| | |
|---|
| | | #include "ADC.h" |
|---|
| | | #include "TrackingDiff.h" |
|---|
| | | |
|---|
| | | //#define WORK_MODE_TAG |
|---|
| | | #define WORK_MODE_ANCHOR |
|---|
| | | #define MAX_ANCFREQ 20//基站频率上限 |
|---|
| | | #define NOTAG_FREQ 1// 无标签情况下，基站定位频率 |
|---|
| | | #define FREQ_LOST_TIME 30 // 标签无信号恢复频率1HZ时间。秒 |
|---|
| | | #define SENDANCPARA_LEN 102 |
|---|
| | | #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 3 |
|---|
| | | #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 RESPONSE 0x02 |
|---|
| | | #define FINAL 0x03 |
|---|
| | | #define SYNC 0x04 |
|---|
| | | #define NEAR_MSG 0x05 |
|---|
| | | #define NEAR_POLL 0x06 |
|---|
| | | #define NEAR_RESPONSE 0x07 |
|---|
| | | #define NEAR_FINAL 0x08 |
|---|
| | | |
|---|
| | | //#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 |
|---|
| | | #define MBX_REG 0x24 |
|---|
| | | //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 TAGSLOTPOS 7 |
|---|
| | | #define TAGFREQ_IDX 7 |
|---|
| | | #define MOTORSTATE_INDEX 19 |
|---|
| | | #define REMOTEPARA_INDEX 20 |
|---|
| | | #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_TS_LEN 4 |
|---|
| | | //SYNC |
|---|
| | | #define SYNC_SEQ_IDX 5 |
|---|
| | | |
|---|
| | | |
|---|
| | | //REG POLL |
|---|
| | | #define REGP_TAGSTATE_INDEX 10 |
|---|
| | | #define REGP_VERSION_INDEX 11 |
|---|
| | | #define REGP_FREQUENCY_INDEX 13 |
|---|
| | | #define REGP_POWER_INDEX 14 |
|---|
| | | #define REGP_IMUTHRES_INDEX 15 |
|---|
| | | #define REGP_NOMOVESLEEPTIME_INDEX 17 |
|---|
| | | #define REGP_HEIGHTOFFSET_INDEX 19 |
|---|
| | | |
|---|
| | | //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 |
|---|
| | |
|---|
| | | extern uint32_t g_UWB_com_interval; |
|---|
| | | extern float dis_after_filter; |
|---|
| | | |
|---|
| | | extern uint8_t usart_send[25]; |
|---|
| | | extern uint8_t usart_send[100]; |
|---|
| | | |
|---|
| | | void IdleTask(void); |
|---|
| | | uint16_t Checksum_u16(uint8_t* pdata, uint32_t len); |
|---|
