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| | | DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */ |
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| | | 9, /* TX preamble code. Used in TX only. */ |
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| | | 9, /* RX preamble code. Used in RX only. */ |
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| | | 0, /* Use non-standard SFD (Boolean) */ |
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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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| | | (129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */ |
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| | |
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| | | nearbase_num=next_nearbase_num; |
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| | | recbase_num=0; |
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| | | // motor_state=0; |
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| | | |
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| | | tx_near_msg[GROUP_ID_IDX] = group_id; |
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| | | tx_near_msg[BATTARY_IDX] = bat_percent; |
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| | | tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1; |
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| | | tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++; |
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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)) //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)&&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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| | |
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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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| | | |
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| | | tx_near_msg[GROUP_ID_IDX] = group_id; |
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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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| | | if(rec_remotepara_state&&rec_remotepara_state!=g_com_map[REMOTEPARA_STATE]) |
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| | | if(rec_remotepara_state==1) |
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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(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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| | | if(g_com_map[COM_INTERVAL]>0&&g_com_map[COM_INTERVAL]<1000&&g_com_map[POWER]<67&&g_com_map[POWER]>0) |
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| | | {save_com_map_to_flash(); |
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| | | delay_ms(100); |
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| | | } |
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| | | NVIC_SystemReset(); |
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| | | } |
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| | | |
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| | | // count_offset=sync_count-current_count-143; |
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| | |
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| | | } |
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| | | memcpy(&tx_near_msg[ANCHOR_ID_IDX],&nearmsg_mainbase,2); |
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| | | memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2); |
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| | | tx_near_msg[GROUP_ID_IDX] = group_id; |
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| | | tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG; |
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| | | |
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| | | dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间 |
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