From df8da3537c0bb35dbbef5885d9475f1b481d2dd5 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期二, 28 十一月 2023 16:03:29 +0800
Subject: [PATCH] V1.3 改成抗遮挡模式，客户反馈效果不好

---
 源码/核心板/Src/application/dw_app.h |   19 ++++++++++++-------
 1 files changed, 12 insertions(+), 7 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 8809815..37a2154 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"
@@ -18,8 +18,11 @@
 #include <stdio.h>
 #include "beep.h"
 #include <math.h>
+#include "TrackingDiff.h"
 
+#define USART_SINGLE_OUTPUT
 //#define USART_INTEGRATE_OUTPUT
+//#define USART_ALL_OUTPUT
 
 
 //#define NEWBOARD
@@ -36,7 +39,7 @@
 #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. */
@@ -58,9 +61,9 @@
 
 #define DELAY_BETWEEN_TWO_FRAME_UUS 400
 
-#define POLL_RX_TO_RESP_TX_DLY_UUS 470
+#define POLL_RX_TO_RESP_TX_DLY_UUS 1470
 /* 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 10
 /* Receive final timeout. See NOTE 5 below. */
 #define FINAL_RX_TIMEOUT_UUS 4300
 
@@ -89,7 +92,9 @@
 #define MAINBASE_INDEX        18
 #define MOTORSTATE_INDEX      19
 #define REMOTEPARA_INDEX      20
-
+#define RESP_MSG_POLL_RX_TS_IDX  26
+#define RESP_MSG_RESP_TX_TS_IDX  30
+#define RESP_MSG_ANC_DISTOFFSET  34
 #define TAGSLOTPOS						7
 //Final
 #define FINAL_MSG_POLL_TX_TS_IDX 10
@@ -105,9 +110,9 @@
 #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
@@ -131,7 +136,7 @@
 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);

--
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