| | |
| | | while(neartimout_timer<timeout&&recbase_num<nearbase_num+1) |
| | | { |
| | | while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//䏿æ¥è¯¢è¯çç¶æç´å°æåæ¥æ¶æè
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| | | { |
| | | { |
| | | if(neartimout_timer>timeout) |
| | | break; |
| | | }; |
| | | if(status_reg==0xffffffff) |
| | | { |
| | |
| | | dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//æ¸
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| | | frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //è·å¾æ¥æ¶å°çæ°æ®é¿åº¦ |
| | | dwt_readrxdata(rx_buffer, frame_len, 0); //è¯»åæ¥æ¶æ°æ® |
| | | dwt_setrxtimeout(DELAY_BETWEEN_TWO_FRAME_UUS+100);//è®¾å®æ¥æ¶è¶
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| | | dwt_rxenable(0);//æå¼æ¥æ¶ |
| | | if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //å¤ææ¥æ¶å°çæ°æ®æ¯å¦æ¯responseæ°æ® |
| | | { u16 rec_nearbaseid,rec_nearbasepos; |
| | | poll_tx_ts = get_tx_timestamp_u64(); //è·å¾POLLåéæ¶é´T1 |
| | |
| | | result=dwt_starttx(DWT_START_TX_DELAYED);//设å®ä¸ºå»¶è¿åé |
| | | }else{ |
| | | rec_nearbasepos=FindNearBasePos(rec_nearbaseid); |
| | | final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+rec_nearbasepos*4], resp_rx_ts); |
| | | final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], resp_rx_ts); |
| | | memcpy(&nearbase_distlist[rec_nearbasepos],&rx_buffer[DIST_IDX],4); |
| | | dwt_writetxdata(sizeof(tx_near_msg), tx_near_msg, 0);//å°åéæ°æ®åå
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| | | dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//å°åéæ°æ®åå
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| | | dwt_writetxfctrl(28+nearbase_num*4, 0);//设å®åéæ°æ®é¿åº¦ |
| | | //dwt_writetxdata(4,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//å°åéæ°æ®åå
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| | | } |
| | | } |
| | | } |
| | | } |
| | | if(result==0) |
| | | {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//䏿æ¥è¯¢è¯çç¶æç´å°åé宿 |
| | | { }; |
| | | |
| | | } |
| | | else |
| | | { |
| | | dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR); |
| | | random_delay_tim = DFT_RAND_DLY_TIM_MS; |
| | | } |
| | | dwt_forcetrxoff(); |
| | | // if(result==0) |
| | | // {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//䏿æ¥è¯¢è¯çç¶æç´å°åé宿 |
| | | // { }; |
| | | // |
| | | // } |
| | | // else |
| | | // { |
| | | // dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR); |
| | | // } |
| | | |
| | | } |
| | | void NearAncSelect(void) |
| | |
| | | } |
| | | } |
| | | |
| | | void Anchor_RecNearPoll(u8 ancrec_nearbasepos) |
| | | void Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base |
| | | { |
| | | tmp_time=TIM3->CNT; |
| | | memcpy(&tx_near_msg[ANCTIMEMS],&sync_timer,2); |
| | |
| | | |
| | | memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4); |
| | | tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE; |
| | | dwt_writetxdata(24, tx_near_msg, 0);//åå
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| | | dwt_writetxfctrl(24, 0);//设å®åéé¿åº¦ |
| | | dwt_writetxdata(17, tx_near_msg, 0);//åå
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| | | dwt_writetxfctrl(17, 0);//设å®åéé¿åº¦ |
| | | result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//å»¶è¿åéï¼çå¾
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| | | |
| | | battary = rx_buffer[BATTARY_IDX]; |
| | |
| | | } |
| | | void Anchor_App(void) |
| | | { |
| | | u8 send_len,nearbase_num,i; |
| | | u8 send_len,i; |
| | | u16 tempid; |
| | | dwt_setrxtimeout(0);//è®¾å®æ¥æ¶è¶
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| | | dwt_rxenable(0);//æå¼æ¥æ¶ |