From d6bce2591cd24c5a919c72e948d5acb50e13d24a Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 13 十二月 2024 16:43:12 +0800
Subject: [PATCH] 2.7，加入双击按键开关uwb，可以更加省电。插上5v也会关闭uwb，勾选modbus模式就不会生效这些更改

---
 Src/application/dw_app.h |  107 ++++++++++++++++++++++++++++++++++++++++++++++++++++-
 1 files changed, 104 insertions(+), 3 deletions(-)

diff --git a/Src/application/dw_app.h b/Src/application/dw_app.h
index 56804b2..a1ba38a 100644
--- a/Src/application/dw_app.h
+++ b/Src/application/dw_app.h
@@ -8,12 +8,20 @@
 #include "ADC.h"
 #include "TrackingDiff.h"
 
-//#define WORK_MODE_TAG
-#define WORK_MODE_ANCHOR
+//BITSTATE
+#define GOINGSLEEPBIT 1
 
 //#define NEWBOARD
 //#define TAG_OUTPUT
+#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 0.55
+#define MAX_NEARBASE_NUM 12
+#define KEEP_TIMES 3
 
 #define REPOET_ANC_NUM 1
 #define REPOET_ANC_NUM_MIN 1
@@ -21,6 +29,98 @@
 #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 OUTRANGE_RESTARTTIMES 5
+
+
+#define POLL     							0x01
+#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 SPOLL     							0x09
+#define DISCOVERPOLL     				    0x0A
+#define DISCOVERRESPONSE     				    0x0B
+#define DISCOVERFINAL     				    0x0C
+
+#define POS_MSG   						0x15
+#define POS_POLL   					    0x16
+#define POS_RESPONSE   			        0x17
+#define POS_FINAL   					0x18
+
+#define REG_POLL   						0x10   //
+#define REG_RESPONSE   				0x11   //
+//General
+#define GROUP_ID_IDX   				0
+#define ANCHOR_ID_IDX    			1
+#define TAG_ID_IDX    				5
+#define MESSAGE_TYPE_IDX 			9	
+
+#define NEARBASENUM_INDEX    18
+#define NEARBASEID_INDEX		 19
+//Poll
+#define TAGSTATE              7
+#define ANC_TYPE_IDX 					14
+//respose
+#define DIST_IDX 							10
+#define ANCTIMEMS             14
+#define ANCTIMEUS             16
+#define TAGSLOTPOS						7
+#define MOTORSTATE_INDEX      19
+#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
+#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
+//NEAR MSG
+#define NEARMSG_EMPTYSLOTPOS_INDEX		 1 //RESPONSE
+//NEAR POLL
+#define NEARP_TAGFREQ_INDEX  10
+#define NEARP_TAGSLOTPOS_INDEX  12
+
+
+//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
+#define REGP_BATTARY_INDEX  19
+//REG RESPONSE
+#define REGR_TAGFREQ_INDEX  10
+#define REGR_TAGSLOTPOS_INDEX  12
+#define REGR_BASENUM_INDEX    18
+#define REGR_BASEID_INDEX		 19
+
+
+#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)
+#define DW_DISABLE  HAL_GPIO_WritePin(DW_CTRL_GPIO, DW_CTRL_Pin, GPIO_PIN_SET)
 extern TrackingDiffClass *pUWBDistanceTrackingDiff;
 extern uint16_t poll_timer,tag_timer;
 extern int8_t tag_delaytime;
@@ -41,7 +141,8 @@
 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);
+void DelayOneSlot(void);
 #endif

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