From 6f05c0c8a8e5b4ccabc20cb75b57bd59ef145bcc Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 17 三月 2023 18:32:38 +0800
Subject: [PATCH] 解决uwb测距 3个以上标签出错的bug。

---
 Src/application/dw_app.h |   24 ++++++++++++++++++------
 1 files changed, 18 insertions(+), 6 deletions(-)

diff --git a/Src/application/dw_app.h b/Src/application/dw_app.h
index c8a911a..97dfaf0 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
 
@@ -34,15 +39,22 @@
 #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
 //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 +62,9 @@
 #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

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