| | |
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| | | #define HEX_OUTPUT |
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| | | #define TOTAL_SLOTNUM 200 |
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| | | #define SLOTTIME_MS 48 |
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| | | #define SLOT_SCALE 0.24 |
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| | | #define SLOT_SCALE 0.8 |
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| | | #define MAX_NEARBASE_NUM 12 |
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| | | #define KEEP_TIMES 3 |
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| | | |
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| | |
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| | | #define MIN_ANCHOR_NUM 2 |
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| | | #define SYNC_SEQ_IDX 5 |
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| | | #define REMOTEPARA_LEN 18 |
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| | | #define OUTRANGE_RESTARTTIMES 5 |
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| | | |
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| | | |
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| | | #define POLL 0x01 |
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| | | #define RESPONSE 0x02 |
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| | |
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| | | #define NEAR_RESPONSE 0x07 |
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| | | #define NEAR_FINAL 0x08 |
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| | | #define SPOLL 0x09 |
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| | | #define DISCOVERPOLL 0x0A |
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| | | #define DISCOVERRESPONSE 0x0B |
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| | | #define DISCOVERFINAL 0x0C |
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| | | #define DISCOVERPOLL2 0x1A |
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| | | |
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| | | #define POS_MSG 0x15 |
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| | | #define POS_POLL 0x16 |
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| | | #define POS_RESPONSE 0x17 |
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| | | #define POS_FINAL 0x18 |
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| | | |
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| | | #define REG_POLL 0x10 // |
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| | | #define REG_RESPONSE 0x11 // |
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| | | #define REG_POLL2 0x20 // |
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| | | //General |
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| | | #define GROUP_ID_IDX 0 |
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| | | #define ANCHOR_ID_IDX 1 |
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| | |
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| | | #define MOTORSTATE_INDEX 19 |
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| | | #define NR_NEARSWITCH_DISTANCE 20 |
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| | | #define REMOTEPARA_INDEX 22 |
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| | | #define MAXRANGE_DISTANCE 22 |
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| | | #define ANC_SIGNALPOWER 24 |
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| | | #define RESP_MSG_POLL_RX_TS_IDX 26 |
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| | | #define RESP_MSG_RESP_TX_TS_IDX 30 |
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| | | #define RESP_MSG_ANC_DISTOFFSET 34 |
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| | | |
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| | | //Final |
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| | | #define TAGCONFIGSUCCESS_INDEX 7 |
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| | | #define FINAL_MSG_POLL_TX_TS_IDX 10 |
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| | |
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| | | #define REGP_IMUTHRES_INDEX 15 |
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| | | #define REGP_NOMOVESLEEPTIME_INDEX 17 |
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| | | #define REGP_HEIGHTOFFSET_INDEX 19 |
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| | | #define REGP_BATTARY_INDEX 19 |
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| | | //REG RESPONSE |
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| | | #define REGR_TAGFREQ_INDEX 10 |
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| | | #define REGR_TAGSLOTPOS_INDEX 12 |
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| | |
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| | | extern uint32_t g_UWB_com_interval; |
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| | | extern float dis_after_filter; |
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| | | |
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| | | extern uint8_t usart_send[25]; |
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| | | extern uint8_t usart_send[250]; |
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| | | |
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| | | void IdleTask(void); |
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| | | uint16_t Checksum_u16(uint8_t* pdata, uint32_t len); |
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| | |
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| | | |
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| | | extern void TagDistClear(void); |
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| | | void Dw1000_App_Init(void); |
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| | | void DelayOneSlot(void); |
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| | | #endif |
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