| | |
| | | NEARPOLL, |
| | | }tag_state=NEARPOLL; |
| | | static dwt_config_t config = { |
| | | 5, /* Channel number. */ |
| | | 2, /* Channel number. */ |
| | | DWT_PRF_64M, /* Pulse repetition frequency. */ |
| | | DWT_PLEN_128, /* Preamble length. */ |
| | | DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */ |
| | |
| | | |
| | | /* Configure DW1000. See NOTE 6 below. */ |
| | | dwt_configure(&config);//é
ç½®DW1000 |
| | | //dwt_setinterrupt(DWT_INT_TFRS | DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1); |
| | | dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1); |
| | | |
| | | /* Apply default antenna delay value. See NOTE 1 below. */ |
| | | dwt_setrxantennadelay(RX_ANT_DLY); //è®¾ç½®æ¥æ¶å¤©çº¿å»¶è¿ |
| | |
| | | u8 g_start_sync_flag; |
| | | void SyncPoll(u8 sync_seq,uint32_t sync_baseid) |
| | | {u8 result; |
| | | g_start_sync_flag=1; //ä¸ææ¨¡å¼ï¼éåºç»ç«¯åï¼éè¦éæ°æ¥è¿ |
| | | //g_start_sync_flag=1; //ä¸ææ¨¡å¼ï¼éåºç»ç«¯åï¼éè¦éæ°æ¥è¿ |
| | | dwt_forcetrxoff(); //å
³éæ¥æ¶ï¼ä»¥é²å¨RX ON ç¶æ |
| | | |
| | | |
| | |
| | | { }; |
| | | } |
| | | dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//æ¸
æ¥æ å¿ä½ |
| | | // UART_CheckSend(); |
| | | //dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1); |
| | | dwt_setrxtimeout(0);//è®¾å®æ¥æ¶è¶
æ¶æ¶é´ï¼0使²¡æè¶
æ¶æ¶é´ |
| | | dwt_rxenable(0);//æå¼æ¥æ¶ |
| | | } |
| | | uint16_t g_Resttimer; |
| | | uint8_t result; |
| | |
| | | SetNextPollTime(tyncpoll_time); |
| | | g_start_send_flag = 0; |
| | | GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET); |
| | | UART_CheckSend(); |
| | | dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1); |
| | | dwt_setrxtimeout(0);//è®¾å®æ¥æ¶è¶
æ¶æ¶é´ï¼0使²¡æè¶
æ¶æ¶é´ |
| | | dwt_rxenable(0);//æå¼æ¥æ¶ |
| | | } |
| | | |
| | | int8_t correction_time,new_tagid=0; |
| | |
| | | // min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B)); |
| | | return min_power; |
| | | } |
| | | u8 testt[100],testt2[100],testt3[100],testt4[100],testt6[100],ti; |
| | | u16 testt5[100]; |
| | | u16 smallcar_idlist[10]={0x4052,0x4032,0x4055,0x4034,0x4016,0x4010,0x4036,0x4027,0x4024,0x4047}; |
| | | extern u16 dist_threshold; |
| | | u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0; |
| | |
| | | dwt_writetxfctrl(22, 0);//设å®åéé¿åº¦ |
| | | } |
| | | result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//å»¶è¿åéï¼çå¾
æ¥æ¶ |
| | | |
| | | testt2[ti]=frame_seq_nb2; |
| | | |
| | | if(result==0) |
| | | { |
| | | while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///䏿æ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæè
åºç°é误 |
| | | while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))///䏿æ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæè
åºç°é误 |
| | | { }; |
| | | }else{ |
| | | result++; |
| | |
| | | |
| | | if (status_reg & SYS_STATUS_RXFCG)//æ¥æ¶æå |
| | | { |
| | | |
| | | testt3[ti]=frame_seq_nb2; |
| | | dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//æ¸
æ¥æ å¿ä½ |
| | | frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//æ°æ®é¿åº¦ |
| | | dwt_readrxdata(rx_buffer, frame_len, 0);//è¯»åæ¥æ¶æ°æ® |
| | |
| | | } |
| | | |
| | | g_flag_Taggetdist[taglist_pos]=0; |
| | | |
| | | testt4[ti]=frame_seq_nb2; |
| | | testt5[ti] = hex_dist/10; |
| | | if(hex_dist>-100000&&hex_dist<2000000) |
| | | { |
| | | if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3) |
| | |
| | | memcpy(&usart_send[19],&checksum,2); |
| | | if(g_com_map[MODBUS_MODE]!=1) |
| | | UART_PushFrame(usart_send,21); |
| | | //USART_puts(usart_send,21); |
| | | testt6[ti]=frame_seq_nb2; |
| | | tagstate_list[taglist_pos] = button<<8|battary; |
| | | #else |
| | | memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2); |
| | |
| | | dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG); |
| | | g_start_sync_flag=0; |
| | | dwt_setinterrupt(DWT_INT_TFRS | DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1); |
| | | dwt_setrxtimeout(1000);//è®¾å®æ¥æ¶è¶
æ¶æ¶é´ï¼0使²¡æè¶
æ¶æ¶é´ |
| | | dwt_setrxtimeout(0);//è®¾å®æ¥æ¶è¶
æ¶æ¶é´ï¼0使²¡æè¶
æ¶æ¶é´ |
| | | dwt_rxenable(0);//æå¼æ¥æ¶ |
| | | // while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//䏿æ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæè
åºç°é误 |
| | | // { |
| | | // //IdleTask(); |
| | | // }; |
| | | } |
| | | |
| | | void Anchor_App(void) |
| | | { |
| | | |
| | |
| | | // |
| | | // IdleTask(); |
| | | // }; |
| | | dwt_setinterrupt(DWT_INT_TFRS | DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0); |
| | | dwt_setinterrupt(DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0); |
| | | status_reg = dwt_read32bitreg(SYS_STATUS_ID); |
| | | //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET); |
| | | if (status_reg & SYS_STATUS_RXFCG)//æåæ¥æ¶ |
| | | { u16 tag_recv_interval; |
| | | float temp_tagpos; |
| | | |
| | | |
| | | |
| | | dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//æ¸
餿 å¿ä½ |
| | | frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//è·å¾æ¥æ¶æ°æ®é¿åº¦ |
| | | recpoll_len = frame_len; |
| | |
| | | |
| | | case NEAR_POLL: |
| | | frame_seq_nb2 = rx_buffer[SEQUENCE_IDX]; |
| | | testt[ti++]=frame_seq_nb2; |
| | | if(ti>100) |
| | | ti=0; |
| | | battary = rx_buffer[BATTARY_IDX]; |
| | | button = rx_buffer[BUTTON_IDX]; |
| | | rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX]; |
| | | memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2); |
| | | memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2); |
| | | memcpy(&rec_ancidlist,&rx_buffer[NEARBASEID_INDEX],2*rec_nearbase_num); |
| | | memcpy(&rec_ancdistlist,&rx_buffer[NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num); |
| | | memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+nearbase_num*4],2); |
| | |
| | | if(taglist_pos==taglist_num) |
| | | { |
| | | taglist_pos=taglist_num; |
| | | tagid_list[taglist_num++]=tag_id_recv; |
| | | |
| | | tagid_list[taglist_num++]=tag_id_recv; |
| | | new_tagid=1; |
| | | }else{ |
| | | new_tagid=0; |
| | |
| | | |
| | | break; |
| | | } |
| | | }else{ |
| | | } |
| | | }else{ |
| | | dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR); |
| | | } |
| | | } |
| | | UART_CheckSend(); |
| | | dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1); |
| | | dwt_setrxtimeout(0);//è®¾å®æ¥æ¶è¶
æ¶æ¶é´ï¼0使²¡æè¶
æ¶æ¶é´ |
| | | dwt_rxenable(0);//æå¼æ¥æ¶ |
| | | } |
| | | |