| | |
| | | } |
| | | void NearPoll(void) |
| | | { |
| | | static u8 mainbase_lost_count=0; |
| | | static u8 mainbase_lost_count=0,flag_finalsend; |
| | | uint32_t temp1,temp2,dw_systime; |
| | | uint32_t frame_len; |
| | | uint32_t final_tx_time; |
| | | u32 start_poll; |
| | |
| | | dwt_writetxfctrl(24, 0);//设置è¶
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| | | dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//å¼å¯åéï¼åé宿åçå¾
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| | | |
| | | flag_finalsend=0; |
| | | neartimout_timer=0; |
| | | recbase_num=0; |
| | | timeout=nearbase_num/4+12; |
| | | mainbase_dist=100000; |
| | | mainbase_lost_count++; |
| | | while(neartimout_timer<timeout&&recbase_num<nearbase_num+1) |
| | | while(neartimout_timer<timeout) |
| | | { |
| | | while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//䏿æ¥è¯¢è¯çç¶æç´å°æåæ¥æ¶æè
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| | | { |
| | | if(flag_finalsend) |
| | | { |
| | | dw_systime=dwt_readsystimestamphi32(); |
| | | if(dw_systime>temp1&&dw_systime<temp2) |
| | | { |
| | | flag_finalsend=0; |
| | | result=dwt_starttx(DWT_START_TX_DELAYED);//设å®ä¸ºå»¶è¿åé |
| | | } |
| | | } |
| | | if(neartimout_timer>timeout) |
| | | break; |
| | | }; |
| | |
| | | tyncpoll_time=(tagslotpos-1)*slottime; |
| | | //////////////////////////// |
| | | mainbase_lost_count=0; |
| | | flag_finalsend=1; |
| | | memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4); |
| | | final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+1300) * UUS_TO_DWT_TIME)) >> 8; |
| | | final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+500) * UUS_TO_DWT_TIME)) >> 8; |
| | | temp1=final_tx_time-((200*UUS_TO_DWT_TIME)>>8); |
| | | temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8); |
| | | dwt_setdelayedtrxtime(final_tx_time);//设置finalå
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| | | final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//finalå
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| | | final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//å°T1ï¼T4ï¼T5åå
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| | |
| | | tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL; |
| | | dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//å°åéæ°æ®åå
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| | | dwt_writetxfctrl(28+nearbase_num*4, 0);//设å®åéæ°æ®é¿åº¦ |
| | | result=dwt_starttx(DWT_START_TX_DELAYED);//设å®ä¸ºå»¶è¿åé |
| | | //result=dwt_starttx(DWT_START_TX_DELAYED);//设å®ä¸ºå»¶è¿åé |
| | | }else{ |
| | | rec_nearbasepos=FindNearBasePos(rec_nearbaseid); |
| | | final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], resp_rx_ts); |
| | |
| | | dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//å°åéæ°æ®åå
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| | | dwt_writetxfctrl(28+nearbase_num*4, 0);//设å®åéæ°æ®é¿åº¦ |
| | | LED0_BLINK; |
| | | if(rec_nearbasepos+1==nearbase_num) |
| | | { |
| | | result=dwt_starttx(DWT_START_TX_DELAYED);//设å®ä¸ºå»¶è¿åé |
| | | break; |
| | | } |
| | | //dwt_setdelayedtrxtime(final_tx_time);//设置finalå
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| | | // 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
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| | | } |
| | | } |
| | | } |
| | | dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR); |
| | | } |
| | | if(mainbase_lost_count>5) |
| | | { |