#include "mk_trace.h"
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#include "mk_uwb.h"
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#include "mk_phy.h"
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#include "mk_misc.h"
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#include "mk_power.h"
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#include "mk_sleep_timer.h"
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#include "lib_ranging.h"
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#include "lib_aoa.h"
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#include "dw_app_anchor.h"
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#include "global_param.h"
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#include "board.h"
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#include "lib_aoa.h"
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#include <serial_at_cmd_app.h>
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extern int simple_main(void);
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extern int temp_main(void);
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void Calibration_Time(void);
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void TagListUpdate(void);
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void TagListUpdate_person_num(void);
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void Uwb_init(void);
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void OpenUWB(void);
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void CloseUWB(void);
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int Anchor_App(void);
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extern void IO_LED_control_change(uint8_t data);
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extern void IO_control_init(void);
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extern void updata_led_power_state(void);
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/*receive buffer*/
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static uint8_t rx_buf[150];
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static uint8_t uwb_sendbuffer[150];
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static volatile uint16_t rx_state;
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static volatile uint16_t rx_length;
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//resp±äÁ¿
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static uint8_t frame_seq_nb2,battary,button,rec_nearbase_num,ancidlist_num;
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static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS];
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static int16_t rec_ancdistlist[TAG_NUM_IN_SYS];
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extern uint8_t group_id;
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static uint16_t anc_id_recv,tag_id_recv;
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static int16_t rec_antdelay;
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extern uint32_t dev_id;
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static uint16_t taglist_pos,tmp_time;
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extern uint16_t tag_frequency;
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extern uint16_t disoffset;
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static uint8_t frame_len,recpoll_len,current_syncid,new_tagid,seize_anchor,result,g_start_sync_flag;
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extern uint8_t gps_power_state,motor_power_state,uwb_state,air780_power_state,gps_success_state,red_charge_state,green_charge_state,air780_success_state;
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int poll_rx_num,resp_tx_num;
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//respº¯Êý
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void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary);//ÕÒµ½×Ô¼ºµÄidÐÅÏ¢¶ÔӦλÖøüÐÂ×Ô¼ºµÄ½»»¥ÐÅÏ¢
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static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts);//ÓÃÀ´¶ÔӦλÖ÷ÅÈëʱ¼ä´Á
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static uint16_t tagid_list[TAG_NUM_IN_SYS];
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uint16_t CmpTagInList(uint16_t tagid);
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uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos);
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static uint8_t send_buffer[100];
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static uint8_t tagofflinetime[TAG_NUM_IN_SYS];
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uint32_t temp_count=0;
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uint32_t temp_count1=0;
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uint32_t temp_count2=0;
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uint32_t temp_count3=0;
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uint32_t temp_count7=0;
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uint32_t temp_internal=0;
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int16_t elevation = 0;
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int16_t azimuth = 0;
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uint8_t fom = 0;
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int32_t distance;
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uint8_t taglist_num;
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float *sts_rssi=NULL;
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extern uint8_t recev_error_num;
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uint8_t uwb_rx_flag;
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extern Operation_step UWB_work_state;
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extern int16_t first_search_flag;
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typedef enum
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{
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SEARCH,
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CLOSE,
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RANGE,
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}enumwltagstate;
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/* Ranging period */
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#define RANGING_PERIOD_MS (1000)
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/* This is the delay from Frame RX POLL frame to send RESP Frame */
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#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan600 success ²¢ÇÒ²»¿¨busy
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#define RESP_TX_TO_FINAL_RX_DLY_US 500U
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/* RX sync window size 50 ms*/
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#define RX_SYNC_WIN_US 5000U //yuan1000 7000success
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/* RX sync window size 50 ms*/
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#define RX_SYNC_WIN_US_TEMP 2000000U //yuan1000 7000success
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/* Receive poll timeout 500us*/
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#define POLL_RX_TIMEOUT_US 500
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/* Receive final timeout 500us */
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#define FINAL_RX_TIMEOUT_US 500
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/* RX window open in advance */
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#define RX_WIN_IN_ADVANCE_US (150)
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#define DELAY_BETWEEN_TWO_FRAME_UUS 500 //yuan1400
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/* Field index in frame */
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#define MSG_SEQ_NUM_IDX 2
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#define FINAL_MSG_POLL_TX_TS_IDX 10
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#define FINAL_MSG_RESP_RX_TS_IDX 14
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#define FINAL_MSG_FINAL_TX_TS_IDX 18
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#define DELAY_DEFAULT 1000
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#define HALF_SECOND_TIME 624000000
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/* Length of the common part of the message */
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#define MSG_COMMON_LEN 10
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#define UWB_DELAY_TIME_US 496
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static uint8_t receive_flag=0;
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struct mk_uwb_configure
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{
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uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
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struct UWB_CONFIG_T phy_cfg;
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};
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extern uint8_t uwb_ch;
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static struct mk_uwb_configure config = {
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.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
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.phy_cfg.ch_num = 5, /* Channel number. */
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.phy_cfg.code_index = 9, /* TRX preamble code */
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.phy_cfg.mean_prf = MEAN_PRF_64M, /* Mean prf 64/128/256M */
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.phy_cfg.data_bit_rate = DATA_BR_6M8, /* Data rate 6.8M */
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.phy_cfg.sync_sym = PREAM_LEN_128, /* Preamble duration, length of preamble 128 */
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.phy_cfg.sfd_sym = NON_STD_NSFD5_8, /* Identifier for SFD sequence */
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.phy_cfg.ranging_bit = 1, /* ranging bit set 1 */
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.phy_cfg.trx_mode = TRX_MODE_15_4A, /* IEEE802.15.4z - BPRF mode */
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.phy_cfg.sts_pkt_cfg = STS_PKT_CFG_0, /* SP0 Frame */
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.phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1, /* Number of STS segments in the frame */
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.phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
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.phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
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};
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static struct anchor_id_car{
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uint16_t anchor_new_id;
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uint16_t change_num;
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};
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/* Buffer to store received frame */
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/* Frames used in the ranging process
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* Poll message:
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* - byte 0 - 1: 0x8841 to indicate a data frame using 16-bit addressing.
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* - byte 2: sequence number, incremented for each new frame.
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* - byte 3 - 4: PAN Id 0x4B4d
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* - byte 5 - 6: Destination address
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* - byte 7 - 8: Source address
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* - byte 9: Message type (0x02 RANGING_POLL / 0x03 RANGING_RESPONSE / 0x04 RANGING_FINAL)
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* Response message:
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* - byte 10: activity code (0x07 to tell the initiator to go on with the ranging exchange)
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* Final message:
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* - byte 10 - 13: poll message transmission timestamp.
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* - byte 14 - 17: response message reception timestamp.
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* - byte 18 - 21: final message transmission timestamp.
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*/
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/* Count value of phy counter when transmitting and receiving frames */
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static uint32_t poll_rx_en_start_u32;
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static uint32_t resp_tx_en_start_u32;
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static uint32_t resp_tx_timeout;
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int64_t temp_resp_i64;
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/* 41 bits timestamps of frames transmission/reception. */
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int64_t poll_rx_ts_i64;
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int64_t resp_tx_ts_i64;
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int64_t final_rx_ts_i64;
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/* Frame sequence number, incremented after each transmission. */
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static uint8_t frame_seq_nb = 0;
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/* MAC report data structure */
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static struct MAC_HW_REPORT_T rx_rpt;
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enum SIMPLE_FSM_T
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{
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SIMPLE_IDLE = 0,
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SIMPLE_POLL = 1,
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SIMPLE_RESPONSE = 2,
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SIMPLE_FINAL = 3,
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};
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static enum SIMPLE_FSM_T state = SIMPLE_IDLE;
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/**
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* @brief Correct TX timestamp of the ranging frame.
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*
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* @param[in] timestamp PHY timer count of TX
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* @return TX timestamp (unit: 15.65ps)
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*/
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static int64_t ranging_tx_time_correct(uint32_t timestamp)
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{
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int64_t tx_timestamp = ranging_tx_time(timestamp);
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// correct antenna delay (TX using the same antenna as RX)
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tx_timestamp += ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;
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return tx_timestamp;
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}
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/**
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* @brief Correct RX timestamp of the ranging frame.
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*
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* @param[in] ind MAC RX report
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* @return RX timestamp (unit: 15.65ps)
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*/
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static int64_t ranging_rx_time_correct(const struct MAC_HW_REPORT_T *ind)
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{
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int64_t rx_timestamp = ranging_rx_time(ind);
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// correct antenna delay
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rx_timestamp -= ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;
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return rx_timestamp;
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}
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/* RX done process handler. */
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int8_t rssi;
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uint32_t range_timeout_us = 2000000;//yuan5000
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uint8_t flag_temp2,flag_temp1;
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uint16_t uwb_losttimer;
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uint16_t lorarec_tagid;
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extern uint8_t send_lora_data[250];
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uint8_t Lora_upanc_time;
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uint8_t update_tag_time;
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extern uint16_t mubiao_anchor_ID;
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uint8_t Lora_qingqiu_flag;
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extern uint16_t Lora_qingqiu_bao;
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//uint8_t shengji_flag;
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extern uint8_t Dtu_shengji_jindu[20];
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extern uint8_t shengji_flag;
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uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
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int16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
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static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
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static uint16_t anchordata_version[TAG_NUM_IN_SYS];
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uint8_t anchordata_num = 0;
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static int16_t tagdist_list[TAG_NUM_IN_SYS];
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uint16_t random_time;
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//anchor
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int32_t hist_dist;
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int16_t temp_recdist_before_offset;
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int16_t dist_temp;
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void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary)
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{
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uint8_t i;
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for(i=0; i<anchordata_num; i++)
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{
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if(anchordata_id[i] == ancid)//²éѯ±êÇ©ÊÇ·ñÔÚ×Ô¼ºÒÑͨѶÁбíÖÐ
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{
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break;
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}
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}
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if(i==anchordata_num)
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{
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if(anchordata_num<TAG_NUM_IN_SYS-1)
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anchordata_num++;
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}
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anchordata_id[i] = ancid;//Óë֮ͨÐŵıêÇ©id´æÈ뵱ǰ±íÖÐ
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distance=dist*0.5+(int16_t)anchordata_dist[i]*0.5;
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anchordata_dist[i] = dist;
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anchordata_bat[i] = battary;
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tagofflinetime[i]=0;//²»¶Ï¸üе±Ç°TAG¶ÔÓ¦ÀëÏßʱ¼ä
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dist_temp=dist;
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// if(dist>0)
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// if(temp_recdist_before_offset!=0&&distance!=0x1ffff)
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// {
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// distance=dist*0.5+distance*0.5;
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// }else{
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// distance=dist;
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// }
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}
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uint16_t CmpTagInList(uint16_t tagid)
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{ uint16_t i;
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for(i=0; i<taglist_num; i++)
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{
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if(memcmp(&tagid,&tagid_list[i],2)==0)
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break;
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}
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if(i==taglist_num)
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return taglist_num;
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//tagofflinetime[i] = 0;
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return i;
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}
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uint16_t ExistInTagList(uint16_t tagid)
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{ uint16_t i;
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for(i=0; i<taglist_num; i++)
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{
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if(memcmp(&tagid,&tagid_list[i],2)==0)
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return 1;
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}
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return 0;
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}
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uint16_t CmpCarInExistList(uint16_t tagid)
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{ uint16_t i;
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for(i=0; i<anchordata_num; i++)
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{
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if(memcmp(&tagid,&anchordata_id[i],2)==0)
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break;
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}
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if(i==anchordata_num)
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return anchordata_num;
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//tagofflinetime[i] = 0;
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return i;
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}
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static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts)
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{
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int i,ts2;
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ts2=(int32_t)ts;
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for (i = 0; i < 4; i++)
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{
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ts_field[i] = (uint8_t)ts2;
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ts2 >>= 8;
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}
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}
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//void TagListUpdate(void)
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//{
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// uint8_t i,j=0;
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// for(i=0; i<anchordata_num; i++)
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// {
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// if(tagofflinetime[i]++<QUIT_SLOT_TIME)
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// {
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// anchordata_id[j]=anchordata_id[i];
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// tagofflinetime[j++]=tagofflinetime[i];
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// }
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// }
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// anchordata_num=j;
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//}
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void TagListUpdate(void)
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{
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uint16_t i,j=0,k=0;
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for(i=0; i<taglist_num; i++)
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{
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if(tagofflinetime[i]++<TAG_KEEPTIMES)
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{
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tagid_list[j]=tagid_list[i];
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tagdist_list[j] = tagdist_list[i];
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anchordata_bat[j]=anchordata_bat[i];//µçÁ¿ËæÖ®¸üÐÂ
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anchordata_version[j]=anchordata_version[i];
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tagofflinetime[j++]=tagofflinetime[i];
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}
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}
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taglist_num=j;
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}
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uint16_t g_com_receive_id;
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uint8_t cmd_flag,position;;
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uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos)//¸ù¾Ý×Ô¼ºÊÇ·ñΪлùÕ¾¶¨ÖÆÏûϢȥ·¢ËÍ£¬¸ù¾ÝÊÇ·ñÇÀÕ¼ÅжÏ
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{
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cmd_flag=0;
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uint16_t checksum1 = 0;
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for(uint8_t i=0; i<PWTAG_MAXGROUPNUM; i++)
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{
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if(pwtag.remain_time[i]!=0)
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{
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lorarec_tagid=g_com_receive_id;
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if(pwtag.groupid[i][0]<=lorarec_tagid&&lorarec_tagid<=pwtag.groupid[i][1])
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{
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send_buffer[MSG_TYPE_IDX] = LORA_MSGTYPE_WGRESPTAG;
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send_buffer[MSG_LENGTH] = 14;
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memcpy(&send_buffer[SOURCE_ID_IDX],&dev_id,2);
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memcpy(&send_buffer[DEST_ID_IDX],&lorarec_tagid,2);
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send_buffer[RW_FLAG_IDX] = pwtag.duorxie[i];
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send_buffer[WRITE_IDX_IDX] = pwtag.index[i];
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memcpy(&send_buffer[WRITE_VALUE_IDX],pwtag.value[i],pwtag.len[i]);
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checksum1=Checksum_u16(send_buffer,pwtag.len[i]+WRITE_VALUE_IDX);
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memcpy(&send_buffer[pwtag.len[i]+WRITE_VALUE_IDX],&checksum1,2);
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resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US);
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flag_temp2=uwb_tx(send_buffer, pwtag.len[i]+WRITE_VALUE_IDX+2,1 ,resp_tx_en_start_u32);//Á¢¼´·¢ËͲâÊÔsize´óС
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// temp_count1=phy_timer_count_get();
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//while(mac_is_busy());
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gpio_pin_clr(SCL_PIN);
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cmd_flag=1;
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if(send_buffer[RW_FLAG_IDX]==0x01)
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{
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delay_ms(100);
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NVIC_SystemReset();
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}
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break;
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}
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}
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}
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if(cmd_flag==0)
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{
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temp_count2=poll_rx_en_start_u32;
|
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memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//×éid
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memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);//×ÔÉíid
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memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);//½ÓÊÜÕßid
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send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
|
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// if(rec_nearbase_num == ancrec_nearbasepos)//ÇÀռģʽ×Ô¼ºÎªÐ»ùÕ¾
|
// {
|
// random_time = (phy_timer_count_get()%100);//¶à»ùÕ¾ÇÀÕ¼Ò»¸öλÖÃʱ±ÜÃâÒ»¸öÒ²ÊÕ²»µ½µÄÇé¿ö¾Íÿһ¸öËæ»ú´í¿ª¼¸Ê®uS
|
// //resp_tx_time = (poll_rx_ts+((random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//¼ÆËãResponse·¢ËÍʱ¼äT3¡£
|
// // (resp_tx_en_start_u32) is the moment when TX enable
|
// resp_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_num*DELAY_BETWEEN_TWO_FRAME_UUS);//ºóÃæµÄÐèÒª¸ù¾ÝÒÑÓлùÕ¾ÊýÁ¿½øÐиü¸Ä£¬Èç¹ûÊÇÇÀÕ¼×Ô¼º×îºóÒ»¸ö»Ø¸´£¬ÒªÓе×Êý
|
//
|
// } else {
|
// //resp_tx_time = (poll_rx_ts + ((rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//¼ÆËãResponse·¢ËÍʱ¼äT3¡£
|
// resp_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS);//ºóÃæµÄÐèÒª¸ù¾ÝÒÑÓлùÕ¾ÊýÁ¿½øÐиü¸Ä£¬Èç¹ûÊÇÇÀÕ¼×Ô¼º×îºóÒ»¸ö»Ø¸´£¬ÒªÓе×Êý
|
// //ÕâÀïÓ¦¸ÃÓÐÎÊÌâÎÊÒ»ÏÂÖÓ¹¤
|
// }//´Ë´¦ÉèÖþø¶Ôʱ¼ä½«poll u32¸ÄΪphy_timer_count_get()
|
position=ancrec_nearbasepos;
|
resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+ancrec_nearbasepos*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//¼ÓÈëÖ¡¼ä¸ô
|
resp_tx_ts_i64 = ranging_tx_time_correct(resp_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
|
/* Write all timestamps in the final message. See NOTE 8 below. */
|
resp_msg_set_ts(&send_buffer[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts_i64);
|
resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts_i64);//´Ë´¦Ê±¼ä´Áint64Ö±½Óת»»Îªuint64²»ÖªµÀ»á²»»áÓдíÎó
|
memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&disoffset,2);//²î¸öÐÞÕýoffset,ÐÞÕýÓзûºÅµ«ÊÇÕâ¸öcom±íΪÎÞ·ûºÅµÄ,´«¹ýÈ¥Ö±½Ó¸³¸øInt16_tÏ൱ÓÚ»¹ÔÁË
|
temp_resp_i64=resp_tx_ts_i64;
|
temp_count3= phy_timer_count_get();
|
flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//Á¢¼´·¢ËͲâÊÔsize´óС
|
tagofflinetime[taglist_pos] = 0;//¸üбêǩͨÐÅ
|
// temp_count1=phy_timer_count_get();
|
//while(mac_is_busy());
|
//gpio_pin_clr(SCL_PIN);
|
}
|
|
}
|
|
uint16_t uwb_searchcount;
|
uint8_t flag_recsuccess;
|
|
uint32_t start_receive_count_calibration;
|
uint32_t current_count_calibration;
|
uint32_t get_in_num,get_out_num;
|
struct anchor_id_car anchor_id_in_car[TAG_NUM_IN_SYS],anchor_id_out_car[TAG_NUM_IN_SYS];
|
int16_t change_count[TAG_NUM_IN_SYS];
|
uint16_t anchor_id_in[TAG_NUM_IN_SYS],anchor_id_out[TAG_NUM_IN_SYS];
|
uint8_t secondtask_search_count,secondtask_search_flag;
|
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag,flag_secondtask;
|
enumwltagstate wltag_state=RANGE;
|
uint32_t wltag_statetimer,wltag_uwbtimer;
|
uint32_t uwbtasktimer=0,uwbtagsendtimer=0;
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void UWBOneSecondTask(void)
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{
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uwb_losttimer++;
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TagListUpdate();
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if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
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uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//·ÀÖ¹Òç³ö
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}
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uint8_t uwbsend[100];
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void UWBIdleTask(void)
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{
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if(HIDO_TimerGetTick()-uwbtasktimer >=1)
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{
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for(uint16_t i=0;i<taglist_num-1;i++)
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{
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for(uint16_t j=0;j<taglist_num-1-i;j++)
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{
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if(tagdist_list[j]>tagdist_list[j+1])
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{
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uint16_t id,dist,version;
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uint8_t bat;
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id = tagid_list[j];
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dist = tagdist_list[j];
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version = anchordata_version[j];
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tagid_list[j] = tagid_list[j+1];
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tagdist_list[j] = tagdist_list[j+1];
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anchordata_version[j] = anchordata_version[j+1];
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tagid_list[j+1] = id;
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tagdist_list[j+1] = dist;
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anchordata_version[j+1] = version;
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}
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}
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}
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if(taglist_num>6)
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{
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taglist_num=6;
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}
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uwbtasktimer = HIDO_TimerGetTick();
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UWBOneSecondTask();
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uwbsend[0]=0x55;
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uwbsend[1]=0xaa;
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uwbsend[2]=0x40;
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uwbsend[3]=taglist_num;
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memcpy(&uwbsend[4],&tagid_list,taglist_num*2);
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memcpy(&uwbsend[4+taglist_num*2],&tagdist_list,taglist_num*2);
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memcpy(&uwbsend[4+taglist_num*4],&anchordata_version,taglist_num*2);
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uart_send(UART_ID0, uwbsend,taglist_num*6+4, NULL);
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taglist_num=0;
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// for(int i=0;i<anchordata_num;i++)
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// {
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// LOG_INFO(TRACE_MODULE_APP,"µ±Ç°²â¾à»ùÕ¾ID:%x,¾àÀë:%d.\r\n",tagid_list[0],tagdist_list[0]);
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// }
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}
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}
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int uwb_app_poll(void)
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{
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UWBIdleTask();
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}
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void Uwb_init(void)
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{
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uwb_open();
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#ifdef STS_MODE
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// Set STS key and IV
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phy_sts_key_configure(&sts_iv_key);
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// which RX ports will be used for AoA/PDoA
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phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
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#endif
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// Set calibration parameters
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// config.phy_cfg.ch_num=g_com_map[NEARBASE_ID1];
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uwb_calibration_params_set(config.phy_cfg.ch_num);
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#ifndef STS_MODE
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// set advanced parameters
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struct PHY_ADV_CONFIG_T adv_config = {
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.thres_fap_detect = 40,
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.nth_scale_factor = 4,
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.ranging_performance_mode = 0,
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.skip_weakest_port_en = 0,
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};
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#else
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// set advanced parameters
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struct PHY_ADV_CONFIG_T adv_config = {
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.thres_fap_detect = 40,
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.nth_scale_factor = 4,
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.ranging_performance_mode = 0,
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.skip_weakest_port_en = 0,
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};
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#endif
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phy_adv_params_configure(&adv_config);
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// uwb configure
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uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);
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#if (defined STS_MODE) || (defined MK_MODE)
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ranging_lib_init();
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#endif
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ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
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#ifdef STS_MODE
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aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM);
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aoa_steering_vector_set((const float *)((uint32_t)((config.phy_cfg.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) | SRAM_BASE));
|
|
aoa_param_config();
|
|
phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
|
#endif
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// mac_register_process_handler(tx_int_callback, rx_int_callback);//³õʼ»¯»Øµ÷
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}
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