逻辑完整，3S开一秒接收的版本，现在测试未优化功耗40ma，串口1反初始化

zhangbo

2025-04-11 0f4ab015bab679dfbf4959716832b5bd976c1a8b

 keil/include/drivers/global_param.h

@@ -1,6 +1,9 @@
#ifndef __GLOBAL_PARAM_H__
#define __GLOBAL_PARAM_H__

//#define GET_IMUINT       HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_0)
#define GET_USERKEY    read_userkey_input_pca()
#define STATIONARY_TIME 3
//#include "main.h"
#include "stdint.h"
#define COM_MAP_SIZE      512      //MAP表的最大空间
@@ -16,6 +19,7 @@
#define    MAX_REPORT_ANC_NUM              0x4      //单次通讯基站上限
#define    GROUP_ID                  0x5      //单次通讯基站下限
#define    DIST_OFFSET                  0x6   
#define      LORA_POWER              0x6
#define    DEV_ROLE                  0x7      //该设备是anchor还是tag   
#define    ANC_POLL                  0x8      //基站主动测距

@@ -29,7 +33,7 @@
#define      HEARTBEAT             0xE
#define     SEND_4G_SECOND  0xE      //4G上报频率
#define      MODBUS_MODE               0xF
#define    QUIT_SLOT_TIME 5
#define    QUIT_SLOT_TIME          10

#define    MOTOR_ONTIME_INDEX                0x10

@@ -44,13 +48,16 @@
#define      NEARBASE_ID3                    0x13
#define      NEARBASE_ID4                    0x14
#define      NEARBASE_ID5                    0x15
#define     BIND_DEV_ID                     0x16//绑定的设备ID
#define      BIND_DEV_ID                     0x16//绑定的设备ID
#define      NEARBASE_ID6                    0x16
#define      NEARBASE_ID7                    0x17
#define      NEARBASE_ID8                    0x18
#define      NEARBASE_ID9                    0x19
#define      NEARBASE_ID10                   0x1a

#define        UWB_RNAGE_TIME                  0xA 
#define      UWB_WAIT_TIME                   0xB

#define    POWER                 0x1B
#define      IMU_THRES                  0x1C
#define     NOMOVESLEEP_TIME    0x1D