| | |
|---|
| | | u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0; |
|---|
| | | u32 rec_tagpos_binary; |
|---|
| | | int16_t offset=2700; |
|---|
| | | extern int16_t g_commap_antdelay; |
|---|
| | | u8 motor_state,rec_remotepara_state,rec_remotepara[80]; |
|---|
| | | void NearPoll(void) |
|---|
| | | { |
|---|
| | |
|---|
| | | tx_near_msg[NEARBASENUM_INDEX] = nearbase_num; |
|---|
| | | memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2); |
|---|
| | | tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL; |
|---|
| | | memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*4],&g_commap_antdelay,2); |
|---|
| | | memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2); |
|---|
| | | dwt_writetxdata(13+2*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去 |
|---|
| | | dwt_writetxfctrl(13+2*nearbase_num, 0);//设置超宽带发送数据长度 |
|---|
| | | dwt_writetxdata(15+4*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去 |
|---|
| | | dwt_writetxfctrl(15+4*nearbase_num, 0);//设置超宽带发送数据长度 |
|---|
| | | dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//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 |
|---|
| | | |
|---|
| | | tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0; |
|---|
