From a6ddff5c49ef22b708bd739c83648af738b8f598 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期二, 15 十月 2024 14:47:00 +0800
Subject: [PATCH] 2.13，修复跟主基站测距131071，修复切换主机占测距跟id不匹配的bug

---
 Src/application/dw_app.h |   58 ++++++++++++++++++++++++++++++++++++++++++++--------------
 1 files changed, 44 insertions(+), 14 deletions(-)

diff --git a/Src/application/dw_app.h b/Src/application/dw_app.h
index 5f79165..84376af 100644
--- a/Src/application/dw_app.h
+++ b/Src/application/dw_app.h
@@ -13,13 +13,13 @@
 
 //#define NEWBOARD
 //#define TAG_OUTPUT
-#define MAX_RFPOWER   60
+#define MAX_RFPOWER   67
 #define DEFAULT_RFPOWER   30
 #define REGISTER_FREQUENCY 1
 #define HEX_OUTPUT
 #define TOTAL_SLOTNUM 200
 #define SLOTTIME_MS 48
-#define SLOT_SCALE 0.24
+#define SLOT_SCALE 0.8
 #define MAX_NEARBASE_NUM 12
 #define KEEP_TIMES 3
 
@@ -33,6 +33,8 @@
 #define MIN_ANCHOR_NUM 2
 #define SYNC_SEQ_IDX    			5
 #define REMOTEPARA_LEN 18
+#define OUTRANGE_RESTARTTIMES 5
+
 
 #define POLL     							0x01
 #define RESPONSE 							0x02
@@ -42,14 +44,31 @@
 #define NEAR_POLL   					0x06
 #define NEAR_RESPONSE   			0x07
 #define NEAR_FINAL   					0x08
+#define SPOLL     							0x09
+
+#define DISCOVERPOLL     				    0x0A
+#define DISCOVERRESPONSE     				    0x0B
+#define DISCOVERFINAL     				    0x0C
+
+#define DISCOVERPOLL2     				    0x1A
+
+
+#define POS_MSG   						0x15
+#define POS_POLL   					    0x16
+#define POS_RESPONSE   			        0x17
+#define POS_FINAL   					0x18
 
 #define REG_POLL   						0x10   //
-#define REG_RESPONSE   						0x10   //
+#define REG_RESPONSE   				0x11   //
+#define REG_POLL2   						0x20   //
 //General
 #define GROUP_ID_IDX   				0
 #define ANCHOR_ID_IDX    			1
 #define TAG_ID_IDX    				5
-#define MESSAGE_TYPE_IDX 			9	
+#define MESSAGE_TYPE_IDX 			9
+#define POLL_USERDATA_IDX 32
+#define NEARBASENUM_INDEX    18
+#define NEARBASEID_INDEX		 19
 //Poll
 #define TAGSTATE              7
 #define ANC_TYPE_IDX 					14
@@ -59,7 +78,14 @@
 #define ANCTIMEUS             16
 #define TAGSLOTPOS						7
 #define MOTORSTATE_INDEX      19
-#define REMOTEPARA_INDEX      20
+#define NR_NEARSWITCH_DISTANCE 20
+#define REMOTEPARA_INDEX      22
+#define MAXRANGE_DISTANCE       22
+#define ANC_SIGNALPOWER         24
+#define RESP_MSG_POLL_RX_TS_IDX  26
+#define RESP_MSG_RESP_TX_TS_IDX  30
+#define RESP_MSG_ANC_DISTOFFSET  34
+
 //Final
 #define TAGCONFIGSUCCESS_INDEX 7
 #define FINAL_MSG_POLL_TX_TS_IDX 10
@@ -71,18 +97,20 @@
 #define SYNC_SEQ_IDX    			5
 //NEAR MSG
 #define NEARMSG_EMPTYSLOTPOS_INDEX		 1 //RESPONSE
-#define NEARBASENUM_INDEX    10
-#define NEARBASEID_INDEX		 11
 //NEAR POLL
-
+#define NEARP_TAGFREQ_INDEX  10
+#define NEARP_TAGSLOTPOS_INDEX  12
 
 
 //REG POLL
-#define REGP_VERSION_INDEX  10
-#define REGP_FREQUENCY_INDEX  12
-#define REGP_POWER_INDEX  13
-#define REGP_IMUTHRES_INDEX  14
-#define REGP_NOMOVESLEEPTIME_INDEX  16
+#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
+#define REGP_BATTARY_INDEX  19
 //REG RESPONSE
 #define REGR_TAGFREQ_INDEX  10
 #define REGR_TAGSLOTPOS_INDEX  12
@@ -93,6 +121,7 @@
 #define SEQUENCE_IDX					3
 #define BATTARY_IDX						4
 #define BUTTON_IDX						7
+#define SEQUENCEH_IDX					8
 
 #define DW_CTRL_GPIO					GPIOA
 #define DW_ENABLE   HAL_GPIO_WritePin(DW_CTRL_GPIO, DW_CTRL_Pin, GPIO_PIN_RESET)
@@ -108,7 +137,7 @@
 extern uint32_t g_UWB_com_interval;
 extern float dis_after_filter;
 
-extern uint8_t usart_send[25];
+extern uint8_t usart_send[150];
 
 void IdleTask(void);
 uint16_t Checksum_u16(uint8_t* pdata, uint32_t len);
@@ -120,4 +149,5 @@
 
 extern void TagDistClear(void);
 void Dw1000_App_Init(void);
+void DelayOneSlot(void);
 #endif

--
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