| | |
|---|
| | | * For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum |
|---|
| | | * performance. */ |
|---|
| | | Reset_DW1000();//éå¯DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */ |
|---|
| | | Spi_ChangePrescaler(SPIx_PRESCALER_SLOW); //设置为快éæ¨¡å¼ |
|---|
| | | dwt_initialise(DWT_LOADUCODE);//åå§åDW1000 |
|---|
| | | Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //设置为快éæ¨¡å¼ |
|---|
| | | Spi_ChangePrescaler(SPI_BaudRatePrescaler_8); //设置为快éæ¨¡å¼ |
|---|
| | | |
|---|
| | | /* Configure DW1000. See NOTE 6 below. */ |
|---|
| | | dwt_configure(&config);//é
ç½®DW1000 |
|---|
| | |
|---|
| | | for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++) |
|---|
| | | { |
|---|
| | | /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */ |
|---|
| | | tx_poll_msg[ANC_TYPE_IDX] = i-1; |
|---|
| | | tx_poll_msg[ANC_TYPE_IDX] = i; |
|---|
| | | |
|---|
| | | dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//å°Pollå
æ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå» |
|---|
| | | dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//设置è¶
宽带åéæ°æ®é¿åº¦ |
|---|
| | |
|---|
| | | usart_send[4] = frame_seq_nb;//æ°æ®æ®µé¿åº¦ |
|---|
| | | memcpy(&usart_send[5],&dev_id,2); |
|---|
| | | memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2); |
|---|
| | | hex_dist = anchor_dist_last_frm[0];; |
|---|
| | | hex_dist = anchor_dist_last_frm[0]+(int16_t)g_com_map[DIST_OFFSET]; |
|---|
| | | memcpy(&usart_send[9],&hex_dist,4); |
|---|
| | | usart_send[13] = battary; |
|---|
| | | usart_send[14] = button; |
|---|
