XRange_Tag.git - Gitblit

			@@ -4,31 +4,62 @@

			#include <string.h>
			#include "main.h"

			#include "deca_device_api.h"
			//#include "deca_device_api_3000.h"
			#include "deca_regs.h"
			#include "dw_driver.h"
			#include "ADC.h"
			#include "TrackingDiff.h"

			//#define WORK_MODE_TAG
			#define WORK_MODE_ANCHOR
			#define BASELOST_STOPMOTOR_TIME 5
			//BITSTATE
			#define GOINGSLEEPBIT 1

			//#define NEWBOARD
			//#define TAG_OUTPUT
			#define HEX_OUTPUT

			#define MAX_NEARBASE_NUM 12
			#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 TAG_NUM_IN_SYS 256
			#define DFT_RAND_DLY_TIM_MS 1
			#define THRESHOLD_CHANGE_MAINBASE_DIST 50
			#define MIN_ANCHOR_NUM 2
			#define SYNC_SEQ_IDX 5
			#define QUIT_SLOT_TIME 5
			#define KEEP_TIMES 30
			#define SLOT_SCALE 0.7
			#define RNG_DELAY_MS 100

			/* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */
			#define TX_ANT_DLY 0
			#define RX_ANT_DLY 32899

			/* UWB microsecond (uus) to device time unit (dtu, around 15.65 ps) conversion factor.
			* 1 uus = 512 / 499.2 祍 and 1 祍 = 499.2 * 128 dtu. */
			#define UUS_TO_DWT_TIME 65536

			/* Delay between frames, in UWB microseconds. See NOTE 4 below. */
			/* 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 POLL_TX_TO_RESP_RX_DLY_UUS 150
			/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
			* frame length of approximately 2.66 ms with above configuration. */
			#define RESP_RX_TO_FINAL_TX_DLY_UUS 410
			/* Receive response timeout. See NOTE 5 below. */
			#define RESP_RX_TIMEOUT_UUS 2000

			#define DELAY_BETWEEN_TWO_FRAME_UUS 550

			#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 10
			/* Receive final timeout. See NOTE 5 below. */
			#define FINAL_RX_TIMEOUT_UUS 4300

			#define SPEED_OF_LIGHT 299702547

			//MESSAGE_TYPE
			#define POLL 0x01
			#define RESPONSE 0x02
			#define FINAL 0x03
			@@ -48,6 +79,12 @@
			#define DIST_IDX 10
			#define ANCTIMEMS 14
			#define ANCTIMEUS 16
			#define MAINBASE_INDEX 18
			#define MOTORSTATE_INDEX 19
			#define REMOTEPARA_INDEX 20
			#define RESP_MSG_POLL_RX_TS_IDX 26
			#define RESP_MSG_RESP_TX_TS_IDX 30
			#define RESP_MSG_ANC_DISTOFFSET 34
			#define TAGSLOTPOS 7
			//Final
			#define FINAL_MSG_POLL_TX_TS_IDX 10
			@@ -56,16 +93,19 @@
			#define FINAL_MSG_RESP_RX_NEARBASE_IDX 22
			#define FINAL_MSG_TS_LEN 4
			//SYNC
			#define ANCHOR_ID_IDX 1
			#define SYNC_SEQ_IDX 5
			//NEAR MSG
			#define NEARMSG_EMPTYSLOTPOS_INDEX 1 //RESPONSE
			#define NEARBASENUM_INDEX 10
			#define NEARBASEID_INDEX 11
			//NEAR POLL
			#define BATTARY_IDX 1
			#define BUTTON_IDX 2
			#define SEQUENCE_IDX 3

			#define BATTARY_IDX 4
			#define BUTTON_IDX 7
			#define SLOTTIME_MS 48
			#define REMOTEPARA_LEN 18
			#define THRESHOLD_CHANGE_MAINBASE_DIST 5
			#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)
			@@ -89,7 +129,7 @@
			void Anchor_App(void);
			void tag_sleep_configuraion(void);
			extern int32_t g_Tagdist[TAG_NUM_IN_SYS];

			extern dwt_config_t config;
			extern void TagDistClear(void);
			void Dw1000_App_Init(void);
			#endif