From e9caeaabfbe536180cfd5a40e3a8521b7bd11cf5 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期二, 28 二月 2023 10:44:15 +0800
Subject: [PATCH] 加入uwb升级，上位机发送指令能重启进入boot。

---
 Src/application/dw_app.h |   20 ++++++++++++++------
 1 files changed, 14 insertions(+), 6 deletions(-)

diff --git a/Src/application/dw_app.h b/Src/application/dw_app.h
index 172647f..97dfaf0 100644
--- a/Src/application/dw_app.h
+++ b/Src/application/dw_app.h
@@ -8,6 +8,9 @@
 #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
@@ -36,11 +39,16 @@
 #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_PRAAREPLY   					0x20
+
+//#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
@@ -54,7 +62,7 @@
 #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

--
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