From f77c0cc249fd31530fb90cdfb19093695553d0bc Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 27 四月 2021 21:55:34 +0800
Subject: [PATCH] V2.18 基本没问题

---
 源码/核心板/Src/application/dw_app.h |   24 ++++++++++++++++++------
 1 files changed, 18 insertions(+), 6 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 7346b8d..1c4d4f5 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"
@@ -57,7 +57,7 @@
 /* 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 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. */
@@ -76,6 +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
@@ -89,7 +92,8 @@
 #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
@@ -104,12 +108,20 @@
 #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   500
@@ -125,7 +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);
@@ -133,7 +145,7 @@
 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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