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#include "Rcc_Nvic_Systick.h"
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#include "Usart.h"
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#include "Spi.h"
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#include "led.h"
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#include "beep.h"
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#include "dw_driver.h"
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#include "dw_app.h"
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#include "stm32f10x_it.h"
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#include "serial_at_cmd_app.h"
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#include "global_param.h"
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#include "ADC.h"
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#include "modbus.h"
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#include "deca_device_api.h"
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#include "Flash.h"
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//#define DEBUG_MODE
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void Device_Init(void)
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{
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RCC_Configuration();
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//SystemInit();
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NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
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Nvic_Init();
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// Systick_Init();
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TIM3_Int_Init();
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Led_Init();
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Beep_Init();
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DW_GPIO_Init();
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Uart1_Init();
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Spi_Init();
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ADC_Configuration();
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GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
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}
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u8 anchor_type;
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u32 dev_id;
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u8 hbsend[16];
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void HeartBeatInit(void)
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{
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u16 checksum;
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hbsend[0]=0x55;
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hbsend[1]=0xAA;
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hbsend[2]=0x2;
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hbsend[3]=0xc;
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memcpy(&hbsend[4],&g_com_map[DEV_ID],2);
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checksum = Checksum_u16(&hbsend[2],12);
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memcpy(&hbsend[14],&checksum,2);
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}
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u16 tyncpoll_time;
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TrackingDiffClass *pUWBDistanceTrackingDiff;
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u8 group_id,sync_mainbase=0,synclost_timer=0;
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uint16_t vel_factor,pos_factor;
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extern u8 module_power;
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u16 slottime,max_slotnum,current_slotpos,dist_threshold;
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void Program_Init(void)
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{uint16_t i;
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float temp;
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u16 temp2;
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Usart1ParseDataCallback = UsartParseDataHandler;
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parameter_init();
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//deca_sleep(1000);
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HeartBeatInit();
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// g_com_map[DEV_ROLE]=1;
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// g_com_map[DEV_ID]=1;
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// g_com_map[COM_INTERVAL]=10;
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OUT485_ENABLE;
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#ifdef DEBUG_MODE
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// g_com_map[COM_INTERVAL]=50;
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// g_com_map[MAX_REPORT_ANC_NUM]=3;
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// g_com_map[DEV_ID]=1;
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// g_com_map[ANC_POLL]=0;
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// g_com_map[ALARM_DISTANCE1]=100;
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g_com_map[FILTER_COEFFICIENT]=12;
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#endif
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//pUWBDistanceTrackingDiff = NewTrackingDiffClass(2, 4, 0.03);
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dev_id = g_com_map[DEV_ID];
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group_id=g_com_map[GROUP_ID];
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vel_factor=g_com_map[FILTER_COEFFICIENT];
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pos_factor=g_com_map[FILTER_COEFFICIENT];
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dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]);
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if(dist_threshold<300)
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{dist_threshold = 300;}
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if(dist_threshold>15000)
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{dist_threshold = 15000;}
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if(dev_id==0)
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sync_mainbase=1;
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module_power = g_com_map[POWER];
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if(module_power>67)
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{
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module_power=67;
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}
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g_com_map[VERSION] = 0x0129;
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temp=(float)g_com_map[MAX_REPORT_ANC_NUM]*4/3;
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temp2=g_com_map[MAX_REPORT_ANC_NUM]*4/3;
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if(temp2<temp)
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{
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temp2++;
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}
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slottime=temp2;
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max_slotnum=g_com_map[COM_INTERVAL]/temp2;
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current_slotpos=g_com_map[DEV_ID];
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tyncpoll_time=(current_slotpos%max_slotnum)*slottime;
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if(g_com_map[DEV_ROLE])
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{
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printf("±êÇ©ID: %d .\r\n",dev_id);
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printf("ͨѶ¼ä¸ô: %d ms.\r\n",g_com_map[COM_INTERVAL]);
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printf("µ¥´ÎͨѶ»ùÕ¾ÊýÁ¿: %d¸ö.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
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}else{
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anchor_type = dev_id%g_com_map[MAX_REPORT_ANC_NUM];
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printf("»ùÕ¾ID: %x .\r\n",dev_id);
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printf("»ùÕ¾ÀàÐÍ: %c .\r\n",anchor_type+0x41);
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printf("µ¥´ÎͨѶ»ùÕ¾ÊýÁ¿: %d¸ö.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
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}
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OUT485_DISABLE;
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// printf("DEVICE PAIRID: %d .\r\n",g_com_map[PAIR_ID]);
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// printf("DEVICE ALARM DISTANCE: 1.%d 2.%d 3.%d .\r\n",g_com_map[ALARM_DISTANCE1],g_com_map[ALARM_DISTANCE2],g_com_map[ALARM_DISTANCE3]);
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for(i=0;i<255;i++)
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{
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g_Tagdist[i]=0xffff;
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}
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}
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/*! ------------------------------------------------------------------------------------------------------------------
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* @fn main()
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*
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* @brief Application entry point.
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*
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* @param none
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*
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* @return none
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*/
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void HeatBeat(void)
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{
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UART_PushFrame(hbsend,16);
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}
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extern u8 g_start_sync_flag;
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u16 heartbeat_timer,poll_timer,sync_timer;
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void IdleTask(void)
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{
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g_start_sync_flag=0;
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UART_CheckReceive();
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UART_CheckSend();
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if(heartbeat_timer>1000)
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{
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heartbeat_timer=0;
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if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
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HeatBeat();
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}
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if(g_com_map[CNT_UPDATE]==1)
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{
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uint32_t result = 0;
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u16 tmp = 0xAAAA;
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__disable_irq();
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result = FLASH_Prepare(0x8004A38, 2);
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if(result)
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result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2);
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__enable_irq();
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printf("½øÈëÉý¼¶Ä£Ê½\r\n");
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g_com_map[CNT_UPDATE]=0;
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save_com_map_to_flash();
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delay_ms(100);
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// STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
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// Delay_ms(100);
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SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
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}
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// if(g_com_map[CNT_REBOOT]==1)
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// {
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// g_com_map[CNT_REBOOT]=0;
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// g_com_map[MAP_SIGN_INDEX]=0;
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// save_com_map_to_flash();
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// delay_ms(100);
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// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
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// }
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if(g_com_map[CNT_RESTART]==1)
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{
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g_com_map[CNT_RESTART]=0;
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save_com_map_to_flash();
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delay_ms(100);
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SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
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}
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}
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uint16_t temp;
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float dw_vbat;
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int main(void)
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{
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Device_Init();
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Program_Init();
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Dw1000_Init();
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delay_ms(10);
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Dw1000_App_Init();
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/* Loop forever initiating ranging exchanges. */
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
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usart_send[0]=0x55;
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usart_send[1]=0xAA;
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Modbus_RegMap();
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while(1)
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{
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if(g_com_map[0] != 0x55AA)
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{
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while(1)
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IdleTask();
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}
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if(g_start_send_flag)
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{
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g_start_send_flag = 0;
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temp=dwt_readtempvbat(1);
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dw_vbat=(float)((temp&0xff)-173)/173+3.3;
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if(dw_vbat>2.8)
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Tag_App();
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}//else{
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IdleTask();
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// }
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//
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if(g_com_map[DEV_ROLE]==0)
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Anchor_App();
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}
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}
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