UWB_SmallModule_F103.git

			@@ -19,15 +19,16 @@
			#include "beep.h"
			#include <math.h>

			#define USART_INTEGRATE_OUTPUT
			//#define WORK_MODE_TAG

			//#define USART_INTEGRATE_OUTPUT
			//#define TAG_OUTPUT
			//#define DEBUG_INF
			//#define NEWBOARD
			//#define TAG_OUTPUT
			#define HEX_OUTPUT

			#define MAX_NEARBASE_NUM 12

			#define MAX_RFPOWER 60
			#define DEFAULT_RFPOWER 30
			#define REPOET_ANC_NUM 1
			#define REPOET_ANC_NUM_MIN 1
			#define TAG_ID_START 0// 0x00980000
			@@ -35,8 +36,8 @@
			#define TAG_NUM_IN_SYS 256
			#define DFT_RAND_DLY_TIM_MS 1
			#define QUIT_SLOT_TIME 5
			#define KEEP_TIMES 10

			#define KEEP_TIMES 3
			#define SLOT_SCALE 0.24
			#define RNG_DELAY_MS 100

			/* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */
			@@ -56,11 +57,11 @@
			/* Receive response timeout. See NOTE 5 below. */
			#define RESP_RX_TIMEOUT_UUS 2000

			#define DELAY_BETWEEN_TWO_FRAME_UUS 400
			#define DELAY_BETWEEN_TWO_FRAME_UUS 250

			#define POLL_RX_TO_RESP_TX_DLY_UUS 470
			/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
			#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
			#define RESP_TX_TO_FINAL_RX_DLY_UUS 0
			/* Receive final timeout. See NOTE 5 below. */
			#define FINAL_RX_TIMEOUT_UUS 4300

			@@ -75,6 +76,9 @@
			#define NEAR_POLL 0x06
			#define NEAR_RESPONSE 0x07
			#define NEAR_FINAL 0x08

			#define REG_POLL 0x10
			#define REG_RESPONSE 0x11
			//General
			#define GROUP_ID_IDX 0
			#define ANCHOR_ID_IDX 1
			@@ -87,9 +91,13 @@
			#define ANCTIMEMS 14
			#define ANCTIMEUS 16
			#define MAINBASE_INDEX 18
			#define MOTORSTATE_INDEX 19
			#define NR_NEARSWITCH_DISTANCE 20
			#define REMOTEPARA_INDEX 22

			#define TAGSLOTPOS 7
			//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
			@@ -100,14 +108,22 @@
			#define SYNC_SEQ_IDX 5
			//NEAR MSG
			#define NEARMSG_EMPTYSLOTPOS_INDEX 1 //RESPONSE
			#define NEARBASENUM_INDEX 10
			#define NEARBASEID_INDEX 11
			#define NEARBASENUM_INDEX 18
			#define NEARBASEID_INDEX 19
			//NEAR POLL
			#define BATTARY_IDX 1
			#define BUTTON_IDX 2
			#define SEQUENCE_IDX 3
			#define BATTARY_IDX 4
			#define BUTTON_IDX 7
			#define NEARP_TAGFREQ_INDEX 10
			#define NEARP_TAGSLOTPOS_INDEX 12
			//REG RESPONSE
			#define REGR_TAGFREQ_INDEX 10
			#define REGR_TAGSLOTPOS_INDEX 12
			#define REGR_BASENUM_INDEX 18
			#define REGR_BASEID_INDEX 19

			#define THRESHOLD_CHANGE_MAINBASE_DIST 5
			#define REMOTEPARA_LEN 18
			#define THRESHOLD_CHANGE_MAINBASE_DIST 500
			extern u8 neartimout_timer;
			extern u16 slottime,tyncpoll_time,max_slotpos;
			extern u16 poll_timer,tag_timer;
			@@ -120,7 +136,7 @@
			extern uint32_t g_UWB_com_interval;
			extern float dis_after_filter;
			extern LPFilter_Frac* p_Dis_Filter; //æµè·ç¨çä½éæ»¤æ³¢å¨
			extern u8 usart_send[100],usart_send_anc[100],flag_syncbase;
			extern u8 usart_send[100],usart_send_anc[100],flag_syncbase,remotesend_state, remotetag_para[30];;

			void IdleTask(void);
			uint16_t Checksum_u16(uint8_t* pdata, uint32_t len);
			@@ -133,5 +149,6 @@
			extern void TagDistClear(void);
			void Dw1000_App_Init(void);
			void TagListUpdate(void);
			void SyncPoll(u8 sync_seq,uint32_t sync_baseid);
			void SyncPoll(u8 sync_seq);
			u8 GetRandomSlotPos(uint32_t emptyslot);
			#endif