| | |
| | | resp_rx_ts = get_rx_timestamp_u64(); //è·å¾RESPONSEæ¥æ¶æ¶é´T4 |
| | | recbase_num++; |
| | | memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2); |
| | | if(last_nearbase_num==0) |
| | | { |
| | | get_newbase=1; |
| | | nearbaseid_list[0]=rec_nearbaseid; |
| | | nearbase_num=1; |
| | | memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2); |
| | | } |
| | | if(rec_nearbaseid==nearbaseid_list[0]) |
| | | |
| | | if(rec_nearbaseid==mainbase_id) |
| | | { |
| | | //////////////////////////////////æ¶é´åæ¥ |
| | | temp_sync_timer2=sync_timer; |
| | |
| | | rec_nearbasepos=0; |
| | | |
| | | memcpy(&temp_dist,&rx_buffer[DIST_IDX],4); |
| | | nearbase_distlist[rec_nearbasepos]=temp_dist; |
| | | mainbase_dist = temp_dist; |
| | | if(temp_dist!=0x1ffff) |
| | | exsistbase_list[rec_nearbasepos]=KEEP_TIMES; |
| | | |
| | |
| | | dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//å°åéæ°æ®åå
¥DW1000 |
| | | dwt_writetxfctrl(28+nearbase_num*4, 0);//设å®åéæ°æ®é¿åº¦ |
| | | memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4); |
| | | if(temp_dist!=0x1ffff) |
| | | { |
| | | #ifdef TAG_OUTPUT |
| | | #ifndef USART_INTEGRATE_OUTPUT |
| | | usart_send[2] = 1;//æ£å¸¸æ¨¡å¼ |
| | | usart_send[3] = 17;//æ°æ®æ®µé¿åº¦ |
| | | usart_send[4] = frame_seq_nb;//æ°æ®æ®µé¿åº¦ |
| | | if(g_com_map[DEV_ROLE]) |
| | | { |
| | | memcpy(&usart_send[5],&dev_id,2); |
| | | memcpy(&usart_send[7],&rec_nearbaseid,2); |
| | | }else{ |
| | | memcpy(&usart_send[5],&rec_nearbaseid,2); |
| | | memcpy(&usart_send[7],&dev_id,2); |
| | | } |
| | | memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4); |
| | | usart_send[13] = battary; |
| | | usart_send[14] = button; |
| | | checksum = Checksum_u16(&usart_send[2],17); |
| | | memcpy(&usart_send[19],&checksum,2); |
| | | UART_PushFrame(usart_send,21); |
| | | #endif |
| | | #endif |
| | | |
| | | //dwt_setdelayedtrxtime(final_tx_time);//设置finalå
åéæ¶é´T5 |
| | | // result=dwt_starttx(DWT_START_TX_DELAYED);//设å®ä¸ºå»¶è¿åé |
| | | //dwt_writetxdata(4,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//å°åéæ°æ®åå
¥DW1000 |
| | | } |
| | | |
| | | |
| | | }else{ |
| | | rec_nearbasepos=FindNearBasePos(rec_nearbaseid); |
| | |
| | | } |
| | | |
| | | report_num=0; |
| | | for (i=0;i<last_nearbase_num;i++) |
| | | { |
| | | nearbaseid_list[i]=true_nearbase_idlist[i]; |
| | | nearbase_distlist[i]=true_nearbase_distlist[i]; |
| | | if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==KEEP_TIMES) |
| | | { |
| | | memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2); |
| | | memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4); |
| | | report_num++; |
| | | } |
| | | } |
| | | |
| | | for(i=0;i<MAX_NEARBASE_NUM;i++) |
| | | { |
| | | nearbase_distlist[i]=0x1ffff; |
| | |
| | | ancidlist_num=rec_nearbase_num; |
| | | memcpy(ancidlist_rec,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2); |
| | | } |
| | | if(anc_id_recv==dev_id) |
| | | { |
| | | Anchor_RecNearPoll(0); |
| | | }else{ |
| | | |
| | | for(i=0;i<rec_nearbase_num;i++) |
| | | { |
| | |
| | | if(tempid==dev_id) |
| | | { |
| | | seize_anchor=0; //鿢å ãå·²åå¨åè¡¨ä¸ |
| | | Anchor_RecNearPoll(i); |
| | | Anchor_RecNearPoll(i+1); |
| | | break; |
| | | } |
| | | } |
| | | } |
| | | //æ¢å æ¨¡å¼ |
| | | // if(i==rec_nearbase_num) |
| | | // { |