| | |
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| | | 9, /* RX preamble code. Used in RX only. */ |
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| | | 1, /* Use non-standard SFD (Boolean) */ |
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| | | DWT_BR_6M8, /* Data rate. */ |
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| | | DWT_PHRMODE_STD, /* PHY header mode. */ |
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| | | DWT_PHRMODE_EXT, /* PHY header mode. */ |
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| | | (129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */ |
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| | | }; |
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| | | static uint8_t tx_poll_msg[20] = {0}; |
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| | |
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| | | extern uint16_t taglist_num; |
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| | | extern int32_t tagdist_list[TAG_NUM_IN_SYS]; |
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| | | uint16_t nearbase_taglist_num; |
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| | | extern uint8_t uwb_tx[300]; |
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| | | void NearPoll(void) |
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| | | { |
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| | | |
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| | |
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| | | tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5; |
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| | | tx_near_msg[SEQUENCE_IDX] = frame_seq_nb; |
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| | | tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8; |
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| | | if(taglist_num>10) |
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| | | {taglist_num=10;} |
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| | | nearbase_taglist_num=nearbase_num+taglist_num; |
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| | | tx_near_msg[NEARBASENUM_INDEX] = nearbase_taglist_num; |
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| | | memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2); |
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| | |
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| | | memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2); |
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| | | dwt_writetxdata(29+8*nearbase_taglist_num, 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(29+8*nearbase_taglist_num, 0);//设置超宽带发送数据长度 |
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| | | |
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| | | // dwt_writetxdata(280, uwb_tx, 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(282, 0);//设置超宽带发送数据长度 |
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| | | |
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| | | current_count=HAL_LPTIM_ReadCounter(&hlptim1); |
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| | | |
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| | | while(current_count<poll_startcount||current_count>poll_startcount+16384) |
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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*SLOT_SCALE)+3; |
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| | | timeout=ceil((float)nearbase_taglist_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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| | | userkey_state = !GET_USERKEY; |
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| | | dwt_forcetrxoff(); |
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| | | // Dw1000_Init(); |
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| | | dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1); |
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| | | dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间 |
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| | | dwt_rxenable(0); |
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