From 8889351e337e9715c088f8501508807aab2770b2 Mon Sep 17 00:00:00 2001 From: zhyinch <zhyinch@gmail.com> Date: 星期四, 06 五月 2021 09:44:04 +0800 Subject: [PATCH] 五一测试完成，注册包增加高度校准值 --- 源码/核心板/Src/application/dw_app.h | 59 +++++++++++++++++++++++++++++++++++++++++++---------------- 1 files changed, 43 insertions(+), 16 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 c2f91da..382c27c 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" @@ -18,13 +18,17 @@ #include <stdio.h> #include "beep.h" #include <math.h> -//#define WORK_MODE_TAG -#define WORK_MODE_ANCHOR +//#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 @@ -32,7 +36,8 @@ #define TAG_NUM_IN_SYS 256 #define DFT_RAND_DLY_TIM_MS 1 #define QUIT_SLOT_TIME 5 - +#define KEEP_TIMES 3 +#define SLOT_SCALE 0.24 #define RNG_DELAY_MS 100 /* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */ @@ -48,15 +53,15 @@ #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 400 +#define RESP_RX_TO_FINAL_TX_DLY_UUS 410 /* Receive response timeout. See NOTE 5 below. */ -#define RESP_RX_TIMEOUT_UUS 600 +#define RESP_RX_TIMEOUT_UUS 2000 -#define DELAY_BETWEEN_TWO_FRAME_UUS 240 +#define DELAY_BETWEEN_TWO_FRAME_UUS 250 -#define POLL_RX_TO_RESP_TX_DLY_UUS 420 +#define POLL_RX_TO_RESP_TX_DLY_UUS 570 /* 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 @@ -71,6 +76,10 @@ #define NEAR_POLL 0x06 #define NEAR_RESPONSE 0x07 #define NEAR_FINAL 0x08 +#define SPOLL 0x09 + +#define REG_POLL 0x10 +#define REG_RESPONSE 0x11 //General #define GROUP_ID_IDX 0 #define ANCHOR_ID_IDX 1 @@ -82,24 +91,41 @@ #define DIST_IDX 10 #define ANCTIMEMS 14 #define ANCTIMEUS 16 -#define TAGSLOTPOS 8 +#define MAINBASE_INDEX 18 +#define MOTORSTATE_INDEX 19 +#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 #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 NEARBASENUM_INDEX 10 -#define NEARBASEID_INDEX 11 +#define NEARMSG_EMPTYSLOTPOS_INDEX 1 //RESPONSE +#define NEARBASENUM_INDEX 18 +#define NEARBASEID_INDEX 19 //NEAR POLL -#define BATTARY_IDX 1 -#define BUTTON_IDX 2 #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 THRESHOLD_CHANGE_MAINBASE_DIST 50 +#define REMOTEPARA_LEN 18 +#define THRESHOLD_CHANGE_MAINBASE_DIST 500 extern u8 neartimout_timer; extern u16 slottime,tyncpoll_time,max_slotpos; extern u16 poll_timer,tag_timer; @@ -112,7 +138,7 @@ 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[25]; +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); @@ -120,10 +146,11 @@ void Tag_App(void); void Anchor_App(void); void tag_sleep_configuraion(void); -extern uint16_t g_Tagdist[TAG_NUM_IN_SYS]; +extern int32_t g_Tagdist[TAG_NUM_IN_SYS]; extern uint8_t g_flag_Taggetdist[256]; extern void TagDistClear(void); void Dw1000_App_Init(void); void TagListUpdate(void); void SyncPoll(u8 sync_seq); +u8 GetRandomSlotPos(uint32_t emptyslot); #endif -- Gitblit v1.9.3