From 5b6fe0edc2790d1948c09b191a2a565e8874f875 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 24 五月 2022 09:57:23 +0800
Subject: [PATCH] V1.64 只和3个基站测距

---
 源码/核心板/Src/application/dw_app.h |   24 ++++++++++++++----------
 1 files changed, 14 insertions(+), 10 deletions(-)

diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
index 3fdeb8e..b513471 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
@@ -18,16 +18,16 @@
 #include <stdio.h>
 #include "beep.h"
 #include <math.h>
-
+#include "TrackingDiff.h"
 #define USART_INTEGRATE_OUTPUT
-//#define WORK_MODE_TAG
+
 
 //#define NEWBOARD
 //#define TAG_OUTPUT
 #define HEX_OUTPUT
 
-#define MAX_NEARBASE_NUM 12
-
+#define MAX_NEARBASE_NUM 4
+#define USERDATA_LEN 4
 #define REPOET_ANC_NUM 1
 #define REPOET_ANC_NUM_MIN 1
 #define TAG_ID_START 		0// 0x00980000
@@ -35,8 +35,8 @@
 #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 0.7
 #define RNG_DELAY_MS 100
 
 /* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */
@@ -87,7 +87,9 @@
 #define ANCTIMEMS             14
 #define ANCTIMEUS             16
 #define MAINBASE_INDEX        18
-
+#define MOTORSTATE_INDEX      19
+#define REMOTEPARA_INDEX      20
+#define RT_USERDATA_INDEX     20
 #define TAGSLOTPOS						7
 //Final
 #define FINAL_MSG_POLL_TX_TS_IDX 10
@@ -103,10 +105,11 @@
 #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 REMOTEPARA_LEN 18
 #define THRESHOLD_CHANGE_MAINBASE_DIST   5
 extern u8 neartimout_timer;
 extern u16 slottime,tyncpoll_time,max_slotpos;
@@ -120,7 +123,7 @@
 extern uint32_t g_UWB_com_interval;
 extern float dis_after_filter;
 extern LPFilter_Frac* p_Dis_Filter;		//测距用的低通滤波器
-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);
@@ -134,4 +137,5 @@
 void Dw1000_App_Init(void);
 void TagListUpdate(void);
 void SyncPoll(u8 sync_seq,uint32_t sync_baseid);
+u8 GetRandomSlotPos(uint32_t emptyslot);
 #endif

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