| | |
| | | GPIO_SetBits(SPIx_GPIO, SPIx_CS); |
| | | |
| | | /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */ |
| | | |
| | | tx_poll_msg[ALL_MSG_SN_IDX] = frame_seq_nb; |
| | | dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//å°Pollå
æ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå» |
| | | dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//设置è¶
宽带åéæ°æ®é¿åº¦ |
| | | |
| | |
| | | |
| | | /* Check that the frame is the expected response from the companion "DS TWR responder" example. |
| | | * As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */ |
| | | |
| | | rx_buffer[ALL_MSG_SN_IDX] = 0; |
| | | if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE) //å¤ææ¥æ¶å°çæ°æ®æ¯å¦æ¯responseæ°æ® |
| | | { |
| | | /* Retrieve poll transmission and response reception timestamp. */ |
| | |
| | | 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. */ |
| | | |
| | | tx_final_msg[ALL_MSG_SN_IDX] = frame_seq_nb; |
| | | dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//å°åéæ°æ®åå
¥DW1000 |
| | | dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设å®åéæ°æ®é¿åº¦ |
| | | dwt_starttx(DWT_START_TX_DELAYED);//设å®ä¸ºå»¶è¿åé |
| | |
| | | |
| | | /* Check that the frame is a poll sent by "DS TWR initiator" example. |
| | | * As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */ |
| | | |
| | | rx_buffer[ALL_MSG_SN_IDX] = 0; |
| | | |
| | | //å°æ¶å°çtag_idåå«åå
¥å次é讯çå
ä¸ï¼ä¸ºå¤æ ç¾é讯æå¡ï¼é²æ¢ä¸æ¬¡éè®¯ä¸æ¥æ¶å°ä¸åIDæ ç¾çæ°æ® |
| | | tag_id_recv = rx_buffer[TAG_ID_IDX]; |
| | |
| | | |
| | | /* Write and send the response message. See NOTE 9 below.*/ |
| | | memcpy(&tx_resp_msg[DIST_IDX], &anchor_dist_last_frm[tag_id_recv], 2); |
| | | |
| | | tx_resp_msg[ALL_MSG_SN_IDX] = frame_seq_nb; |
| | | dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//åå
¥åéæ°æ® |
| | | dwt_writetxfctrl(sizeof(tx_resp_msg), 0);//设å®åéé¿åº¦ |
| | | dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//å»¶è¿åéï¼çå¾
æ¥æ¶ |
| | |
| | | |
| | | /* Check that the frame is a final message sent by "DS TWR initiator" example. |
| | | * As the sequence number field of the frame is not used in this example, it can be zeroed to ease the validation of the frame. */ |
| | | rx_buffer[ALL_MSG_SN_IDX] = 0; |
| | | if (rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&rx_buffer[TAG_ID_IDX]==tag_id_recv&&rx_buffer[ANCHOR_ID_IDX]==g_com_map[DEV_ID]) //夿æ¯å¦ä¸ºFinalå
|
| | | { |
| | | uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts; |