#include <math.h>
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#include <string.h>
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#include "sx126x.h"
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#include "sx126x-board.h"
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#include "lora_1268.h"
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//#include "lora_3029.h""
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#include "user.h"
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#include "sx126x-board.h"
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#include "string.h"
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#include "stdio.h"
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#include <stdlib.h>
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#include "mk_spi.h"
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#include "global_param.h"
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#include "dw_app_anchor.h"
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#include "HIDO_TypeDef.h"
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#include "PCA9555.h"
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#include "mk_misc.h"
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//#include "lis3dh_driver.c"
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/********************************************½á¹¹Ìå**************************************************************/
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typedef enum
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{
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LOWPOWER,
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RX,
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RX_TIMEOUT,
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RX_ERROR,
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TX,
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TX_TIMEOUT,
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}States_t;
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/********************************************½á¹¹Ìå**************************************************************/
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/********************************************±äÁ¿**************************************************************/
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extern wg_state_enum wg_state;
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/********************************************±äÁ¿**************************************************************/
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#define USE_MODEM_LORA
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#if defined( USE_MODEM_LORA )
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#define LORA_BANDWIDTH 2 // [0: 125 kHz,
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// 1: 250 kHz,
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// 2: 500 kHz,
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// 3: Reserved]
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#define LORA_SPREADING_FACTOR 5 // [SF7..SF12]
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#define LORA_CODINGRATE 1 // [1: 4/5,
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// 2: 4/6,
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// 3: 4/7,
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// 4: 4/8]
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#define LORA_PREAMBLE_LENGTH_T 8 // Same for Tx
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#define LORA_PREAMBLE_LENGTH_R 8 // Same for Rx
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//#define LORA_PREAMBLE_LENGTH 990 // Same for Tx and Rx
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#define LORA_SYMBOL_TIMEOUT 0 // Symbols
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#define LORA_FIX_LENGTH_PAYLOAD_ON false
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#define LORA_IQ_INVERSION_ON_T false
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#define LORA_IQ_INVERSION_ON_R false
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#elif defined( USE_MODEM_FSK )
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#define FSK_FDEV 5e3 // Hz
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#define FSK_DATARATE 2.4e3 // bps
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#define FSK_BANDWIDTH 20e3 // Hz >> DSB in sx126x
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#define FSK_AFC_BANDWIDTH 100e3 // Hz
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#define FSK_PREAMBLE_LENGTH 5 // Same for Tx and Rx
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#define FSK_FIX_LENGTH_PAYLOAD_ON false
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#else
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#error "Please define a modem in the compiler options."
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#endif
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/***lora½ÓÊÕ£¬·¢ËͱäÁ¿¶¨Òå******/
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extern uint32_t current_count;
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extern uint32_t dev_id;
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uint8_t yuyin_no_sleep_flag,no_rx_flag;
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uint8_t lora_up_rec_flag;
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static uint16_t source_id;
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/***lora½ÓÊÕ£¬·¢ËͱäÁ¿¶¨Òå******/
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uint32_t wg_lost_count = 10;
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//static uint8_t tx_buf[10] = {0x55, 0x44, 0x33, 0x22, 0x11};
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//static uint8_t rx_buf[10] = {0x00};
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//extern uint32_t uwbled,gpsled,loraled,powerled;
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extern uint8_t bat_percent,taglist_num;
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//uint8_t report_ancnum;
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//uint16_t report_ancdist[ANC_MAX_NUM],report_ancid[ANC_MAX_NUM];
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extern void spi_transfer_callback(void *dev, uint32_t err_code);
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extern uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS];
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extern uint8_t report_ancnum;
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extern uint16_t report_ancdist[ANC_MAX_NUM],report_ancid[ANC_MAX_NUM];
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//extern wg_state_enum wg_state;
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extern uint32_t wg_lost_count;
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uint8_t lora_sendbuffer[200];
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uint8_t seq_num;
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extern uint16_t lora_up_uwb_flag;
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//extern uint8_t wg_lost_count;
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uint16_t wg_report_freq,wg_report_id;
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uint8_t wg_report_sf;
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#define WG_LOST_SWITCH_THRES 3
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#define WG_LOST_NOUWB_COUNT 60
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#define DEFAULT_WG_ID 0xFFFF
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#define DEFAULT_LR_WG_ID 0xFFFE
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uint8_t lora_jianting_flag = 1;
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void LoraReportFreqPoll(void)
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{
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// wg_state = WG_Lost;
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if(wg_lost_count++>WG_LOST_NOUWB_COUNT)
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{
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lora_jianting_flag = 0;
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} else {
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lora_jianting_flag = 1;
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}
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if(wg_state==WG_Lost)
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{
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static uint8_t channel_switch_count = 0;
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// channel_switch_count = 10;
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if(channel_switch_count++>1)
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{
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// channel_switch_count = 0;
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// wg_report_id = DEFAULT_LR_WG_ID;
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// wg_report_freq = LR_DATA_CHANNEL_FRQ; //Èç¹û¶ªÊ§Á´½Ó¾Í½øÈëWG¹ÜÀíÐŵÀ¡£
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// wg_report_sf = LR_DATA_CHANNEL_SF;
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}
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else
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{
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wg_report_id = DEFAULT_WG_ID;
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wg_report_freq = REPORT_MANGE_CHANNEL_FRQ; //Èç¹û¶ªÊ§Á´½Ó¾Í½øÈëWG¹ÜÀíÐŵÀ¡£
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wg_report_sf = REPORT_CHANNEL_SF;
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// wg_report_freq = TEST_MANAGE_CHANNEL_FRQ;
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// wg_report_sf = TEST_MANAGE_CHANNEL_SF;
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}
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} else {
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if(wg_lost_count>WG_LOST_SWITCH_THRES)
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{
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wg_state = WG_Lost;
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}
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}
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}
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static uint16_t checksum;
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//uint16_t wg_report_freq,wg_report_id;
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uint8_t lora_sendbuffer[200];
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void LoraHeartBeartPoll(void)
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{
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// lora_up_uwb_flag=2;
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// rf_set_default_para();
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/*****************************ÐÄÌø°üÉÏ´«ÄÚÈÝ************************************/
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lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGHEARTBEAT;
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lora_sendbuffer[MSG_LENGTH] = 14;
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memcpy(&lora_sendbuffer[SOURCE_ID_IDX],&g_com_map[DEV_ID],2);
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memcpy(&lora_sendbuffer[DEST_ID_IDX],&wg_report_id,2);
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memcpy(&lora_sendbuffer[HB_VERSION_IDX],&g_com_map[VERSION],2);
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lora_sendbuffer[HB_UWBPOWER_IDX] = g_com_map[POWER];
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lora_sendbuffer[HB_LORAPOWER_IDX] = g_com_map[LORA_POWER];
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checksum = Checksum_u16(lora_sendbuffer,14);
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memcpy(&lora_sendbuffer[14],&checksum,2);
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// Radio.Send(lora_sendbuffer,16);
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/*****************************ÐÄÌø°üÉÏ´«ÄÚÈÝ*************************************/
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}
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#define HEATBEAT_UPDATE_TIME 100
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uint16_t heatbeat_count = HEATBEAT_UPDATE_TIME-1 ;
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uint16_t flag_getwgresp = 0;
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int16_t intheight; //Æøѹ
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extern uint32_t dangqian_frqe;
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uint16_t recnum[3];
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extern uint32_t freq_list[4];
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extern uint8_t DMA_RXBuf_BT[200];
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extern uint8_t report_ancnum;
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extern uint8_t report_ancnum_bt;
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uint32_t BT_SEND_lenth=0;
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uint8_t BT_NUM=0;
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extern uint16_t report_ancdist[ANC_MAX_NUM],report_ancid[ANC_MAX_NUM];
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extern uint8_t bat_percent;
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extern uint16_t REV_RX_NUM;
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extern uint16_t REV_POLL_NUM;
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extern uint16_t REPLY_POLL_NUM;
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uint16_t num[3]={0,0,0};
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extern uint8_t stationary_flag;
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extern uint8_t SOS_KEY_STATE;
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uint32_t LORA_POLL_COUNT=0;
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extern uint32_t step_count;
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uint8_t step_count_rep;
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//extern u16_m f_step;
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extern uint8_t uwbled,gpsled,loraled,powerled;
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extern uint8_t exercise_state;
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void LoraReportPoll(void)
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{
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// delay_ms(100);
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#ifdef _USE_BAR
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GetPressAndHeight();
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intheight = Height*100;
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#endif
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#ifdef _SMT_TEST
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printf("Æøѹֵ£º%d",intheight);
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#endif
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// TagListUpdate();
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LoraReportFreqPoll();
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flag_getwgresp = 0;
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SwitchLoraSettings(wg_report_freq,REPORT_CHANNEL_SF,22);
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mir3da_get_step();
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if(heatbeat_count++>HEATBEAT_UPDATE_TIME && WG_Connected == wg_state) //Èç¹ûÐÄÌø°üµ½´ïÉÏ´«Ê±¼ä£¬²¢ÇÒÍø¹Ø´¦ÓÚÁ´½Ó״̬£¬¾ÍÉÏ´«ÐÄÌø°ü
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{
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heatbeat_count = 0;
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LoraHeartBeartPoll();
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return;
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}
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for(uint16_t i=0; i<report_ancnum-1; i++)
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{
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for(uint16_t j=0; j<report_ancnum-1-i; j++)
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{
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if(report_ancdist[j]>report_ancdist[j+1])
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{
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uint16_t id,dist;
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uint8_t bat;
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id = report_ancid[j];
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dist = report_ancdist[j];
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report_ancid[j] = report_ancid[j+1];
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report_ancdist[j] = report_ancdist[j+1];
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report_ancid[j+1] = id;
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report_ancdist[j+1] = dist;
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}
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}
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}
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if(report_ancnum>LORA_REPORT_MAXANC_NUM) //¿¼ÂÇlora´«Êäʱ¼ä£¬×î¶à·¢ËÍ10¸ö»ùÕ¾Êý¾Ý¡£
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{
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report_ancnum = LORA_REPORT_MAXANC_NUM;
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}
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#ifdef USE_GPS
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lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGMSGTOWG_GPS;
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lora_sendbuffer[MSG_LENGTH] = 4*report_ancnum+30;
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#else
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BT_NUM=DMA_RXBuf_BT[0];
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if(SOS_KEY_STATE)
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{
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BT_NUM=0;
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}
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// lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGMSGTOWG;
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lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGMSGTOWG_BT;
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lora_sendbuffer[MSG_LENGTH] = 4*report_ancnum+4*BT_NUM+ANCID_IDX+3;
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#endif
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memcpy(&lora_sendbuffer[SOURCE_ID_IDX],&g_com_map[DEV_ID],2);
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memcpy(&lora_sendbuffer[DEST_ID_IDX],&wg_report_id,2);
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lora_sendbuffer[SEQNUM_IDX] = seq_num++;
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lora_sendbuffer[BAT_IDX] = bat_percent;//(uint8_t)(step_count % 256);
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// lora_sendbuffer[BAT_IDX] = (uint8_t)(step_count % 256);
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lora_sendbuffer[STATE_IDX] = !GET_USERKEY|stationary_flag<<1;
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//GET_USERKEYÕâ¸öÊÇÄǸölora¡ª¡ªbusyÄǸöÒý½Å
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// lora_sendbuffer[STATE_IDX]=0x01;
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// lora_sendbuffer[GATEWAY_CHANL]=0x02;
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// lora_sendbuffer[CHANL_NUM]=0x03;
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#ifdef USE_GPS
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memcpy(&lora_sendbuffer[GPS_JINGDU_IDX],&gps_jingdu,8);
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memcpy(&lora_sendbuffer[GPS_WEIDU_IDX],&gps_jingdu,8);
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memcpy(&lora_sendbuffer[GPS_HEIGHT_IDX],&gps_height,8);
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lora_sendbuffer[GPS_STATE_IDX] = gps_state;
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lora_sendbuffer[GPS_SATEL_NUM_IDX] = gps_satel_num;
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lora_sendbuffer[GPS_SPOWER_IDX] = gps_signalpower;
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lora_sendbuffer[GPS_CHAFENLINGQI] = gps_chafenlingqi;
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#endif
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memcpy(&lora_sendbuffer[BAR_HEIGHT_IDX],&intheight,2);
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lora_sendbuffer[BT_ANCID_IDX] = report_ancnum;
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memcpy(&lora_sendbuffer[BT_ANCID_IDX+1],report_ancid,report_ancnum*2);
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memcpy(&lora_sendbuffer[BT_ANCID_IDX+report_ancnum*2+1],report_ancdist,report_ancnum*2);
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uint8_t LORA_RETRANSNUSSION_BT=0;
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//
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// num[0]=REV_RX_NUM;
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// num[1]=REV_POLL_NUM;
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// num[2]=REPLY_POLL_NUM;
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LORA_RETRANSNUSSION_BT=BT_ANCID_IDX+report_ancnum*4+1;
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lora_sendbuffer[LORA_RETRANSNUSSION_BT] = 0x2D; //À¶ÑÀÉÏ´«±êʶ·û
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memcpy(&lora_sendbuffer[LORA_RETRANSNUSSION_BT+1],&DMA_RXBuf_BT[0],BT_NUM*2+1); //»ùÕ¾ID
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memcpy(&lora_sendbuffer[LORA_RETRANSNUSSION_BT+BT_NUM*2+2],&DMA_RXBuf_BT[1+BT_NUM*2],BT_NUM*2);//»ùÕ¾¾àÀë
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lora_sendbuffer[MSG_LENGTH] = LORA_RETRANSNUSSION_BT+4*BT_NUM+2;
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//±£Áôλ3
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if(step_count < 0)
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step_count=0;
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lora_sendbuffer[STEP_COUNT] = (uint8_t)(step_count % 256);
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lora_sendbuffer[EXERCISE_STATE]=exercise_state;
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lora_sendbuffer[RESERVED_POSITION]=0;
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// }
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// if(lora_sendbuffer[LORA_RETRANSNUSSION_BT]==0x2D)
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// {
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checksum = Checksum_u16(lora_sendbuffer,4*BT_NUM+4*report_ancnum+BT_ANCID_IDX+3);
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memcpy(&lora_sendbuffer[LORA_RETRANSNUSSION_BT+BT_NUM*4+2],&checksum,2);
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BT_SEND_lenth=BT_ANCID_IDX+report_ancnum*4+BT_NUM*4+5;
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Radio.Send(lora_sendbuffer,BT_SEND_lenth);
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LORA_POLL_COUNT++;
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// LORA_3029_SINGLE_SEND(lora_sendbuffer,ANCID_IDX+report_ancnum*4+BT_NUM*4+4,0);
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// }
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// else
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// {
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// checksum = Checksum_u16(lora_sendbuffer,4*report_ancnum+ANCID_IDX);
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// memcpy(&lora_sendbuffer[ANCID_IDX+report_ancnum*4],&checksum,2);
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// Radio.Send(lora_sendbuffer,ANCID_IDX+report_ancnum*4+BT_NUM*4+2);
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// }
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// LORA_3029_SINGLE_SEND(lora_sendbuffer,ANCID_IDX+report_ancnum*4+BT_NUM*4+4,0);
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memset(DMA_RXBuf_BT, 0,200);
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memset(&lora_sendbuffer[ANCID_IDX],0,200);
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//LED_TB_ON;
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loraled=1;
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for(uint8_t i=0;i<3;i++)
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recnum[i] = 0;
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}
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//static uint16_t delaytime = 1200;
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static uint16_t source_id;
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uint8_t rec_index,rec_secdelay;
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//uint16_t rec_value,rec_delaytime,rx_count;
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//uint16_t rec_value,rec_delaytime,rx_count,datalen_offset;
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uint8_t shengji_flag,time=5;
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//extern uint32_t uwbled,gpsled,loraled,powerled;
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extern struct RxDoneMsg RxDoneParams;
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//extern uint8_t Lora_tx_ancnum;
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//extern u8 lora_seq_nb2;
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extern uint16_t lora_yingda_num;
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uint8_t lora_tx_flag=0;
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uint8_t lora_txanchor_power_flag;
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extern uint16_t Lora_tx_ancid[50];
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extern uint16_t Lora_tx_ancdist[50];
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extern uint8_t Lora_tx_anc_electricity[50];
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uint8_t lora_seq_nb1;
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extern uint8_t lora_sendbuffer[200];
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void LoraSendComMap(uint8_t cmd)
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{
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uint8_t data_length = 0x50;
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uint16_t checksum = 0;
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lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_READPARARESP;
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lora_sendbuffer[MSG_LENGTH] = data_length+11;
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memcpy(&lora_sendbuffer[SOURCE_ID_IDX],&g_com_map[DEV_ID],2);
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memcpy(&lora_sendbuffer[DEST_ID_IDX],&wg_report_id,2);
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lora_sendbuffer[RP_CMD_IDX] = cmd;
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lora_sendbuffer[RP_INDEX_IDX] = 2;
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lora_sendbuffer[RP_LEN_IDX] = data_length;
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memcpy(&lora_sendbuffer[9], &g_com_map[1], data_length);
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checksum = Checksum_u16(lora_sendbuffer,11+data_length);
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memcpy(&lora_sendbuffer[11+data_length],&checksum,2);
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// LORA_3029_SINGLE_SEND(lora_sendbuffer,data_length+13,0);
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// Radio.Send(lora_sendbuffer,data_length+13);
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//++;
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// Delay_Ms(100);
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}
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void LoraRspWriteCommap(uint8_t index)
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{
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uint8_t data_length = 2;
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uint16_t checksum = 0;
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lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_READPARARESP;
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lora_sendbuffer[MSG_LENGTH] = data_length+9;
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memcpy(&lora_sendbuffer[SOURCE_ID_IDX],&g_com_map[DEV_ID],2);
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memcpy(&lora_sendbuffer[DEST_ID_IDX],&wg_report_id,2);
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lora_sendbuffer[RP_CMD_IDX] = WGRSP_RWTAG_WRITE;
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lora_sendbuffer[RP_INDEX_IDX] = index;
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lora_sendbuffer[RP_LEN_IDX] = data_length;
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memcpy(&lora_sendbuffer[7], &g_com_map[index/2], data_length);
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checksum = Checksum_u16(lora_sendbuffer,9+data_length);
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memcpy(&lora_sendbuffer[9+data_length],&checksum,2);
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// Radio.Send(lora_sendbuffer,data_length+11);
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// LORA_3029_SINGLE_SEND(lora_sendbuffer,data_length+11,0);
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// Delay_Ms(100);
|
}
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uint8_t t22[20],ti;
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uint8_t no_yingdaflag;
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uint8_t aRxBuffer[1];
|
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extern uint8_t group_id;
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uint16_t lora_send_count;
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uint8_t mode_flag=0;
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uint32_t frqe,dangqian_frqe;
|
|
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void Lora_Tx_Poll()
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{
|
|
// if(lora_tx_flag)
|
// {
|
// OnMaster();
|
////
|
// //rf_enter_continous_rx();
|
// }
|
if(lora_tx_flag)
|
{
|
// gpio_pin_set(IO_PIN_5);
|
|
|
if(lora_send_count++%10==0||lora_jianting_flag)
|
{
|
lora_tx_flag=0;
|
#ifdef GROUPID_SWITCH
|
if(rec_secdelay>0)
|
{
|
rec_secdelay--;
|
return;
|
}
|
#endif
|
|
LoraReportPoll();
|
|
}
|
}
|
|
|
}
|
|
////States_t State = LOWPOWER;
|
|
//////int8_t RssiValue = 0;
|
//////int8_t SnrValue = 0;
|
////uint8_t lora_chongfuyingda_flag;
|
////uint8_t Lora_rx_open_flag;
|
////extern u32 Loratx_frequency;
|
uint8_t huifushengjibao_flag;
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uint8_t LoraUp_flag;
|
//uint8_t lora_up_rec_flag;
|
uint8_t flag_writepara_needreset = 0;
|
//uint32_t wg_lost_count = 10;
|
//uint32_t lora_zhuangtai;
|
//uint16_t current_count;
|
//extern wg_state_enum wg_state;
|
uint8_t txdone=0;
|
void OnTxDone( void )
|
{
|
txdone++;
|
if(flag_writepara_needreset) //ÅäÖÃдÈëÍê³ÉÉ豸ÐèÒªÖØÆô
|
{
|
printf("Íø¹ØÏ·¢ÅäÖÃдÈëÍê³É£¬ÖØÆô");
|
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
|
}
|
Radio.Standby();
|
if(LoraUp_flag)
|
{
|
huifushengjibao_flag=1;
|
Radio.Rx( 500 );
|
}
|
else
|
{
|
Radio.Rx( 50 );
|
|
}
|
}
|
#define BUFFER_SIZE 255 // Define the payload size here
|
|
extern uint8_t imu_enable,motor_enable;
|
extern uint8_t lora_jianting_flag,report_ancnum;
|
extern uint16_t motor_keeptime;
|
extern uint32_t dev_id;
|
//extern wg_state_enum wg_state;
|
uint16_t rec_value,rec_delaytime,rx_count,datalen_offset;
|
uint16_t BufferSize = BUFFER_SIZE;
|
uint16_t CRC16=0;
|
uint16_t DEST_ID=0;
|
uint8_t shengji_flag;
|
int8_t RssiValue = 0;
|
int8_t SnrValue = 0;
|
uint8_t TX_Buffer[BUFFER_SIZE];
|
uint8_t RX_Buffer[BUFFER_SIZE];
|
static RadioEvents_t RadioEvents;
|
static uint16_t delaytime = 771;
|
static uint16_t source_id;
|
|
|
uint8_t rec_index,rec_secdelay;
|
uint16_t rec_value,rx_count,datalen_offset;
|
int32_t target_count;
|
uint32_t sleep_time_count=0;
|
uint32_t sleep_time_count_LAST=0;
|
uint16_t time_count;
|
uint8_t LoraUp_flag;
|
uint16_t REV_WG_pack=0;
|
uint8_t rxdone=0;
|
void OnRxDone( uint8_t *payload, uint16_t size, int16_t rssi, int8_t snr )
|
{
|
uint16_t checksum1;
|
BufferSize = size;
|
memcpy( RX_Buffer, payload, BufferSize );
|
RssiValue = rssi;
|
SnrValue = snr;
|
Radio.Standby();
|
rxdone++;
|
no_rx_flag = 0;
|
lora_up_rec_flag=1;
|
if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_WGRESPTAG)
|
{
|
checksum1=Checksum_u16(RX_Buffer,BufferSize-2);
|
|
memcpy(&DEST_ID,&RX_Buffer[DEST_ID_IDX],2);
|
memcpy(&CRC16,&RX_Buffer[BufferSize-2],2);
|
if(!memcmp(&checksum1,&RX_Buffer[BufferSize-2],2))
|
if(!memcmp(&dev_id,&RX_Buffer[DEST_ID_IDX],2))
|
{
|
memcpy(&source_id,&RX_Buffer[SOURCE_ID_IDX],2);
|
if(wg_state==WG_Lost)
|
{
|
wg_state = WG_Connected;
|
wg_report_id = source_id;
|
}
|
if(!memcmp(&wg_report_id,&RX_Buffer[SOURCE_ID_IDX],2))
|
{
|
wg_lost_count = 0;
|
switch(RX_Buffer[PWTAG_RW_FLAG_IDX])
|
{
|
case WGRSP_RWTAG_NONE:
|
REV_WG_pack++;
|
wg_report_freq = RX_Buffer[POLL_FREQ_IDX]+400;
|
memcpy(&rec_delaytime,&RX_Buffer[NEXTPOLL_TIME_IDX],2);
|
|
if(report_ancnum<2)
|
{
|
datalen_offset = report_ancnum*85;
|
}else{
|
datalen_offset = (report_ancnum-1)*46+85;
|
}
|
rec_secdelay = RX_Buffer[PWTAG_SECDELAY_IDX];
|
if(BufferSize!=13||rec_secdelay>20)
|
{
|
rec_secdelay = 0;
|
}
|
if(rec_delaytime<500)
|
{
|
int t;
|
t++;
|
}
|
// sleep_time_count =(__MS_TO_32K_CNT(rec_delaytime)/10)- delaytime-datalen_offset;
|
sleep_time_count =(__MS_TO_32K_CNT(rec_delaytime)/10);
|
while(sleep_time_count>=32768)
|
{
|
sleep_time_count-=32768;
|
}
|
while(sleep_time_count<2000)
|
{
|
sleep_time_count+=10000;
|
}
|
// if(REV_WG_pack==1)
|
// {
|
// sleep_time_count_LAST=sleep_time_count;
|
// }
|
// if(abs(sleep_time_count_LAST-sleep_time_count)>2000||REV_WG_pack==1)
|
// {
|
// sleep_timer_start(sleep_time_count);
|
time_count++;
|
// }
|
break;
|
case WGRSP_RWTAG_READ:
|
no_rx_flag = 1;
|
LoraSendComMap(WGRSP_RWTAG_READ);
|
break;
|
case WGRSP_RWTAG_WRITE:
|
rec_index = RX_Buffer[PWTAG_WRITE_IDX_IDX];
|
switch(rec_index)
|
{
|
case 0xdd: //ÓïÒôÏ·¢
|
break;
|
// case 0x20: //·äÃù
|
// memcpy(&rec_value,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],2);
|
// motor_keeptime = rec_value;
|
// break;
|
default :
|
memcpy(&rec_value,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],2);
|
g_com_map[rec_index/2] = rec_value;
|
save_com_map_to_flash();
|
LoraRspWriteCommap(SUBMSG_WRITE_ANCPARA);
|
//flag_writepara_needreset = 1;
|
no_rx_flag = 1;
|
}
|
|
break;
|
case WGRSP_RWTAG_UPDATE:
|
rec_index = RX_Buffer[PWTAG_WRITE_IDX_IDX];
|
// switch(rec_index)
|
// {
|
// case 0xaa: //Éý¼¶Ï·¢
|
// memcpy(&rec_wenjian_daxiao,&RX_Buffer[WRITEPARA_VALUE_IDX],2);//Îļþ´óС
|
// if(rec_wenjian_daxiao>0XAC00||rec_wenjian_daxiao==0)
|
// {}//Îļþ¹ý´ó£¬³¬³ö·¶Î§
|
// else
|
// {
|
// memcpy(&wangguan_up_id,&RX_Buffer[SOURCE_ID_IDX],2);//Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
|
// shengji_flag=1;
|
// LoraUp_flag=1;
|
// imu_enable=0;
|
// }
|
//// LoraUp_Poll();
|
// break;
|
// }
|
break;
|
}
|
}
|
if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_RANGEPOLL)
|
{
|
|
// uwb_open();
|
|
//// UwbRange();
|
|
// uwb_ceju_count++;
|
}
|
|
|
}
|
|
}
|
if(!no_rx_flag)
|
{
|
if(lora_jianting_flag&&LoraUp_flag==0)
|
{
|
SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
|
Radio.Rx(0);
|
}
|
}
|
}
|
|
void OnTxTimeout( void )
|
{
|
Radio.Standby();
|
if(lora_jianting_flag)
|
{
|
SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
|
Radio.Rx(0);
|
}
|
}
|
|
void OnRxTimeout( void )
|
{
|
Radio.Standby();
|
if(lora_jianting_flag)
|
{
|
SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
|
Radio.Rx(0);
|
}
|
}
|
|
|
void OnRxError( void )
|
{
|
|
Radio.Standby();
|
if(lora_jianting_flag)
|
{
|
SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
|
Radio.Rx(0);
|
}
|
}
|
|
|
|
uint16_t freq_test;
|
void SwitchLoraSettings(uint32_t freq,uint8_t sf,uint8_t power)
|
{
|
Radio.Standby();
|
Radio.SetChannel( freq*1000000 );
|
freq_test = freq;
|
Radio.SetTxConfig( MODEM_LORA, power, 0, 2,
|
sf, LORA_CODINGRATE,LORA_PREAMBLE_LENGTH_T, LORA_FIX_LENGTH_PAYLOAD_ON,
|
false, 0, 0, LORA_IQ_INVERSION_ON_T, 3000 );
|
|
Radio.SetRxConfig( MODEM_LORA, LORA_BANDWIDTH,
|
sf,LORA_CODINGRATE, 0, LORA_PREAMBLE_LENGTH_R,
|
LORA_SYMBOL_TIMEOUT, LORA_FIX_LENGTH_PAYLOAD_ON,
|
0, false, 0, 0, LORA_IQ_INVERSION_ON_R, 0 );
|
}
|
|
|
uint8_t active_flag;
|
void Lora_1268_Init(void)
|
{
|
RadioEvents.TxDone = OnTxDone;
|
RadioEvents.RxDone = OnRxDone;
|
RadioEvents.TxTimeout = OnTxTimeout;
|
RadioEvents.RxTimeout = OnRxTimeout;
|
RadioEvents.RxError = OnRxError;
|
|
Radio.Init( &RadioEvents );
|
// SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0); //Çл»lora½ÓÊÕƵµã
|
if(active_flag)
|
{
|
Radio.Rx( 0 );
|
}
|
// else{
|
// Radio.Sleep();
|
// }
|
// Radio.SetRxDutyCycle(RxDutyCycle_RX_time,RxDutyCycle_SLEEP_time);
|
|
}
|
