From 30f954046d1fb066587d57f369bace347a27e829 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 12 六月 2024 17:09:43 +0800
Subject: [PATCH] V1.24 双spi开发完成，功能正常，之前出现死机是因为uwb再次用之前要关中断再开中断就行了。

---
 Src/application/dw_app.h |   45 ++++++++++++++++++++++++++++++++++-----------
 1 files changed, 34 insertions(+), 11 deletions(-)

diff --git a/Src/application/dw_app.h b/Src/application/dw_app.h
index 172647f..ed8a28d 100644
--- a/Src/application/dw_app.h
+++ b/Src/application/dw_app.h
@@ -8,6 +8,9 @@
 #include "ADC.h"
 #include "TrackingDiff.h"
 
+#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
@@ -17,9 +20,9 @@
 //#define TAG_OUTPUT
 #define HEX_OUTPUT
 
-#define SLOT_SCALE 0.7
-#define MAX_NEARBASE_NUM 12
-#define KEEP_TIMES 3
+#define SLOT_SCALE 4
+#define MAX_NEARBASE_NUM 25
+#define KEEP_TIMES 5
 
 #define REPOET_ANC_NUM 1
 #define REPOET_ANC_NUM_MIN 1
@@ -36,11 +39,17 @@
 #define RESPONSE 							0x02
 #define FINAL   							0x03
 #define SYNC   								0x04
-#define NEAR_MSG   						0x05
-#define NEAR_POLL   					0x06
-#define NEAR_RESPONSE   			0x07
-#define NEAR_FINAL   					0x08
-#define NEAR_PRAAREPLY   					0x20
+
+//#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
@@ -54,7 +63,7 @@
 #define DIST_IDX 							10
 #define ANCTIMEMS             14
 #define ANCTIMEUS             16
-#define TAGSLOTPOS						7
+#define TAGFREQ_IDX						7
 #define MOTORSTATE_INDEX      19
 #define REMOTEPARA_INDEX      22
 //Final
@@ -66,12 +75,25 @@
 #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
@@ -91,7 +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[300];
 
 void IdleTask(void);
 uint16_t Checksum_u16(uint8_t* pdata, uint32_t len);
@@ -103,4 +125,5 @@
 
 extern void TagDistClear(void);
 void Dw1000_App_Init(void);
+void UWB_RXStart(uint8_t tims_ms);
 #endif

--
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