From 5bdc868b2ef673bbce5e0abbc2a7bf8f7f8fa55e Mon Sep 17 00:00:00 2001 From: zhyinch <zhyinch@gmail.com> Date: 星期二, 27 四月 2021 11:59:30 +0800 Subject: [PATCH] V2.17 增加基站汇总模式，青岛待测试 --- 源码/核心板/Src/application/dw_app.h | 38 ++++++++++++++++++++++++++------------ 1 files changed, 26 insertions(+), 12 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 f39a2d3..60791e3 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" @@ -20,14 +20,15 @@ #include <math.h> //#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 @@ -36,7 +37,7 @@ #define DFT_RAND_DLY_TIM_MS 1 #define QUIT_SLOT_TIME 5 #define KEEP_TIMES 3 -#define SLOT_SCALE 0.7 +#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 @@ -88,10 +92,12 @@ #define ANCTIMEUS 16 #define MAINBASE_INDEX 18 #define MOTORSTATE_INDEX 19 -#define REMOTEPARA_INDEX 20 +#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 @@ -102,15 +108,23 @@ #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 SEQUENCE_IDX 3 #define BATTARY_IDX 4 #define BUTTON_IDX 7 +#define SEQUENCEH_IDX 8 +#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 REMOTEPARA_LEN 18 -#define THRESHOLD_CHANGE_MAINBASE_DIST 5 +#define THRESHOLD_CHANGE_MAINBASE_DIST 500 extern u8 neartimout_timer; extern u16 slottime,tyncpoll_time,max_slotpos; extern u16 poll_timer,tag_timer; @@ -123,7 +137,7 @@ 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,remotesend_state, remotetag_para[30];; +extern u8 usart_send[150],usart_send_anc[100],flag_syncbase,remotesend_state, remotetag_para[30];; void IdleTask(void); uint16_t Checksum_u16(uint8_t* pdata, uint32_t len); @@ -136,6 +150,6 @@ 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 -- Gitblit v1.9.3