| | |
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| | | #define POLL_TX_TO_RESP_RX_DLY_UUS 150 |
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| | | /* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the |
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| | | * frame length of approximately 2.66 ms with above configuration. */ |
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| | | #define RESP_RX_TO_FINAL_TX_DLY_UUS 1500 |
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| | | #define RESP_RX_TO_FINAL_TX_DLY_UUS 400 |
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| | | /* Receive response timeout. See NOTE 5 below. */ |
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| | | #define RESP_RX_TIMEOUT_UUS 2700 |
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| | | #define RESP_RX_TIMEOUT_UUS 600 |
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| | | |
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| | | #define POLL_RX_TO_RESP_TX_DLY_UUS 420 |
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| | | /* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */ |
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| | |
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| | | }; |
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| | | |
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| | | /* Frames used in the ranging process. See NOTE 2 below. */ |
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| | | static uint8_t tx_poll_msg[18] = {0}; |
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| | | static uint8_t tx_poll_msg[19] = {0}; |
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| | | //static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0}; |
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| | | static uint8_t tx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; |
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| | | |
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| | |
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| | | uint32_t final_tx_time; |
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| | | u32 start_poll; |
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| | | u8 i; |
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| | | |
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| | | LED0_ON; |
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| | | g_Resttimer=0; |
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| | | GPIO_ResetBits(SPIx_GPIO, SPIx_CS); |
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| | | delay_us(2500); |
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| | | GPIO_SetBits(SPIx_GPIO, SPIx_CS); |
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| | | tag_succ_times = 0; |
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| | | tx_poll_msg[BATTARY_IDX] = Get_Battary(); |
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| | | tx_poll_msg[BUTTON_IDX] = !READ_KEY0; |
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| | | for(i=0;i<REPOET_ANC_NUM;i++) |
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| | | { |
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| | | /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */ |
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| | |
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| | | dwt_writetxfctrl(sizeof(tx_resp_msg), 0);//设å®åéé¿åº¦ |
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| | | result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延è¿åéï¼çå¾
æ¥æ¶ |
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| | | |
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| | | battary = rx_buffer[BATTARY_IDX]; |
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| | | button = rx_buffer[BUTTON_IDX]; |
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| | | /* We assume that the transmission is achieved correctly, now poll for reception of expected "final" frame or error/timeout. |
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| | | * See NOTE 7 below. */ |
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| | | if(result==0) |
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| | |
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| | | // printf("Pair Finish PairID: %d. \r\n",g_com_map[PAIR_ID]); |
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| | | // } |
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| | | // tag_time_recv[tag_id_recv] = tag_recv_timer; |
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| | | if(tag_id_recv-TAG_ID_START<=TOTAL_TAG_NUM) |
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| | | { |
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| | | g_flag_Taggetdist[tag_id_recv-TAG_ID_START]=0; |
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| | | anchor_dist_last_frm[tag_id_recv-TAG_ID_START] = dist_cm; |
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| | | } |
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| | | #ifdef HEX_OUTPUT |
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| | | usart_send[2] = frame_seq_nb++; |
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| | | //usart_send[6] = tag_id_recv; |
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| | |
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| | | memcpy(&usart_send[21],&checksum,2); |
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| | | UART_PushFrame(usart_send,23); |
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| | | #else |
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| | | printf("Anchor ID: %d, Tag ID: %d, Dist = %d cm\n", g_com_map[DEV_ID], tag_id_recv, (uint16_t)dis_after_filter); |
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| | | printf("Anchor ID: %d, Tag ID: %d, Dist = %d cm\n", g_com_map[DEV_ID_L]|g_com_map[DEV_ID_L]<<8, tag_id_recv, (uint16_t)dist_cm); |
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| | | #endif |
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| | | |
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| | | //dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm); |
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