| | |
|---|
| | | 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]; |
|---|
| | |
|---|
| | | } |
|---|
| | | uint32_t current_syncid=0xffffffff,synclost_timer; |
|---|
| | | extern u8 flag_syncbase; |
|---|
| | | u8 tagpos_rec[50],tagpos_send[50],ancidlist_num,getrange_success=0; |
|---|
| | | u8 tagpos_rec[50],tagpos_send[50],ancidlist_num; |
|---|
| | | u16 ancidlist_rec[20],ancidlist_send[20]; |
|---|
| | | void Anchor_App(void) |
|---|
| | | { |
|---|
| | |
|---|
| | | { u16 tag_recv_interval; |
|---|
| | | float temp_tagpos; |
|---|
| | | |
|---|
| | | getrange_success = 1; |
|---|
| | | g_Resttimer=0; |
|---|
| | | |
|---|
| | | dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//æ¸
é¤æ å¿ä½ |
|---|
| | | frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//è·å¾æ¥æ¶æ°æ®é¿åº¦ |
|---|
| | | dwt_readrxdata(rx_buffer, frame_len, 0);//读åæ¥æ¶æ°æ® |
|---|
| | |
|---|
| | | // if (anchor_type == rx_buffer[ANC_TYPE_IDX]) |
|---|
| | | // Anchor_RecPoll(); |
|---|
| | | // break; |
|---|
| | | case SYNC: |
|---|
| | | case SYNC: |
|---|
| | | g_Resttimer=0; |
|---|
| | | memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4); |
|---|
| | | if(rec_syncid<current_syncid) |
|---|
| | | { |
|---|
| | |
|---|
| | | } |
|---|
| | | break; |
|---|
| | | |
|---|
| | | case NEAR_POLL: |
|---|
| | | case NEAR_POLL: |
|---|
| | | g_Resttimer=0; |
|---|
| | | memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2); |
|---|
| | | taglist_pos=CmpTagInList(tag_id_recv); |
|---|
| | | if(taglist_pos==taglist_num) |
|---|
