#ifndef __DW_APP_H__
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#define __DW_APP_H__
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#include "stdint.h"
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void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset,int32_t anc_clockoffset_from_MK,uint32_t polltx);
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void CalculateDists1(int64_t poll_tx_ts);
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void CalculateDists(int64_t poll_tx_ts);
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int64_t ranging_timestamp_diff(int64_t ts_a, int64_t ts_b);
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typedef enum
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{ UN_BIND=0,
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LINK_SUCCESS,
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SEARCH_DEV,
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} Operation_step;
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//BITSTATE
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#define GOINGSLEEPBIT 1
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//#define NEWBOARD
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//#define TAG_OUTPUT
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#define MAX_RFPOWER 67
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#define DEFAULT_RFPOWER 30
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#define REGISTER_FREQUENCY 1
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#define HEX_OUTPUT
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#define TOTAL_SLOTNUM 200
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#define SLOTTIME_MS 48
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#define SLOT_SCALE 0.8
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#define MAX_NEARBASE_NUM 12
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#define KEEP_TIMES 5
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#define REPOET_ANC_NUM 1
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#define REPOET_ANC_NUM_MIN 1
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#define TAG_ID_START 0// 0x00980000
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#define GROUP_TAG_NUM 2
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//#define TAG_NUM_IN_SYS 25
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#define DFT_RAND_DLY_TIM_MS 1
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#define THRESHOLD_CHANGE_MAINBASE_DIST 50
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#define MIN_ANCHOR_NUM 2
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#define SYNC_SEQ_IDX 5
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#define REMOTEPARA_LEN 18
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#define OUTRANGE_RESTARTTIMES 5
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#define RESP_MSG_TAG_FREQUENCY 36
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#define RESP_MSG_TAG_MOTOR 37
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#define POLL 0x01
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#define RESPONSE 0x02
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#define FINAL 0x03
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#define SYNC 0x04
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#define NEAR_MSG 0x05
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#define NEAR_POLL 0x06
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#define NEAR_RESPONSE 0x07
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#define NEAR_FINAL 0x08
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#define SPOLL 0x09
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#define DISCOVERPOLL 0x0A
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#define DISCOVERRESPONSE 0x0B
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#define DISCOVERFINAL 0x0C
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#define DISCOVERPOLL2 0x1A
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#define MSG_TYPE_IDX 0 //LORA MSG TYPE ¶¨Òå
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#define MSG_LENGTH 1 //±¨Îij¤¶È
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#define SOURCE_ID_IDX 2 //Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
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#define DEST_ID_IDX 4 //±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
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#define NEXTPOLL_TIME_IDX 6 //
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#define POLL_FREQ_IDX 8 //·ÖÅäµÄ·¢ËÍƵÂÊ£¬ÐèÒª+400µÄÆ«ÒÆÁ¿¡£
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#define PWTAG_RW_FLAG_IDX 9 //¶Áд±êÖ¾ 0ÎÞ¶Áд 1дÈë 2¶ÁÈ¡
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#define PWTAG_WRITE_IDX_IDX 10 //дÈëµØÖ·
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#define PWTAG_SECDELAY_IDX 10 //дÈë±êÇ©ÃëÑÓ³Ù Óë¶ÁдµØÖ·¹²ÓÃÒ»¸öλÖ㬵±ÓжÁдµØַʱ£¬¾ÍûÓÐÕâ¸ö²ÎÊý¡£
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#define PWTAG_WRITE_VALUE_IDX 11 //дÈëÖµ
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//uwb_update
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#define MSG_TYPE_IDX 0 //LORA MSG TYPE ¶¨Òå
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#define MSG_LENGTH 1 //±¨Îij¤¶È
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#define SOURCE_ID_IDX 2 //Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
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#define DEST_ID_IDX 4 //±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
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#define SYSTIME_IDX 6 //ϵͳʱ¼ä
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#define RANGE_STATE_IDX 8 //¸ÃÍø¹Ø·¶Î§ÊÇ·ñ²â¾à±ê־λ£¬Îª1ÔòÇøÓòÄÚ»ùÕ¾²â¾à£¬Èç¹ûÊÇ0ÔòÇøÓòÄÚ»ùÕ¾²»²â¾à
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#define SUBMSGTYPE_IDX 9 //×ÓÏûÏ¢ÀàÐÍIDX
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#define WRITEPARA_INDEX_IDX 10 //дÈë²ÎÊýµÄµØÖ·IDX
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#define WRITEPATE_VALUE_IDX 11 //дÈë²ÎÊýµÄÖµ£¬2¸ö×Ö½Ú /*ÔÚ·¢ËÍÉý¼¶»ùÕ¾ÇëÇóʱ£¬±»Ì滻ΪҪ·¢Ë͵ÄÉý¼¶ÎļþµÄ´óС
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#define WG_SYNC_RESERVE_IDX 13//±£Áô 4¸ö×Ö½Ú
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#define SEND_GROUP_MAX_NUM 25
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#define POS_MSG 0x15
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#define POS_POLL 0x16
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#define POS_RESPONSE 0x17
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#define POS_FINAL 0x18
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#define REG_POLL 0x10 //
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#define REG_RESPONSE 0x11 //
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#define REG_POLL2 0x20 //
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//General
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#define GROUP_ID_IDX 0
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#define ANCHOR_ID_IDX 1
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#define TAG_ID_IDX 5
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#define MESSAGE_TYPE_IDX 9
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#define NEARBASENUM_INDEX 10
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#define NEARBASEID_INDEX 11
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//Poll
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#define TAGSTATE 7
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#define ANC_TYPE_IDX 14
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//respose
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#define DIST_IDX 10
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#define ANCTIMEMS 14
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#define ANCTIMEUS 16
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#define TAGSLOTPOS 7
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#define MOTORSTATE_INDEX 19
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#define NR_NEARSWITCH_DISTANCE 20
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#define REMOTEPARA_INDEX 22
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#define MAXRANGE_DISTANCE 22
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#define ANC_SIGNALPOWER 24
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#define TAG_NUM_IN_SYS 25
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#define RESP_MSG_POLL_RX_TS_IDX 26
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#define RESP_MSG_RESP_TX_TS_IDX 30
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#define RESP_MSG_ANC_DISTOFFSET 34
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//Final
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#define TAGCONFIGSUCCESS_INDEX 7
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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 FINAL_MSG_RESP_RX_NEARBASE_IDX 22
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#define FINAL_MSG_TS_LEN 4
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//SYNC
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#define SYNC_SEQ_IDX 5
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//NEAR MSG
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#define NEARMSG_EMPTYSLOTPOS_INDEX 1 //RESPONSE
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//NEAR POLL
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#define NEARP_TAGFREQ_INDEX 10
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#define NEARP_TAGSLOTPOS_INDEX 12
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//uwb_update
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#define MSG_TYPE_IDX 0 //LORA MSG TYPE ¶¨Òå
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#define MSG_LENGTH 1 //±¨Îij¤¶È
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#define SOURCE_ID_IDX 2 //Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
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#define DEST_ID_IDX 4 //±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
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#define SYSTIME_IDX 6 //ϵͳʱ¼ä
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#define RANGE_STATE_IDX 8 //¸ÃÍø¹Ø·¶Î§ÊÇ·ñ²â¾à±ê־λ£¬Îª1ÔòÇøÓòÄÚ»ùÕ¾²â¾à£¬Èç¹ûÊÇ0ÔòÇøÓòÄÚ»ùÕ¾²»²â¾à
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#define SUBMSGTYPE_IDX 9 //×ÓÏûÏ¢ÀàÐÍIDX
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#define WRITEPARA_INDEX_IDX 10 //дÈë²ÎÊýµÄµØÖ·IDX
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#define WRITEPATE_VALUE_IDX 11 //дÈë²ÎÊýµÄÖµ£¬2¸ö×Ö½Ú /*ÔÚ·¢ËÍÉý¼¶»ùÕ¾ÇëÇóʱ£¬±»Ì滻ΪҪ·¢Ë͵ÄÉý¼¶ÎļþµÄ´óС
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#define WG_SYNC_RESERVE_IDX 13//±£Áô 4¸ö×Ö½Ú
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#define LORA_MSGTYPE_SYNC 1//Íø¹ØÏ·¢¸ø»ùÕ¾µÄͬ²½ÐÅÏ¢
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#define LORA_MSGTYPE_CFGRSP 2//»ùÕ¾»Ø¸´¸øÍø¹ØÅäÖöÁÈ¡ÐÅÏ¢
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#define LORA_MSGTYPE_UPDATE_CONFIRM 3//»ùÕ¾»Ø¸´¸øÍø¹ØÉý¼¶È·ÈÏÐÅÏ¢
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#define LORA_MSGTYPE_RANGEPOLL 4//»ùÕ¾·¢Æð²â¾àͬ²½ÐźÅ
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#define LORA_MSGTYPE_UPDATEFILE_REQUEST 5//»ùÕ¾·¢Ë͸øÍø¹ØÉý¼¶ÎļþÇëÇó
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#define LORA_MSGTYPE_UPDATEFILE_RESP 6//Íø¹Ø»Ø¸´»ùÕ¾Éý¼¶ÎļþÄÚÈÝ
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#define LORA_MSGTYPE_UPDATE_CONFIRM2 13//»ùÕ¾»Ø¸´¸øÍø¹ØÉý¼¶È·ÈÏÐÅÏ¢-SF8ģʽ
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#define LORA_MSGTYPE_WGRESPTAG 8//Íø¹Ø»Ø¸´±êÇ©²â¾à¶¨Î»±¨ÎÄ
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#define LORA_MSGTYPE_TAG_HEARTBEAT 0x33//±êÇ©ÐÄÌø°üÉÏ´«
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#define LORA_MSGTYPE_ANC_HEARTBEAT 0x32//»ùÕ¾ÐÄÌø°üÉÏ´«
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#define LORA_MSGTYPE_WG_RESPONSE_TAG 11//Íø¹Ø»Ø¸´±êÇ©²â¾à±¨ÎÄ
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#define LORA_MSGTYPE_TAGMSGTOWG 0x22//±êÇ©¾àÀëÐÅÏ¢·¢¸øÍø¹Ø
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#define LORA_MSGTYPE_TAGMSGTOWG_GPS 0x23//±êÇ©¾àÀëÐÅÏ¢·¢¸øÍø¹Ø´øGPS
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#define LORA_MSGTYPE_TAGMSGTOWG_2 0x24//±êÇ©¾àÀëÐÅÏ¢·¢¸øÍø¹Ø
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#define LORA_MSGTYPE_TAGMSGTOWG_GPS_2 0x25//±êÇ©¾àÀëÐÅÏ¢·¢¸øÍø¹Ø´øGPS
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#define LORA_MSGTYPE_TAGHEARTBEAT 0x33//±êÇ©ÐÄÌø°üÉÏ´«
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#define LORA_MSGTYPE_READPARARESP 0x39//±êÇ©»ùÕ¾»Ø¸´Íø¹Ø¶ÁÈ¡ÅäÖÃÖ¸Áî
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//#define LORA_MSGTYPE_WGRESPTAG 8//Íø¹Ø»Ø¸´±êÇ©²â¾à¶¨Î»±¨ÎÄ ¸ñʽ
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#define MSG_TYPE_IDX 0 //LORA MSG TYPE ¶¨Òå
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#define MSG_LENGTH 1 //±¨Îij¤¶È ÎÞÓïÒô¹Ì¶¨14 ÓÐÓïÒô¾ÍÊÇ12+ÓïÒô³¤¶È
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#define SOURCE_ID_IDX 2 //Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
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#define DEST_ID_IDX 4 //±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
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#define NEXTPOLL_TIME_IDX 6 //±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
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#define POLL_FREQ_IDX 8 //·ÖÅäµÄ·¢ËÍƵÂÊ£¬ÐèÒª+400µÄÆ«ÒÆÁ¿¡£
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#define RW_FLAG_IDX 9 //¶Áд±êÖ¾ 0ÎÞ¶Áд 1дÈë 2¶ÁÈ¡
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#define WRITE_IDX_IDX 10 //дÈëµØÖ·
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#define SECDELAY_IDX 10 //дÈë±êÇ©ÃëÑÓ³Ù Óë¶ÁдµØÖ·¹²ÓÃÒ»¸öλÖ㬵±ÓжÁдµØַʱ£¬¾ÍûÓÐÕâ¸ö²ÎÊý¡£
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#define WRITE_VALUE_IDX 11 //дÈëÖµ
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#define MSG_TYPE_IDX 0 //LORA MSG TYPE ¶¨Òå
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#define MSG_LENGTH 1 //±¨Îij¤¶È
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#define SOURCE_ID_IDX 2 //Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
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#define DEST_ID_IDX 4 //±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
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#define NEXTPOLL_TIME_IDX 6 //
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#define POLL_FREQ_IDX 8 //·ÖÅäµÄ·¢ËÍƵÂÊ£¬ÐèÒª+400µÄÆ«ÒÆÁ¿¡£
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#define PWTAG_RW_FLAG_IDX 9 //¶Áд±êÖ¾ 0ÎÞ¶Áд 1дÈë 2¶ÁÈ¡
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#define PWTAG_WRITE_IDX_IDX 10 //дÈëµØÖ·
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#define PWTAG_SECDELAY_IDX 10 //дÈë±êÇ©ÃëÑÓ³Ù Óë¶ÁдµØÖ·¹²ÓÃÒ»¸öλÖ㬵±ÓжÁдµØַʱ£¬¾ÍûÓÐÕâ¸ö²ÎÊý¡£
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#define PWTAG_WRITE_VALUE_IDX 11 //дÈëÖµ
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#define WGRSP_RWTAG_NONE 0//Íø¹Ø»Ø¸´±êÇ©£¬ÎÞ¶Áд
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#define WGRSP_RWTAG_READ 2//Íø¹Ø»Ø¸´±êÇ©£¬ÎÞ¶Áд
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#define WGRSP_RWTAG_WRITE 1//Íø¹Ø»Ø¸´±êÇ©£¬ÎÞ¶Áд
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#define WGRSP_RWTAG_UPDATE 0x06//Íø¹Ø»Ø¸´±êÇ©£¬ÎÞ¶Áд
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//#define LORA_MSGTYPE_READPARARESP 0x39 //±êÇ©»ùÕ¾»Ø¸´Íø¹Ø¶ÁÈ¡ÅäÖÃÖ¸Áî
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#define MSG_TYPE_IDX 0 //LORA MSG TYPE ¶¨Òå
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#define MSG_LENGTH 1 //±¨Îij¤¶È
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#define SOURCE_ID_IDX 2 //Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
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#define DEST_ID_IDX 4 //±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
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#define RP_CMD_IDX 6 //±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
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#define RP_INDEX_IDX 7 //±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
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#define RP_LEN_IDX 8 //±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
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//REG POLL
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#define REGP_TAGSTATE_INDEX 10
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#define REGP_VERSION_INDEX 11
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#define REGP_FREQUENCY_INDEX 13
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#define REGP_POWER_INDEX 14
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#define REGP_IMUTHRES_INDEX 15
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#define REGP_NOMOVESLEEPTIME_INDEX 17
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#define REGP_HEIGHTOFFSET_INDEX 19
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#define REGP_BATTARY_INDEX 19
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//REG RESPONSE
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#define REGR_TAGFREQ_INDEX 10
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#define REGR_TAGSLOTPOS_INDEX 12
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#define REGR_BASENUM_INDEX 18
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#define REGR_BASEID_INDEX 19
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#define SEQUENCE_IDX 3
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#define BATTARY_IDX 4
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#define BUTTON_IDX 7
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#define SEQUENCEH_IDX 8
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#define MBX_RESPONSE 0x21
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#define MBX_POLL 0x20
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#define MBX_RESPONSE 0x21
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#define MBX_FINAL 0x22
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#define MBX_PRAAREPLY 0x23
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#define MBX_REG 0x24
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#define MESSAGE_TYPE_IDX 9
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#define TAG_ID_IDX 5
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#define GROUP_ID_IDX 0
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#define ANCHOR_ID_IDX 1
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//#define MAX_NEARBASE_NUM 25
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#define TAG_KEEPTIMES 30 //±êÇ©´æ»îʱ¼ä
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//#define KEEP_TIMES 5
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//#define TAG_NUM_IN_SYS 25
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#define SEQUENCE_IDX 3
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#define BATTARY_IDX 4
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//NEAR POLL
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#define RESP_MSG_POLL_RX_TS_IDX 26
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#define RESP_MSG_RESP_TX_TS_IDX 30
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#define RESP_MSG_ANC_DISTOFFSET 34
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////NEAR MSG
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//#define NEARBASENUM_INDEX 10
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//#define NEARBASEID_INDEX 11
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#define APP2_ADRESS 0x0402f000
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#define APP1_ADRESS 0x04000000
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#define APP_SIZE 0x04080000-APP2_ADRESS
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#define APP_1OR2_ADRESS 0x04080000-0x1000
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#define MUQIAN_BAG 6
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#define DATA_IDX 8
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#define ONE_BAG_DAXIAO 100
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#define TAG_KEEPTIMES 30 //±êÇ©´æ»îʱ¼ä
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#define MAX_TAG_LIST_NUM 200 //ͬʱͨѶ±êÇ©×î´óÊýÁ¿
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#define FREQ_OFFSET_MULTIPLIER (998.4e6/2.0/1024.0/131072.0)
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#define FREQ_OFFSET_MULTIPLIER_110KB (998.4e6/2.0/8192.0/131072.0)
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#define HERTZ_TO_PPM_MULTIPLIER_CHAN_1 (-1.0e6/3494.4e6)
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#define HERTZ_TO_PPM_MULTIPLIER_CHAN_2 (-1.0e6/3993.6e6)
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#define HERTZ_TO_PPM_MULTIPLIER_CHAN_3 (-1.0e6/4492.8e6)
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#define HERTZ_TO_PPM_MULTIPLIER_CHAN_5 (-1.0e6/6489.6e6)
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#endif
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