| | |
| | | DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */ |
| | | 9, /* TX preamble code. Used in TX only. */ |
| | | 9, /* RX preamble code. Used in RX only. */ |
| | | 0, /* Use non-standard SFD (Boolean) */ |
| | | 1, /* Use non-standard SFD (Boolean) */ |
| | | DWT_BR_6M8, /* Data rate. */ |
| | | DWT_PHRMODE_STD, /* PHY header mode. */ |
| | | (129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */ |
| | |
| | | } |
| | | return max_slotpos-1; |
| | | } |
| | | void OutputUserData(u16 devid,u8* addr,u8 len) |
| | | { |
| | | len++; |
| | | usart_send[2] = 0x11;//æ£å¸¸æ¨¡å¼ |
| | | usart_send[3] = len+4;//æ°æ®æ®µé¿åº¦ |
| | | memcpy(&usart_send[4],&devid,2); |
| | | memcpy(&usart_send[6],addr,len); |
| | | checksum = Checksum_u16(&usart_send[2],len+4); |
| | | memcpy(&usart_send[len+6],&checksum,2); |
| | | UART_PushFrame(usart_send,len+8); |
| | | } |
| | | u8 test=0; |
| | | u8 anclost_times=0; |
| | | u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0; |
| | | u16 temp_sync_timer1,temp_sync_timer2; |
| | | |
| | | u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0,temp_sendlen; |
| | | u16 temp_sync_timer1,temp_sync_timer2,rec_userdata_targetid; |
| | | extern u8 userdata[50]; |
| | | u8 tagrec_userdata[20],tagrec_datalen; |
| | | extern u32 getuserdata_tick; |
| | | void NearPoll(void) |
| | | { |
| | | static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon; |
| | |
| | | memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2); |
| | | tx_nearpoll_msg[MESSAGE_TYPE_IDX] = NEAR_POLL; |
| | | memcpy(&tx_nearpoll_msg[ANCHOR_ID_IDX],&mainbase_id,2); |
| | | dwt_writetxdata(13+2*nearbase_num, tx_nearpoll_msg, 0);//å°Pollå
æ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå» |
| | | dwt_writetxfctrl(13+2*nearbase_num, 0);//设置è¶
宽带åéæ°æ®é¿åº¦ |
| | | temp_sendlen = 0; |
| | | if(time32_incr-getuserdata_tick<500) |
| | | { |
| | | temp_sendlen +=7; |
| | | memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*2],userdata,USERDATA_LEN+3); |
| | | }else{ |
| | | tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*2] = 0; |
| | | } |
| | | |
| | | dwt_writetxdata(13+temp_sendlen+2*nearbase_num, tx_nearpoll_msg, 0);//å°Pollå
æ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå» |
| | | dwt_writetxfctrl(13+temp_sendlen+2*nearbase_num, 0);//设置è¶
宽带åéæ°æ®é¿åº¦ |
| | | dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//å¼å¯åéï¼åé宿åçå¾
䏿®µæ¶é´å¼å¯æ¥æ¶ï¼çå¾
æ¶é´å¨dwt_setrxaftertxdelayä¸è®¾ç½® |
| | | |
| | | flag_finalsend=0; |
| | |
| | | rec_nearbasepos=0; |
| | | |
| | | memcpy(&temp_dist,&rx_buffer[DIST_IDX],4); |
| | | tagrec_datalen = rx_buffer[RT_USERDATA_INDEX+2]; |
| | | memcpy(&rec_userdata_targetid,&rx_buffer[RT_USERDATA_INDEX],2); |
| | | if(tagrec_datalen==USERDATA_LEN) |
| | | { |
| | | if(rec_userdata_targetid==dev_id||rec_userdata_targetid==0xffff) |
| | | { |
| | | memcpy(tagrec_userdata,&rx_buffer[RT_USERDATA_INDEX+2],tagrec_datalen+1); |
| | | OutputUserData(rec_nearbaseid,tagrec_userdata,tagrec_datalen); |
| | | } |
| | | } |
| | | nearbase_distlist[rec_nearbasepos]=temp_dist; |
| | | if(temp_dist!=0x1ffff) |
| | | exsistbase_list[rec_nearbasepos]=KEEP_TIMES; |
| | |
| | | } |
| | | |
| | | memcpy(&temp_dist,&rx_buffer[DIST_IDX],4); |
| | | tagrec_datalen = rx_buffer[RT_USERDATA_INDEX+2]; |
| | | memcpy(&rec_userdata_targetid,&rx_buffer[RT_USERDATA_INDEX],2); |
| | | if(tagrec_datalen==USERDATA_LEN) |
| | | { |
| | | if(rec_userdata_targetid==dev_id||rec_userdata_targetid==0xffff) |
| | | { |
| | | memcpy(tagrec_userdata,&rx_buffer[RT_USERDATA_INDEX+2],tagrec_datalen+1); |
| | | OutputUserData(rec_nearbaseid,tagrec_userdata,tagrec_datalen); |
| | | } |
| | | } |
| | | nearbase_distlist[rec_nearbasepos]=temp_dist; |
| | | |
| | | if(temp_dist!=0x1ffff) |
| | |
| | | tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase; |
| | | tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE; |
| | | tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate; |
| | | |
| | | if(remotesend_state) |
| | | { |
| | | memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN); |
| | | dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//åå
¥åéæ°æ® |
| | | dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设å®åéé¿åº¦ |
| | | }else{ |
| | | dwt_writetxdata(22, tx_nearresp_msg, 0);//åå
¥åéæ°æ® |
| | | dwt_writetxfctrl(22, 0);//设å®åéé¿åº¦ |
| | | temp_sendlen = 0; |
| | | if(time32_incr-getuserdata_tick<500) |
| | | { |
| | | temp_sendlen+=7; |
| | | memcpy(&tx_nearresp_msg[RT_USERDATA_INDEX],userdata,USERDATA_LEN+3); |
| | | }else{ |
| | | tx_nearresp_msg[RT_USERDATA_INDEX] = 0; |
| | | |
| | | } |
| | | dwt_writetxdata(22+temp_sendlen, tx_nearresp_msg, 0);//åå
¥åéæ°æ® |
| | | dwt_writetxfctrl(22+temp_sendlen, 0);//设å®åéé¿åº¦ |
| | | } |
| | | result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//å»¶è¿åéï¼çå¾
æ¥æ¶ |
| | | |
| | |
| | | } |
| | | break; |
| | | |
| | | case NEAR_POLL: |
| | | case NEAR_POLL: |
| | | memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2); |
| | | if(tag_id_recv>=g_com_map[WHITELIST1_START]&&tag_id_recv<=g_com_map[WHITELIST1_END]) |
| | | {break;} |
| | |
| | | temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime); |
| | | tagpos_rec[(u8)temp_tagpos]=1; |
| | | rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX]; |
| | | |
| | | tagrec_datalen = rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2+2]; |
| | | memcpy(&rec_userdata_targetid,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],2); |
| | | if(tagrec_datalen==USERDATA_LEN) |
| | | { |
| | | if(rec_userdata_targetid==dev_id||rec_userdata_targetid==0xffff) |
| | | { |
| | | memcpy(tagrec_userdata,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2+2],tagrec_datalen+1); |
| | | OutputUserData(tag_id_recv,tagrec_userdata,tagrec_datalen); |
| | | } |
| | | } |
| | | if(rec_nearbase_num>ancidlist_num) |
| | | { |
| | | ancidlist_num=rec_nearbase_num; |