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| | | |
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| | | #define DELAY_BETWEEN_TWO_FRAME_UUS 400 |
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| | | |
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| | | #define POLL_RX_TO_RESP_TX_DLY_UUS 420 |
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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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| | | #define RESP_TX_TO_FINAL_RX_DLY_UUS 200 |
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| | | /* Receive final timeout. See NOTE 5 below. */ |
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| | |
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| | | flag_getresponse=0; |
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| | | start_count=HAL_LPTIM_ReadCounter(&hlptim1); |
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| | | recbase_num=0; |
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| | | timeout=ceil((float)nearbase_num*0.4)+2; |
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| | | timeout=ceil((float)nearbase_num*SLOT_SCALE)+3; |
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| | | end_count=start_count+(timeout<<5); |
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| | | if(end_count>=32768) |
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| | | {end_count-=32768;} |
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| | |
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| | | final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts); |
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| | | final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts); |
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| | | tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL; |
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| | | if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) |
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| | | { |
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| | | para_update = 1; |
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| | | tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1; |
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| | | para_len = frame_len-22; |
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| | | memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len); |
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| | | } |
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| | | |
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| | | |
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| | | dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000 |
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| | | dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度 |
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| | |
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| | | lastsync_timer=sync_timer; |
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| | | offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset; |
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| | | SetNextPollTime(tyncpoll_time); |
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| | | |
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| | | if(rec_remotepara_state&&rec_remotepara_state!=g_com_map[REMOTEPARA_STATE]) |
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| | | { |
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| | | g_com_map[REMOTEPARA_STATE]=rec_remotepara_state; |
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| | | memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],REMOTEPARA_LEN); |
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| | | memcpy(&g_com_map[COM_INTERVAL],&rec_remotepara[0],8); |
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| | | memcpy(&g_com_map[POWER],&rec_remotepara[8],10); |
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| | | save_com_map_to_flash(); |
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| | | delay_ms(100); |
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| | | NVIC_SystemReset(); |
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| | | |
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| | | } |
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| | | |
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| | | // count_offset=sync_count-current_count-143; |
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| | | // current_slottimes=(ancsync_time-10000)/(g_com_map[COM_INTERVAL]*1000); |
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