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| | | #include "dw_app.h" |
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| | | #include "ADC.h" |
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| | | #define TDFILTER |
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| | | #define CONT_FRAME_PERIOD 124800 |
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| | | enum enumtagstate |
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| | | { |
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| | | DISCPOLL, |
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| | |
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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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| | | 0, /* 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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| | | { |
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| | | nearbase_distlist[i]=0x1ffff; |
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| | | } |
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| | | dwt_configcontinuousframemode(CONT_FRAME_PERIOD); |
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| | | tx_nearpoll_msg[MESSAGE_TYPE_IDX] = NEAR_POLL; |
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| | | memcpy(&tx_nearpoll_msg[ANCHOR_ID_IDX],&mainbase_id,2); |
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| | | dwt_writetxdata(13+4*nearbase_num, tx_nearpoll_msg, 0);//å°Pollå
æ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå» |
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| | | dwt_writetxfctrl(13+4*nearbase_num, 0);//设置è¶
宽带åéæ°æ®é¿åº¦ |
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| | | dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//å¼å¯åéï¼åéå®æåçå¾
ä¸æ®µæ¶é´å¼å¯æ¥æ¶ï¼çå¾
æ¶é´å¨dwt_setrxaftertxdelayä¸è®¾ç½® |
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| | | |
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| | | while(1); |
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| | | flag_finalsend=0; |
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| | | flag_rxon=1; |
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| | | neartimout_timer=0; |
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| | |
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| | | /*--------------------------以ä¸ä¸ºéæµè·é»è¾------------------------*/ |
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| | | //dist_cm=33000; |
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| | | getrange_success = 1; |
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| | | g_Resttimer=0; |
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| | | |
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| | | LED0_BLINK; //æ¯æåä¸æ¬¡é讯åéªçä¸æ¬¡ |
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| | | dis_after_filter=dist_cm; |
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| | | hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10; |
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| | |
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| | | if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3) |
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| | | { |
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| | | int32_t filter_dist; |
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| | | g_Resttimer=0; |
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| | | #ifdef TDFILTER |
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| | | NewTrackingDiffUpdate(taglist_pos, (float)hex_dist); |
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| | | filter_dist=pos_predict[taglist_pos]/10; |
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