬±Ü¿ªÒòΪ¶à±êǩͬʱ·¢ËÍÒýÆðµÄ³åÍ»¡£
|
}
|
}
|
else
|
{
|
/* Clear RX error events in the DW1000 status register. */
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
|
random_delay_tim = DFT_RAND_DLY_TIM_MS;
|
}
|
// deca_sleep(10);
|
}
|
dwt_entersleep();
|
// if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM])
|
// {
|
// //poll_timer +=time32_incr&0x7+3;
|
// }
|
//HAL_PWR_EnterSLEEPMode(PWR_MAINREGULATOR_ON, PWR_SLEEPENTRY_WFI);
|
/* Execute a delay between ranging exchanges. */
|
|
}
|
