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| | | #include "beep.h" |
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| | | #include "modbus.h" |
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| | | |
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| | | #define SUPERTAG_GROUP 0xff |
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| | | #define USART_INTEGRATE_OUTPUT |
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| | | /*------------------------------------ Marcos ------------------------------------------*/ |
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| | | /* Inter-ranging delay period, in milliseconds. */ |
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| | |
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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 410 |
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| | | #define RESP_RX_TO_FINAL_TX_DLY_UUS 810 |
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| | | |
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| | | /* Receive response timeout. See NOTE 5 below. */ |
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| | | #define RESP_RX_TIMEOUT_UUS 600 |
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| | | |
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| | | #define DELAY_BETWEEN_TWO_FRAME_UUS 400 |
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| | | #define DELAY_BETWEEN_TWO_FRAME_UUS 600 |
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| | | |
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| | | #define POLL_RX_TO_RESP_TX_DLY_UUS 470 |
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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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| | | NEARPOLL, |
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| | | }tag_state=GETNEARMSG; |
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| | | static dwt_config_t config = { |
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| | | 2, /* Channel number. */ |
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| | | 5, /* Channel number. */ |
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| | | DWT_PRF_64M, /* Pulse repetition frequency. */ |
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| | | DWT_PLEN_128, /* Preamble length. */ |
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| | | DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */ |
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| | |
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| | | dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据 |
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| | | dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间 |
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| | | dwt_rxenable(0);//打开接收 |
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| | | if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX]==group_id) //判断接收到的数据是否是response数据 |
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| | | if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&(group_id == SUPERTAG_GROUP||rx_buffer[GROUP_ID_IDX]==group_id)) //判断接收到的数据是否是response数据 |
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| | | { u16 rec_nearbaseid,rec_nearbasepos; |
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| | | poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1 |
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| | | resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4 |
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