From ae42ba04bfca83ddca9df9d41061a365d4f57618 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 26 一月 2024 17:08:05 +0800
Subject: [PATCH] 加入GPS模块。加入低功耗串口

---
 Src/application/dw_app.h |   48 +++++++++++++++++++++++++++++++++++++-----------
 1 files changed, 37 insertions(+), 11 deletions(-)

diff --git a/Src/application/dw_app.h b/Src/application/dw_app.h
index c8a911a..3f0a820 100644
--- a/Src/application/dw_app.h
+++ b/Src/application/dw_app.h
@@ -8,6 +8,11 @@
 #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
 #define GOINGSLEEPBIT 1
 
@@ -15,9 +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
@@ -34,15 +39,23 @@
 #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_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
@@ -50,9 +63,9 @@
 #define DIST_IDX 							10
 #define ANCTIMEMS             14
 #define ANCTIMEUS             16
-#define TAGSLOTPOS						7
+#define TAGFREQ_IDX						7
 #define MOTORSTATE_INDEX      19
-#define REMOTEPARA_INDEX      20
+#define REMOTEPARA_INDEX      22
 //Final
 #define TAGCONFIGSUCCESS_INDEX 7
 #define FINAL_MSG_POLL_TX_TS_IDX 10
@@ -62,12 +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
@@ -87,7 +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);

--
Gitblit v1.9.3