From 042a70ebf43901fb4b6ab337c9a37bb99ca060bb Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 13 十一月 2024 16:31:32 +0800
Subject: [PATCH] 1.20，改为2s上传一次数据

---
 Src/application/dw_app.h |   85 ++++++++++++++++++++++++++++++++++++++++--
 1 files changed, 81 insertions(+), 4 deletions(-)

diff --git a/Src/application/dw_app.h b/Src/application/dw_app.h
index b4e15fc..3f0a820 100644
--- a/Src/application/dw_app.h
+++ b/Src/application/dw_app.h
@@ -8,12 +8,21 @@
 #include "ADC.h"
 #include "TrackingDiff.h"
 
-//#define WORK_MODE_TAG
-#define WORK_MODE_ANCHOR
+#define MAX_ANCFREQ    20//基站频率上限
+#define NOTAG_FREQ     1// 无标签情况下，基站定位频率
+#define FREQ_LOST_TIME   30 // 标签无信号恢复频率1HZ时间。秒
+#define SENDANCPARA_LEN 102
+#define BASELOST_STOPMOTOR_TIME 5
+//BITSTATE
+#define GOINGSLEEPBIT 1
 
 //#define NEWBOARD
 //#define TAG_OUTPUT
 #define HEX_OUTPUT
+
+#define SLOT_SCALE 4
+#define MAX_NEARBASE_NUM 25
+#define KEEP_TIMES 5
 
 #define REPOET_ANC_NUM 1
 #define REPOET_ANC_NUM_MIN 1
@@ -21,6 +30,74 @@
 #define GROUP_TAG_NUM 2
 #define TAG_NUM_IN_SYS				25
 #define DFT_RAND_DLY_TIM_MS			1
+#define THRESHOLD_CHANGE_MAINBASE_DIST   50
+#define MIN_ANCHOR_NUM 2
+#define SYNC_SEQ_IDX    			5
+#define REMOTEPARA_LEN 18
+
+#define POLL     							0x01
+#define RESPONSE 							0x02
+#define FINAL   							0x03
+#define SYNC   								0x04
+
+//#define NEAR_POLL   					    0x06
+//#define NEAR_RESPONSE   			        0x07
+//#define NEAR_FINAL   					    0x08
+//#define NEAR_PRAAREPLY   					0x20
+
+#define MBX_POLL   					        0x20
+#define MBX_RESPONSE   			            0x21
+#define MBX_FINAL   					    0x22
+#define MBX_PRAAREPLY   					0x23
+#define MBX_REG   						    0x24
+//General
+#define GROUP_ID_IDX   				0
+#define ANCHOR_ID_IDX    			1
+#define TAG_ID_IDX    				5
+#define MESSAGE_TYPE_IDX 			9	
+#define MESSAGE_PARAREPLY_IDX 		10
+//Poll
+#define TAGSTATE              7
+#define ANC_TYPE_IDX 					14
+//respose
+#define DIST_IDX 							10
+#define ANCTIMEMS             14
+#define ANCTIMEUS             16
+#define TAGFREQ_IDX						7
+#define MOTORSTATE_INDEX      19
+#define REMOTEPARA_INDEX      22
+//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 SYNC_SEQ_IDX    			5
+
+
+//REG POLL
+#define REGP_TAGSTATE_INDEX  10
+#define REGP_VERSION_INDEX  11
+#define REGP_FREQUENCY_INDEX  13
+#define REGP_POWER_INDEX  14
+#define REGP_IMUTHRES_INDEX  15
+#define REGP_NOMOVESLEEPTIME_INDEX  17
+#define REGP_HEIGHTOFFSET_INDEX 19
+
+//NEAR MSG
+#define NEARMSG_EMPTYSLOTPOS_INDEX		 1 //RESPONSE
+#define NEARBASENUM_INDEX    10
+#define NEARBASEID_INDEX		 11
+//NEAR POLL
+#define RESP_MSG_POLL_RX_TS_IDX  26
+#define RESP_MSG_RESP_TX_TS_IDX  30
+#define RESP_MSG_ANC_DISTOFFSET  34
+
+#define SEQUENCE_IDX					3
+#define BATTARY_IDX						4
+#define BUTTON_IDX						7
 
 #define DW_CTRL_GPIO					GPIOA
 #define DW_ENABLE   HAL_GPIO_WritePin(DW_CTRL_GPIO, DW_CTRL_Pin, GPIO_PIN_RESET)
@@ -36,7 +113,7 @@
 extern uint32_t g_UWB_com_interval;
 extern float dis_after_filter;
 
-extern uint8_t usart_send[25];
+extern uint8_t usart_send[100];
 
 void IdleTask(void);
 uint16_t Checksum_u16(uint8_t* pdata, uint32_t len);
@@ -45,7 +122,7 @@
 void Anchor_App(void);
 void tag_sleep_configuraion(void);
 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);
 #endif

--
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