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 |   43 +++++++++++++++++++++++++++++++++----------
 1 files changed, 33 insertions(+), 10 deletions(-)

diff --git a/Src/application/dw_app.h b/Src/application/dw_app.h
index 92be158..97dfaf0 100644
--- a/Src/application/dw_app.h
+++ b/Src/application/dw_app.h
@@ -8,12 +8,21 @@
 #include "ADC.h"
 #include "TrackingDiff.h"
 
-//#define WORK_MODE_TAG
-#define WORK_MODE_ANCHOR
+#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
 
 //#define NEWBOARD
 //#define TAG_OUTPUT
 #define HEX_OUTPUT
+
+#define SLOT_SCALE 0.7
+#define MAX_NEARBASE_NUM 12
+#define KEEP_TIMES 3
 
 #define REPOET_ANC_NUM 1
 #define REPOET_ANC_NUM_MIN 1
@@ -24,29 +33,40 @@
 #define THRESHOLD_CHANGE_MAINBASE_DIST   50
 #define MIN_ANCHOR_NUM 2
 #define SYNC_SEQ_IDX    			5
-
+#define REMOTEPARA_LEN 18
 
 #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 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
 //respose
 #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
+#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
@@ -55,12 +75,15 @@
 //SYNC
 #define SYNC_SEQ_IDX    			5
 //NEAR MSG
+#define NEARMSG_EMPTYSLOTPOS_INDEX		 1 //RESPONSE
 #define NEARBASENUM_INDEX    10
 #define NEARBASEID_INDEX		 11
 //NEAR POLL
-#define BATTARY_IDX						1
-#define BUTTON_IDX						2
+
+
 #define SEQUENCE_IDX					3
+#define BATTARY_IDX						4
+#define BUTTON_IDX						7
 
 #define DW_CTRL_GPIO					GPIOA
 #define DW_ENABLE   HAL_GPIO_WritePin(DW_CTRL_GPIO, DW_CTRL_Pin, GPIO_PIN_RESET)

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