| | |
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| | | uint16_t g_Resttimer; |
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| | | uint8_t result; |
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| | | u8 tag_succ_times=0; |
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| | | int32_t hex_dist; |
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| | | int32_t hex_dist,hex_dist2; |
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| | | u16 checksum; |
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| | | int8_t tag_delaytime; |
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| | | extern uint16_t sync_timer; |
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| | |
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| | | } |
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| | | TIM3->CNT=tmp_time; |
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| | | } |
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| | | memcpy(&anchor_dist_last_frm[0], &rx_buffer[DIST_IDX], 4); |
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| | | memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4); |
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| | | memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4); |
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| | | /* Compute final message transmission time. See NOTE 9 below. */ |
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| | | final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//璁＄畻final鍖呭彂閫佹椂闂达紝T5=T4+Treply2 |
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| | |
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| | | tag_succ_times++; |
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| | | |
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| | | LED0_BLINK; |
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| | | hex_dist = anchor_dist_last_frm[0]; |
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| | | |
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| | | memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2); |
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| | | // g_Tagdist[anc_id_recv]= hex_dist; |
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| | | // g_flag_Taggetdist[anc_id_recv]=0; |
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| | |
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| | | memcpy(&usart_send[5],&dev_id,2); |
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| | | memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2); |
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| | | |
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| | | memcpy(&usart_send[9],&hex_dist,4); |
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| | | memcpy(&usart_send[9],&hex_dist2,4); |
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| | | usart_send[13] = battary; |
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| | | usart_send[14] = button; |
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| | | checksum = Checksum_u16(&usart_send[2],17); |
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| | |
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| | | Modbus_HoldReg[tag_id_recv*2+1]=anchor_dist_last_frm[tag_id_recv-TAG_ID_START]; |
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| | | //dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm); |
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| | | } |
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| | | } |
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| | | }else{ |
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| | | LED0_BLINK; |
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| | | } |
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| | | } |
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| | | }else{ |
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| | | /* Clear RX error events in the DW1000 status register. */ |
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