V1.58 香港机场测试，有BUG

yincheng.zhong

2023-05-27 a5e16e925923fa444276ca51f0e7c0cbbe07a96c

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#ifndef __DW_APP_H__
#define __DW_APP_H__
 
#include <string.h>
#include "main.h"
 
#include "ADC.h"
#include "TrackingDiff.h"
 
#define MAX_ANCFREQ    20//»ùվƵÂÊÉÏÏÞ
#define NOTAG_FREQ     1// ÎÞ±êÇ©Çé¿öÏ£¬»ùÕ¾¶¨Î»ÆµÂÊ
#define FREQ_LOST_TIME   30 // ±êÇ©ÎÞÐźŻָ´ÆµÂÊ1HZʱ¼ä¡£Ãë
#define SENDANCPARA_LEN 102
#define BASELOST_STOPMOTOR_TIME 5
//BITSTATE
#define GOINGSLEEPBIT 1
 
//#define NEWBOARD
//#define TAG_OUTPUT
#define HEX_OUTPUT
 
#define SLOT_SCALE 4
#define MAX_NEARBASE_NUM 25
#define KEEP_TIMES 5
 
#define REPOET_ANC_NUM 1
#define REPOET_ANC_NUM_MIN 1
#define TAG_ID_START         0// 0x00980000
#define GROUP_TAG_NUM 2
#define TAG_NUM_IN_SYS                25
#define DFT_RAND_DLY_TIM_MS            1
#define THRESHOLD_CHANGE_MAINBASE_DIST   50
#define MIN_ANCHOR_NUM 2
#define SYNC_SEQ_IDX                5
#define REMOTEPARA_LEN 18
 
#define POLL                                 0x01
#define RESPONSE                             0x02
#define FINAL                               0x03
#define SYNC                                   0x04
 
//#define NEAR_POLL                           0x06
//#define NEAR_RESPONSE                       0x07
//#define NEAR_FINAL                           0x08
//#define NEAR_PRAAREPLY                       0x20
 
#define MBX_POLL                               0x20
#define MBX_RESPONSE                           0x21
#define MBX_FINAL                           0x22
#define MBX_PRAAREPLY                       0x23
//General
#define GROUP_ID_IDX                   0
#define ANCHOR_ID_IDX                1
#define TAG_ID_IDX                    5
#define MESSAGE_TYPE_IDX             9    
#define MESSAGE_PARAREPLY_IDX         10
//Poll
#define TAGSTATE              7
#define ANC_TYPE_IDX                     14
//respose
#define DIST_IDX                             10
#define ANCTIMEMS             14
#define ANCTIMEUS             16
#define TAGFREQ_IDX                        7
#define MOTORSTATE_INDEX      19
#define REMOTEPARA_INDEX      22
//Final
#define TAGCONFIGSUCCESS_INDEX 7
#define FINAL_MSG_POLL_TX_TS_IDX 10
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_RESP_RX_NEARBASE_IDX  22
#define FINAL_MSG_TS_LEN 4
//SYNC
#define SYNC_SEQ_IDX                5
//NEAR MSG
#define NEARMSG_EMPTYSLOTPOS_INDEX         1 //RESPONSE
#define NEARBASENUM_INDEX    10
#define NEARBASEID_INDEX         11
//NEAR POLL
#define RESP_MSG_POLL_RX_TS_IDX  26
#define RESP_MSG_RESP_TX_TS_IDX  30
#define RESP_MSG_ANC_DISTOFFSET  34
 
#define SEQUENCE_IDX                    3
#define BATTARY_IDX                        4
#define BUTTON_IDX                        7
 
#define DW_CTRL_GPIO                    GPIOA
#define DW_ENABLE   HAL_GPIO_WritePin(DW_CTRL_GPIO, DW_CTRL_Pin, GPIO_PIN_RESET)
#define DW_DISABLE  HAL_GPIO_WritePin(DW_CTRL_GPIO, DW_CTRL_Pin, GPIO_PIN_SET)
extern TrackingDiffClass *pUWBDistanceTrackingDiff;
extern uint16_t poll_timer,tag_timer;
extern int8_t tag_delaytime;
extern uint32_t dev_id;
extern uint8_t anchor_type;
extern  uint32_t time32_incr;
extern uint16_t tag_recv_timer;
extern double dist_cm;
extern uint32_t g_UWB_com_interval;
extern float dis_after_filter;
 
extern uint8_t usart_send[25];
 
void IdleTask(void);
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len);
void Dw1000_Init(void);
void Tag_App(void);
void Anchor_App(void);
void tag_sleep_configuraion(void);
extern int32_t g_Tagdist[TAG_NUM_IN_SYS];
 
extern void TagDistClear(void);
void Dw1000_App_Init(void);
#endif