From fb63fc819cf017e3b5d7deb92cfbb0b3f3d08454 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期三, 19 四月 2023 17:28:47 +0800
Subject: [PATCH] 未开发完
---
Src/application/dw_app.c | 16 +++++++++++++---
1 files changed, 13 insertions(+), 3 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 71a1b17..fa9ff03 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -78,7 +78,7 @@
NEARPOLL,
}tag_state=GETNEARMSG;
static dwt_config_t config = {
- 2, /* Channel number. */
+ 5, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
DWT_PLEN_128, /* Preamble length. */
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
@@ -173,6 +173,14 @@
Reset_DW1000();//重启DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
Spi_ChangePrescaler(SPIx_PRESCALER_SLOW); //设置为快速模式
dwt_initialise(DWT_LOADUCODE);//初始化DW1000
+ dwt_configcontinuousframemode(124800);
+ dwt_writetxfctrl(13, 0);
+ dwt_starttx(DWT_START_TX_IMMEDIATE);
+ while(GET_USERKEY)
+ {
+ IdleTask();
+ }
+ dwt_forcetrxoff();
Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //设置为快速模式
/* Configure DW1000. See NOTE 6 below. */
@@ -295,6 +303,7 @@
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)
{
@@ -324,9 +333,10 @@
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;
--
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