| | |
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| | | DISCPOLL, |
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| | | GETNEARMSG, |
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| | | NEARPOLL, |
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| | | }tag_state=GETNEARMSG; |
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| | | }tag_state=NEARPOLL; |
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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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| | |
|---|
| | | // } |
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| | | tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary); |
|---|
| | | tyncpoll_time = (tagslotpos--%max_slotpos)*slottime; |
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| | | tag_state=GETNEARMSG; |
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| | | tag_state=NEARPOLL; |
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| | | } |
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| | | // tyncpoll_time=0; |
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| | | next_nearbase_num=0; |
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| | |
|---|
| | | tyncpoll_time = (tagslotpos--%max_slotpos)*slottime; |
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| | | } |
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| | | |
|---|
| | | #ifdef USART_INTEGRATE_OUTPUT |
|---|
| | | usart_send[2] = 4;//æ£å¸¸æ¨¡å¼ |
|---|
| | | usart_send[3] = report_num*6+2;//æ£å¸¸æ¨¡å¼ |
|---|
| | | 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 |
|---|
| | | } |
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| | | |
|---|
| | | void Tag_App(void)//åé模å¼(TAGæ ç¾) |
|---|
| | |
|---|
| | | dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor; |
|---|
| | | u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0; |
|---|
| | | u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base |
|---|
| | | { |
|---|
| | | u8 motorstate; |
|---|
| | |
|---|
| | | dist_cm = dist_no_bias * 100; //dis 为åä½ä¸ºcmçè·ç¦» |
|---|
| | | /*--------------------------以ä¸ä¸ºéæµè·é»è¾------------------------*/ |
|---|
| | | //dist_cm=33000; |
|---|
| | | |
|---|
| | | getrange_success = 1; |
|---|
| | | LED0_BLINK; //æ¯æåä¸æ¬¡é讯åéªçä¸æ¬¡ |
|---|
| | | dis_after_filter=dist_cm; |
|---|
| | | hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]; |
|---|
| | |
|---|
| | | // GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET); |
|---|
| | | while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//ä¸ææ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæè
åºç°é误 |
|---|
| | | { |
|---|
| | | |
|---|
| | | IdleTask(); |
|---|
| | | }; |
|---|
| | | //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET); |
|---|
