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| | | #define FINAL_MSG_RESP_RX_TS_IDX 14 |
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| | | #define FINAL_MSG_FINAL_TX_TS_IDX 18 |
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| | | #define FINAL_MSG_TS_LEN 4 |
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| | | |
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| | | //#define _UWB_4G |
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| | | |
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| | | static dwt_config_t config = { |
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| | | 5, /* Channel number. */ |
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| | | #ifdef _UWB_4G |
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| | | 2, /* Channel number. */ |
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| | | #else |
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| | | 5, |
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| | | #endif |
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| | | DWT_PRF_64M, /* Pulse repetition frequency. */ |
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| | | DWT_PLEN_64, /* Preamble length. */ |
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| | | DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */ |
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| | |
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| | | { |
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| | | |
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| | | // exsistbase_list[i]--; |
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| | | clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ; |
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| | | #ifdef _UWB_4G |
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| | | clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ; |
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| | | #else |
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| | | clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ; |
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| | | #endif |
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| | | rtd_init = tag_resprx[i] - poll_tx_ts; |
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| | | rtd_resp = anc_resptx[i] - anc_pollrx[i]; |
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| | | tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS; |
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| | |
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| | | if(distance>-10&&distance<1000) |
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| | | nearbase_distlist[i] = distance*100+anc_distoffset[i]; |
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| | | }else{ |
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| | | // nearbase_distlist[i] = 0x1ffff; |
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| | | nearbase_distlist[i] = 0x1ffff; |
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| | | } |
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| | | |
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| | | } |
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| | | } |
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| | | extern uint8_t module_power,imu_enable,motor_enable; |
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| | | void Registor_Poll(void) |
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| | | { |
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| | | static u8 regpoll_count=0; |
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| | | u8 timeout; |
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| | | |
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| | | tx_near_msg[MESSAGE_TYPE_IDX] = MBX_REG; |
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| | | tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable; |
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| | | tx_near_msg[REGP_FREQUENCY_INDEX] = bat_percent; |
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| | | tx_near_msg[REGP_POWER_INDEX] = module_power; |
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| | | memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2); |
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| | | memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[GROUP_ID],2); |
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| | | memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[DIST_OFFSET],2); |
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| | | memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[MAX_REPORT_ANC_NUM],2); |
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| | | dwt_writetxdata(23, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去 |
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| | | dwt_writetxfctrl(23, 0);//设置超宽带发送数据长度 |
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| | | dwt_starttx(DWT_START_TX_IMMEDIATE);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置 |
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| | | start_count=HAL_LPTIM_ReadCounter(&hlptim1); |
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| | | timeout=50; |
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| | | end_count=start_count+(timeout<<2); |
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| | | while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS)))//不断查询芯片状态直到成功接收或者发生错误 |
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| | | { |
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| | | current_count=HAL_LPTIM_ReadCounter(&hlptim1); |
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| | | if(current_count>=end_count&¤t_count<end_count+15000) |
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| | | break; |
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| | | |
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| | | }; |
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| | | |
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| | | } |
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| | | float range_lost_time = 0; |
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| | | u16 rec_nearbaseid,rec_nearbasepos; |
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| | |
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| | | } |
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| | | } |
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| | | } |
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| | | |
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| | | u8 regpoll_count; |
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| | | u32 id; |
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| | | void Tag_App(void)//发送模式(TAG标签) |
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| | | { |
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| | |
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| | | } |
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| | | delay_us(100); |
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| | | g_Resttimer=0; |
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| | | if(freqlost_count>FREQ_LOST_TIME) |
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| | | { |
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| | | if(regpoll_count++>11) //待机状态1分钟上传一次基站状态 |
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| | | { |
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| | | regpoll_count = 0; |
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| | | Registor_Poll(); |
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| | | } |
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| | | }else{ |
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| | | if(regpoll_count++>59)//测距状态1分钟上传一次基站状态 |
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| | | { |
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| | | regpoll_count = 0; |
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| | | Registor_Poll(); |
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| | | } |
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| | | } |
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| | | NearPoll(); |
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| | | dwt_entersleep(); |
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| | | bat_percent=Get_VDDVlotage(); |
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