#include <string.h>
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//#include "stm32f4xx_hal.h"
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#include "filters.h"
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#include "ADC.h"
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#include "deca_device_api.h"
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#include "deca_regs.h"
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#include "dw_driver.h"
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#include "Spi.h"
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#include "led.h"
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#include "serial_at_cmd_app.h"
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#include "Usart.h"
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#include "global_param.h"
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#include "filters.h"
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#include <stdio.h>
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#include "beep.h"
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#include <math.h>
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#include "TrackingDiff.h"
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//#include "UDPClient.h"
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//#include "Uart.h"
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//#include "DBG.h"
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#include "CRC.h"
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#define DBGMSG_OUTPUT
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#define SENDANCPARA_LEN 102
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#define SPEED_OF_LIGHT 299702547
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#define UUS_TO_DWT_TIME 65536
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#define POLL_TX_TO_RESP_RX_DLY_UUS 150
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#define RESP_RX_TO_FINAL_TX_DLY_UUS 410
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#define RESP_RX_TIMEOUT_UUS 2000
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#define DELAY_BETWEEN_TWO_FRAME_UUS 400
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#define POLL_RX_TO_RESP_TX_DLY_UUS 2000
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#define RESP_TX_TO_FINAL_RX_DLY_UUS 10
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#define FINAL_RX_TIMEOUT_UUS 4300
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#define WHITELIST1_START 0x25
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#define WHITELIST1_END 0x26
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#define MODBUS_ID1 0x11
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#define FZ_NEARBASENUM_INDEX 10
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#define FZ_NEARBASEID_INDEX 11
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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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#define MBX_ANC_NUM_IN_SYS 50
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#define QUIT_SLOT_TIME 5
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uint8_t lora_yingda_flag;
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static uint64_t resp_tx_ts;
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static uint64_t final_rx_ts;
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static uint32_t status_reg,resp_tx_time,tagpos_binary;
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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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static uint8_t rx_buffer[150];
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static uint16_t anc_id_recv,tag_id_recv;
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static uint8_t flag_syncbase,sync_seq,synclost_timer,temp_nearbaspos;
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static uint16_t sync_timer;
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static uint8_t send_buffer[150];
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static uint8_t battary,button,ancidlist_num;
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uint8_t frame_seq_nb2;
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uint8_t rec_nearbase_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],rec_ancdistlist[TAG_NUM_IN_SYS];
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static int16_t rec_antdelay;
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static uint16_t taglist_num=0,taglist_pos,tmp_time;
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static uint16_t tagid_list[TAG_NUM_IN_SYS];
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uint8_t tagbattary_list[TAG_NUM_IN_SYS];
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static uint8_t tagofflinetime[TAG_NUM_IN_SYS];
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static int32_t tagdist_list[TAG_NUM_IN_SYS];
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static uint8_t tagpos_rec[50];
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static uint64_t poll_rx_ts;
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static uint8_t g_flag_Taggetdist[TAG_NUM_IN_SYS],flag_tag_distsmooth[TAG_NUM_IN_SYS],misdist_num[TAG_NUM_IN_SYS];
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static uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
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static uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
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static double Ra, Rb, Da, Db;
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static int64_t tof_dtu;
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static double tof;
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static double distance, dist_no_bias, dist_cm;
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extern dwt_config_t config;
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static double firstpath_power, rx_power,rec_firstpath_power;
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static double f1, f2, r1, r2;
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static uint16_t F1,F2,F3,N,C;
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const double B = 131072;
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const double A = 121.74;
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double min_power;
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static dwt_rxdiag_t d1;
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static int32_t hex_dist,his_dist[TAG_NUM_IN_SYS];
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extern uint16_t g_Resttimer;
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static int32_t filter_dist,g_Tagdist[TAG_NUM_IN_SYS];
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double LOS(dwt_rxdiag_t *dia) {
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F1 = dia->firstPathAmp1;
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F2 = dia->firstPathAmp2;
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F3 = dia->firstPathAmp3;
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N = dia->rxPreamCount;
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C = dia->maxGrowthCIR;
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firstpath_power=10* log10((F1*F1+F2*F2+F3*F3)/(N*N))-A;
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rx_power=10*log10(C*B/(N*N))-A;
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// min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
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return min_power;
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}
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static uint64_t get_tx_timestamp_u64(void)
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{
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uint8_t ts_tab[5];
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uint64_t ts = 0;
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int i;
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dwt_readtxtimestamp(ts_tab);
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for (i = 4; i >= 0; i--)
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{
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ts <<= 8;
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ts |= ts_tab[i];
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}
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return ts;
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}
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static uint64_t get_rx_timestamp_u64(void)
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{
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uint8_t ts_tab[5];
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uint64_t ts = 0;
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int i;
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dwt_readrxtimestamp(ts_tab);
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for (i = 4; i >= 0; i--)
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{
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ts <<= 8;
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ts |= ts_tab[i];
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}
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return ts;
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}
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static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
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{
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int i;
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for (i = 0; i < FINAL_MSG_TS_LEN; i++)
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{
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ts_field[i] = (uint8_t) ts;
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ts >>= 8;
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}
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}
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static void final_msg_get_ts(const uint8_t *ts_field, uint32_t *ts)
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{
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int i;
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*ts = 0;
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for (i = 0; i < FINAL_MSG_TS_LEN; i++)
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{
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*ts += ts_field[i] << (i * 8);
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}
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}
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void TagListUpdate(void)
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{
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uint16_t i,j=0,temp[TAG_NUM_IN_SYS];
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for(i=0;i<taglist_num;i++)
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{
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if(tagofflinetime[i]++<QUIT_SLOT_TIME)
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{
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tagid_list[j]=tagid_list[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 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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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, const uint64_t ts)
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{
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int i;
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for (i = 0; i < 4; i++)
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{
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ts_field[i] = (ts >> (i * 8)) & 0xFF;
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}
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}
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extern uint16_t current_time,start_time,end_time;
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uint32_t uwb_timeout;
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extern uint32_t lp_time;
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//extern u8 uwb_timeout;
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u16 basesystimer,uwb_losttimer;
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uint8_t remotesend_state,remotesend_index;
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uint16_t random_time;
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u32 value;
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uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos) //0 mainbase 1 first near_base
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{
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uint8_t motorstate;
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// tmp_time=TIM3->CNT;
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temp_nearbaspos = ancrec_nearbasepos;
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memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);
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memcpy(&send_buffer[ANCTIMEMS],&basesystimer,2);
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// memcpy(&send_buffer[ANCTIMEUS],&tmp_time,2);
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send_buffer[TAGFREQ_IDX] = tag_frequency;
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memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);
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poll_rx_ts = get_rx_timestamp_u64();//»ñµÃPoll°ü½ÓÊÕʱ¼äT2
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if(rec_nearbase_num == ancrec_nearbasepos)//ÇÀռģʽ
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{
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random_time = (GetLPTime()%100);
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resp_tx_time = (poll_rx_ts+((/*value+*/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¡£
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}else{
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resp_tx_time = (poll_rx_ts + ((/*value+ */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¡£
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}
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dwt_setdelayedtrxtime(resp_tx_time);//ÉèÖÃResponse·¢ËÍʱ¼äT3
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//dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//ÉèÖ÷¢ËÍÍê³Éºó¿ªÆô½ÓÊÕÑÓ³Ùʱ¼ä
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//dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//½ÓÊÕ³¬Ê±Ê±¼ä
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resp_tx_ts = (((uint64_t)(resp_tx_time & 0xFFFFFFFEUL)) << 8) ;
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/* Write all timestamps in the final message. See NOTE 8 below. */
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resp_msg_set_ts(&send_buffer[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts);
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resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts);
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memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&g_com_map[DIST_OFFSET],2);
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send_buffer[GROUP_ID_IDX] = group_id;
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// send_buffer[MAINBASE_INDEX]=flag_syncbase;
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send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
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send_buffer[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
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send_buffer[MOTORSTATE_INDEX]&=0x0f;
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remotesend_state = 0;
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dwt_forcetrxoff();
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dwt_writetxdata(38, send_buffer, 0);//дÈë·¢ËÍÊý¾Ý
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dwt_writetxfctrl(38, 0);//É趨·¢Ëͳ¤¶È
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result = dwt_starttx(DWT_START_TX_DELAYED);
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// if(remotesend_state==0)
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// {
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// dwt_writetxdata(38, send_buffer, 0);//дÈë·¢ËÍÊý¾Ý
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// dwt_writetxfctrl(38, 0);//É趨·¢Ëͳ¤¶È
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// result = dwt_starttx(DWT_START_TX_DELAYED);
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//// uwb_timeout = 0;
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// if(result == 0)
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// {
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uwb_timeout=lp_time;
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while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & SYS_STATUS_TXFRS ))///²»¶Ï²éѯоƬ״ֱ̬µ½½ÓÊճɹ¦»òÕß³öÏÖ´íÎó
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{
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// current_time=HAL_LPTIM_ReadCounter(&hlptim1);
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// if(current_time>end_time+((32768/1000)*3)||current_time<end_time+15000)
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// {
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//// printf("debug2 timec:%d timee:%d\r\n",current_time,end_time);
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// break;}
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if(lp_time-uwb_timeout>2)
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break;
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};
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// }
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// dwt_rxenable(0);
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}
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uint16_t target_tagid[12] = {0x1316,0x1394,0x1265,0x1318,0x1306,0x1304,0x1376,0x1312,0x1277,0x1388,0x1140,0x1392};
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uint16_t Lora_tx_ancid[50];
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uint16_t Lora_tx_ancdist[50];
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uint8_t Lora_tx_anc_electricity[50];
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uint8_t Lora_tx_ancnum=0;
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uint8_t break_flag ;
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uint16_t RX_TIMEOUTs_UWB;
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void Anchor_App(void)
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{
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u8 send_len,i;
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u16 tempid;
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uint32_t rec_syncid;
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uint16_t checksum;
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uint8_t kk;
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dwt_setrxtimeout(0);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
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dwt_rxenable(0);//´ò¿ª½ÓÊÕ
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start_time=HAL_LPTIM_ReadCounter(&hlptim1);
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end_time=start_time+((32768/1000)*2);
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if(end_time>=32768)
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{end_time-=32768;}
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current_time=HAL_LPTIM_ReadCounter(&hlptim1);
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while(current_time<end_time||current_time>end_time+15000)
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{
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current_time=HAL_LPTIM_ReadCounter(&hlptim1);
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while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//²»¶Ï²éѯоƬ״ֱ̬µ½½ÓÊճɹ¦»òÕß³öÏÖ´íÎó
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{
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current_time=HAL_LPTIM_ReadCounter(&hlptim1);
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if(current_time>=end_time&¤t_time<end_time+15000)
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break;
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};
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if (status_reg & SYS_STATUS_RXFCG && status_reg!=0xffffffff)//³É¹¦½ÓÊÕ
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{
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uint16_t tag_recv_interval;
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float temp_tagpos;
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dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);
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frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//»ñµÃ½ÓÊÕÊý¾Ý³¤¶È
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recpoll_len = frame_len;
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dwt_readrxdata(rx_buffer, frame_len, 0);//¶ÁÈ¡½ÓÊÕÊý¾Ý
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dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
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dwt_rxenable(0);
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memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
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//½«ÊÕµ½µÄtag_id·Ö±ðдÈë¸÷´ÎͨѶµÄ°üÖУ¬Îª¶à±êǩͨѶ·þÎñ£¬·ÀÖ¹Ò»´ÎͨѶÖнÓÊÕµ½²»Í¬ID±êÇ©µÄÊý¾Ý
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memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
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// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET);
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// printf("ID %x\r\n",tag_id_recv);
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switch(rx_buffer[MESSAGE_TYPE_IDX])
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{uint8_t target_tagi;
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case MBX_REG:
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// dwt_readdiagnostics(&d1);
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// LOS(&d1);
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// usart_send[2]=0x14;
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// usart_send[3]=20;
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// memcpy(&usart_send[4],&dev_id,2);
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// memcpy(&usart_send[6],&tag_id_recv,2);
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// memcpy(&usart_send[8],&rx_buffer[10],9);
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// usart_send[17] = firstpath_power;
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// memcpy(&usart_send[18],&rx_buffer[19],2);
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// checksum = Checksum_u16(&usart_send[2],20);
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// memcpy(&usart_send[22],&checksum,2);
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// HexToAsciiSendUDP(usart_send,24);
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break;
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case MBX_POLL:
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if(group_id==rx_buffer[GROUP_ID_IDX])
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{
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// printf("timec:%d timee:%d\r\n",current_time,end_time);
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dwt_readdiagnostics(&d1);
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LOS(&d1);
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if(firstpath_power<-100)
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{
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break;
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}
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frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
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battary = rx_buffer[BATTARY_IDX];
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button = rx_buffer[BUTTON_IDX];
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rec_nearbase_num=rx_buffer[FZ_NEARBASENUM_INDEX];
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memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
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memcpy(&rec_ancidlist,&rx_buffer[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
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memcpy(&rec_ancdistlist,&rx_buffer[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
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memcpy(&rec_antdelay,&rx_buffer[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
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uwb_losttimer = 0;
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// wltag_state=RANGE;
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for(u8 i=0;i<rec_nearbase_num;i++)
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{
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if(rec_ancidlist[i] == dev_id)
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{
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for(kk=0;kk<Lora_tx_ancnum;kk++)
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{
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if(Lora_tx_ancid[kk]==tag_id_recv)
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{
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// Lora_tx_ancnum--;
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Lora_tx_ancdist[kk]=rec_ancdistlist[i];
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Lora_tx_anc_electricity[kk]=battary;
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break_flag=1;
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break;
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}
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}
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if(break_flag)
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{
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break_flag=0;
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break;
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}
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Lora_tx_ancid[Lora_tx_ancnum]=tag_id_recv;
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Lora_tx_ancdist[Lora_tx_ancnum]=rec_ancdistlist[i];
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Lora_tx_anc_electricity[Lora_tx_ancnum]=battary;
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// printf("½ÓÊÕµ½uwb²â¾à:%d",Lora_tx_ancdist[0]);
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Lora_tx_ancnum++;
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RX_TIMEOUTs_UWB++;
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}
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}
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//// #ifdef USART_ALL_OUTPUT
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// usart_send[2] = 0x12;//Õý³£Ä£Ê½
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// usart_send[3] = 8+rec_nearbase_num*4;//Êý¾Ý¶Î³¤¶È
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// memcpy(&usart_send[4],&tag_id_recv,2);
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// usart_send[6] = frame_seq_nb2;//°üÐò
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// power_and_key=battary<<1;//°Ñ°´¼ü¸úµçÁ¿2ºÏ1£¬·¢³öÈ¥
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// power_and_key=power_and_key+button;
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// memcpy(usart_send+7,&power_and_key,1);
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// usart_send[8] = lora_yingda_flag;//loraµÈ´ýÓ¦´ðλ
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// usart_send[9] = rec_nearbase_num;//loraµÈ´ýÓ¦´ðλ
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//// usart_send[9] = lora_yingda_flag;
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// memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);
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// memcpy(&usart_send[10+rec_nearbase_num*2],&rec_ancdistlist,2*rec_nearbase_num);
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// checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
|
// memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
|
//// UART_PushFrame(usart_send,12+rec_nearbase_num*4);
|
//// #endif
|
|
taglist_pos=CmpTagInList(tag_id_recv);
|
if(taglist_num>=TAG_NUM_IN_SYS)
|
break;
|
if(taglist_pos==taglist_num)
|
{
|
taglist_pos=taglist_num;
|
tagid_list[taglist_num++]=tag_id_recv;
|
|
new_tagid=1;
|
}else{
|
new_tagid=0;
|
}
|
temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
|
tagpos_rec[(uint8_t)temp_tagpos]=1;
|
|
|
if(rec_nearbase_num>ancidlist_num)
|
{
|
ancidlist_num=rec_nearbase_num;
|
memcpy(ancidlist_rec,&rx_buffer[FZ_NEARBASEID_INDEX],rec_nearbase_num*2);
|
}
|
|
for(i=0;i<rec_nearbase_num;i++)
|
{
|
memcpy(&tempid,&rx_buffer[FZ_NEARBASEID_INDEX+i*2],2);
|
if(tempid==dev_id)
|
{
|
seize_anchor=0; //·ÇÇÀÕ¼¡£ÒÑ´æÔÚÁбíÖÐ
|
Anchor_RecNearPoll(i);
|
break;
|
}
|
}
|
|
if(i==rec_nearbase_num)
|
{
|
seize_anchor=1; //ÇÀÕ¼anchor
|
Anchor_RecNearPoll(i);
|
}
|
}
|
|
break;
|
}
|
|
}else{
|
// printf("debug4 timec:%d timee:%d\r\n",current_time,end_time);
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
|
dwt_rxenable(0);
|
}
|
}
|
dwt_forcetrxoff();
|
dwt_entersleep();
|
|
}
|
