From 95e97a5cd0aa1bfd7c87e2bd66a9afbdd086e34e Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期六, 12 九月 2020 15:01:58 +0800
Subject: [PATCH] 增加基站远程修改标签配置功能，未充分测试

---
 源码/核心板/Src/application/dw_app.h |   27 +++++++++++++++++++--------
 1 files changed, 19 insertions(+), 8 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 98b8b04..121b7f8 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"
@@ -21,11 +21,12 @@
 
 #define USART_INTEGRATE_OUTPUT
 
+
 //#define NEWBOARD
 //#define TAG_OUTPUT
 #define HEX_OUTPUT
 
-#define MAX_NEARBASE_NUM 10
+#define MAX_NEARBASE_NUM 12
 
 #define REPOET_ANC_NUM 1
 #define REPOET_ANC_NUM_MIN 1
@@ -34,7 +35,8 @@
 #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 0.7
 #define RNG_DELAY_MS 100
 
 /* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */
@@ -54,9 +56,9 @@
 /* Receive response timeout. See NOTE 5 below. */
 #define RESP_RX_TIMEOUT_UUS 2000
 
-#define DELAY_BETWEEN_TWO_FRAME_UUS 240
+#define DELAY_BETWEEN_TWO_FRAME_UUS 400
 
-#define POLL_RX_TO_RESP_TX_DLY_UUS 420
+#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
 /* Receive final timeout. See NOTE 5 below. */
@@ -84,23 +86,31 @@
 #define DIST_IDX 							10
 #define ANCTIMEMS             14
 #define ANCTIMEUS             16
+#define MAINBASE_INDEX        18
+#define MOTORSTATE_INDEX      19
+#define REMOTEPARA_INDEX      20
+
 #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 NEARMSG_EMPTYSLOTPOS_INDEX		 1 //RESPONSE
 #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;
@@ -114,7 +124,7 @@
 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];
+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);
@@ -127,5 +137,6 @@
 extern void TagDistClear(void);
 void Dw1000_App_Init(void);
 void TagListUpdate(void);
-void SyncPoll(u8 sync_seq);
+void SyncPoll(u8 sync_seq,uint32_t sync_baseid);
+u8 GetRandomSlotPos(uint32_t emptyslot);
 #endif

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