From b930edd3675dbc937717ae680b2aee4593a3e414 Mon Sep 17 00:00:00 2001 From: zhyinch <zhyinch@gmail.com> Date: 星期二, 11 十月 2022 15:49:16 +0800 Subject: [PATCH] V2.52 改正dicpoll FINAL 标志位bug --- 源码/核心板/Src/application/dw_app.h | 36 ++++++++++++++++++++++-------------- 1 files changed, 22 insertions(+), 14 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 411bd5b..ea5b4fb 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" @@ -26,8 +26,10 @@ //#define TAG_OUTPUT #define HEX_OUTPUT +#define MAXUSERDATALEN 55 +#define ANCHORTYPE_NUM 5 #define MAX_NEARBASE_NUM 12 -#define MAX_RFPOWER 60 +#define MAX_RFPOWER 67 #define DEFAULT_RFPOWER 30 #define REPOET_ANC_NUM 1 #define REPOET_ANC_NUM_MIN 1 @@ -59,11 +61,11 @@ #define DELAY_BETWEEN_TWO_FRAME_UUS 250 -#define POLL_RX_TO_RESP_TX_DLY_UUS 470 +#define POLL_RX_TO_RESP_TX_DLY_UUS 670 /* 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 0 /* Receive final timeout. See NOTE 5 below. */ -#define FINAL_RX_TIMEOUT_UUS 4300 +#define FINAL_RX_TIMEOUT_UUS 1000 #define SPEED_OF_LIGHT 299702547 @@ -76,7 +78,9 @@ #define NEAR_POLL 0x06 #define NEAR_RESPONSE 0x07 #define NEAR_FINAL 0x08 - +#define SPOLL 0x09 +#define DISCOVERPOLL 0x0a +#define DISCOVERFINAL 0x0c #define REG_POLL 0x10 #define REG_RESPONSE 0x11 //General @@ -87,14 +91,16 @@ //Poll #define ANC_TYPE_IDX 14 //respose -#define DIST_IDX 10 -#define ANCTIMEMS 14 -#define ANCTIMEUS 16 -#define MAINBASE_INDEX 18 -#define MOTORSTATE_INDEX 19 -#define NR_NEARSWITCH_DISTANCE 20 -#define REMOTEPARA_INDEX 22 - +#define DIST_IDX 10 +#define ANCTIMEMS 14 +#define ANCTIMEUS 16 +#define MAINBASE_INDEX 18 +#define MOTORSTATE_INDEX 19 +#define NR_NEARSWITCH_DISTANCE 20 +#define REMOTEPARA_INDEX 22 +#define MAXRANGE_DISTANCE 22 +#define ANC_SIGNALPOWER 24 +#define TAGPOS_INDEX 26 #define TAGSLOTPOS 7 //Final #define TAGCONFIGSUCCESS_INDEX 7 @@ -114,6 +120,7 @@ #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 @@ -136,7 +143,7 @@ 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); @@ -144,11 +151,12 @@ 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); +u16 CmpTagInList(u16 tagid); #endif -- Gitblit v1.9.3