| | |
| | | dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置åéåå¼å¯æ¥æ¶ï¼å¹¶è®¾å®å»¶è¿æ¶é´ |
| | | dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS); |
| | | tag_succ_times = 0; |
| | | tx_poll_msg[BATTARY_IDX] = Get_Battary(); |
| | | tx_poll_msg[BUTTON_IDX] = !READ_KEY0; |
| | | tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++; |
| | | tx_poll_msg[NEARBASENUM_INDEX] = nearbase_num; |
| | | memcpy(&tx_poll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2); |
| | | |
| | | 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¦ |
| | | tx_near_msg[BATTARY_IDX] = Get_Battary(); |
| | | tx_near_msg[BUTTON_IDX] = !READ_KEY0; |
| | | tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++; |
| | | tx_near_msg[NEARBASENUM_INDEX] = nearbase_num; |
| | | memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2); |
| | | tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL; |
| | | memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2); |
| | | dwt_writetxdata(sizeof(tx_near_msg), tx_near_msg, 0);//å°Pollå
æ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå» |
| | | dwt_writetxfctrl(sizeof(tx_near_msg), 0);//设置è¶
宽带åéæ°æ®é¿åº¦ |
| | | dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//å¼å¯åéï¼åé宿åçå¾
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| | | |
| | | neartimout_timer=0; |
| | | recbase_num=0; |
| | | timeout=nearbase_num/4+2; |
| | | while(neartimout_timer<timeout&&recbase_num<nearbase_num) |
| | | while(neartimout_timer<timeout&&recbase_num<nearbase_num+1) |
| | | { |
| | | 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
åçé误 |
| | | { |
| | |
| | | { u16 rec_nearbaseid,rec_nearbasepos; |
| | | poll_tx_ts = get_tx_timestamp_u64(); //è·å¾POLLåéæ¶é´T1 |
| | | resp_rx_ts = get_rx_timestamp_u64(); //è·å¾RESPONSEæ¥æ¶æ¶é´T4 |
| | | recbase_num++; |
| | | memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2); |
| | | rec_nearbasepos=FindNearBasePos(rec_nearbaseid); |
| | | if(rec_nearbaseid==mainbase_id) |
| | |
| | | final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num) * UUS_TO_DWT_TIME)) >> 8; |
| | | dwt_setdelayedtrxtime(final_tx_time);//设置finalå
åéæ¶é´T5 |
| | | final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//finalå
å®é
åéæ¶é´æ¯è®¡ç®æ¶é´å ä¸åé天线delay |
| | | final_msg_set_ts(&tx_final_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//å°T1ï¼T4ï¼T5åå
¥åéæ°æ® |
| | | final_msg_set_ts(&tx_final_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts); |
| | | final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts); |
| | | dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//å°åéæ°æ®åå
¥DW1000 |
| | | dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设å®åéæ°æ®é¿åº¦ |
| | | final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//å°T1ï¼T4ï¼T5åå
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| | | final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts); |
| | | final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts); |
| | | tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL; |
| | | dwt_writetxdata(sizeof(tx_near_msg), tx_near_msg, 0);//å°åéæ°æ®åå
¥DW1000 |
| | | dwt_writetxfctrl(sizeof(tx_near_msg), 0);//设å®åéæ°æ®é¿åº¦ |
| | | result=dwt_starttx(DWT_START_TX_DELAYED);//设å®ä¸ºå»¶è¿åé |
| | | }else{ |
| | | final_msg_set_ts(&tx_final_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+rec_nearbasepos*4], resp_rx_ts); |
| | | final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+rec_nearbasepos*4], resp_rx_ts); |
| | | memcpy(&nearbase_distlist[rec_nearbasepos],&rx_buffer[DIST_IDX],4); |
| | | dwt_writetxdata(sizeof(tx_near_msg), tx_near_msg, 0);//å°åéæ°æ®åå
¥DW1000 |
| | | } |
| | | } |
| | | } |
| | |
| | | if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //å¤ææ¥æ¶å°çæ°æ®æ¯å¦æ¯responseæ°æ® |
| | | { |
| | | nearbase_num=rx_buffer[NEARBASENUM_INDEX]; |
| | | tagslotpos=rx_buffer[TAGSLOTPOS]; |
| | | memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2); |
| | | slottime=ceil((nearbase_num+2)*0.3)+1; |
| | | tyncpoll_time=tagslotpos*slottime; |
| | | tag_state=NEARPOLL; |
| | | } |
| | | } |
| | |
| | | tmp_time=TIM3->CNT; |
| | | memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2); |
| | | memcpy(&tx_resp_msg[ANCTIMEUS],&tmp_time,2); |
| | | memcpy(&tx_resp_msg[TAGSLOTPOS],&taglist_pos,2); |
| | | |
| | | memcpy(&tx_resp_msg[TAGSLOTPOS],&taglist_pos,1); |
| | | |
| | | poll_rx_ts = get_rx_timestamp_u64();//è·å¾Pollå
æ¥æ¶æ¶é´T2 |
| | | |
| | | resp_tx_time = (poll_rx_ts + (POLL_RX_TO_RESP_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计ç®Responseåéæ¶é´T3ã |
| | | dwt_setdelayedtrxtime(resp_tx_time);//设置Responseåéæ¶é´T3 |
| | | dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS);//设置åé宿åå¼å¯æ¥æ¶å»¶è¿æ¶é´ |
| | | dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//æ¥æ¶è¶
æ¶æ¶é´ |
| | | |
| | | if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS) |
| | | memcpy(&tx_resp_msg[DIST_IDX], &anchor_dist_last_frm[tag_id_recv-TAG_ID_START], 4); |
| | | |
| | | |
| | | memcpy(&tx_resp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4); |
| | | memcpy(&tx_resp_msg[TAG_ID_IDX],&tag_id_recv,2); |
| | | |
| | | dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//åå
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| | | dwt_writetxfctrl(sizeof(tx_resp_msg), 0);//设å®åéé¿åº¦ |
| | | result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//å»¶è¿åéï¼çå¾
æ¥æ¶ |
| | |
| | | void Anchor_RecNearPoll(u8 ancrec_nearbasepos) |
| | | { |
| | | tmp_time=TIM3->CNT; |
| | | memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2); |
| | | memcpy(&tx_resp_msg[ANCTIMEUS],&tmp_time,2); |
| | | memcpy(&tx_resp_msg[TAGSLOTPOS],&taglist_pos,2); |
| | | memcpy(&tx_near_msg[ANCTIMEMS],&sync_timer,2); |
| | | memcpy(&tx_near_msg[ANCTIMEUS],&tmp_time,2); |
| | | memcpy(&tx_near_msg[TAGSLOTPOS],&taglist_pos,1); |
| | | |
| | | poll_rx_ts = get_rx_timestamp_u64();//è·å¾Pollå
æ¥æ¶æ¶é´T2 |
| | | |
| | |
| | | dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(nearbase_num-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置åé宿åå¼å¯æ¥æ¶å»¶è¿æ¶é´ |
| | | dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//æ¥æ¶è¶
æ¶æ¶é´ |
| | | |
| | | memcpy(&tx_resp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4); |
| | | |
| | | dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//åå
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| | | dwt_writetxfctrl(sizeof(tx_resp_msg), 0);//设å®åéé¿åº¦ |
| | | memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4); |
| | | tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE; |
| | | dwt_writetxdata(sizeof(tx_near_msg), tx_near_msg, 0);//åå
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| | | dwt_writetxfctrl(sizeof(tx_near_msg), 0);//设å®åéé¿åº¦ |
| | | result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//å»¶è¿åéï¼çå¾
æ¥æ¶ |
| | | |
| | | battary = rx_buffer[BATTARY_IDX]; |
| | |
| | | case NEAR_MSG: |
| | | if(anc_id_recv==dev_id) |
| | | { |
| | | rx_buffer[TAGSLOTPOS]=taglist_pos; |
| | | tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG; |
| | | memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2); |
| | | tx_near_msg[NEARBASENUM_INDEX]=g_com_map[NEARBASE_NUM]; |
| | | memcpy(&tx_near_msg[NEARBASEID_INDEX],&g_com_map[NEARBASE_ID1],g_com_map[NEARBASE_NUM]*2); |