#include "dw_mbx_tag.h"
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//#include "dps310.h"
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#include "WS2812.h"
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#include "syn6288.h"
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#define DELAY_BETWEEN_TWO_FRAME_UUS 400
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#define POLL_RX_TO_RESP_TX_DLY_UUS 470
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#define UUS_TO_DWT_TIME 65536
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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 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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static uint16_t current_time,start_time,end_time;
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static u8 frame_len,timeout,rec_nearbase_num,result;
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static u8 rx_buffer[200],send_buffer[200];
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static u16 anc_id_recv,tag_id_recv;
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static uint64_t poll_rx_ts;
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static uint32_t status_reg,resp_tx_time;
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static uint64_t resp_tx_ts;
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#define FZ_NEARBASENUM_INDEX 10
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#define FZ_NEARBASEID_INDEX 11
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#define TAG_NUM_IN_SYS 25
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#define TAG_KEEPTIMES 30
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#define REPORT_TAG_KEEPTIMES 1
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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 u8 frame_seq_nb2,battary,button,uwb_losttimer,taglist_pos;
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static u8 tagofflinetime[ANC_MAX_NUM];
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u8 taglist_num;
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uint16_t tagid_list[ANC_MAX_NUM],tagdist_list[ANC_MAX_NUM];
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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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memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,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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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¡£
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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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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(result==0)
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{
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start_time=HAL_LPTIM_ReadCounter(&hlptim1);
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timeout=100; //µ¥Î»0.1ms
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end_time=start_time+(timeout<<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 (!((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&¤t_time<end_time+15000)
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break;
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};
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tagofflinetime[taglist_pos] = 0;
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}
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// printf("²â¾à³É¹¦£¬ÐòºÅ%d£¬¾àÀë%d\r\n",frame_seq_nb2,tagdist_list[taglist_pos]);
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// delay_ms(10);
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}
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uint8_t report_ancnum;
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uint16_t report_ancdist[ANC_MAX_NUM],report_ancid[ANC_MAX_NUM];
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void TagListUpdate(void)
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{
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uint16_t i,j=0,k=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]++<REPORT_TAG_KEEPTIMES)
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{
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report_ancid[k]=tagid_list[i];
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report_ancdist[k++]=tagdist_list[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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tagofflinetime[j++]=tagofflinetime[i];
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}
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}
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report_ancnum = k;
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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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return i;
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}
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extern uint8_t gps_state;
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uint32_t temp231;
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extern uint32_t uwbled,gpsled,loraled,powerled;
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uint32_t uwbdezhuangtai;
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u8 uwb_rx_remaintime_ms,gps_chafenlingqi;
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void MbxTagUwbRec(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,status_reg;
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uint16_t checksum;
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uint8_t kk;
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status_reg = dwt_read32bitreg(SYS_STATUS_ID);
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// printf("UWB״̬:%x\r\n",uwbdezhuangtai);
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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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dwt_readrxdata(rx_buffer, frame_len, 0);//¶ÁÈ¡½ÓÊÕÊý¾Ý
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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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//gps_state=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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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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// 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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taglist_pos=CmpTagInList(tag_id_recv);
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if(taglist_num>=ANC_MAX_NUM)
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break;
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for(i=0;i<rec_nearbase_num;i++)
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{
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memcpy(&tempid,&rx_buffer[FZ_NEARBASEID_INDEX+i*2],2);
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if(tempid==dev_id)
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{
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Anchor_RecNearPoll(i);
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tagdist_list[taglist_pos]=rec_ancdistlist[i];
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if(taglist_pos==taglist_num)// taglist_pos==taglist_num ˵Ã÷Õâ¸ö»ùÕ¾²»ÔÚµ±Ç°ÁбíÖÐ
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{ //tempid==dev_id ˵Ã÷»ùվϷ¢²â¾à±¨ÎÄÓÐÕâ¸ö±êÇ©µÄÐÅÏ¢
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taglist_num++; //Âú×ãÉÏÊöÁ½ÖÖÇé¿ö²Å»áÌí¼Ó»ùÕ¾ID½øÈëÁбíÖУ¬·ñÔò»á³öÏÖ±êÇ©²»ÔÚ»ùÕ¾ÁбíÖУ¬±êÇ©Ò²²»ÏìÓ¦µÄÇé¿ö
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tagid_list[taglist_pos] = tag_id_recv;
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}
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break;
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}
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}
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if(i==rec_nearbase_num&&taglist_pos==taglist_num)//µ±»ùÕ¾²»ÔÚ±êÇ©ÁбíÖУ¬±êÇ©Ò²²»ÔÚ»ùÕ¾ÁбíÖÐʱ£¬Ëæ»úÕÒ¸öʱ¼äƬ»Ø¸´»ùÕ¾¡£
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{
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Anchor_RecNearPoll(rec_nearbase_num+start_time%5);
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// Anchor_RecNearPoll(rec_nearbase_num);
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}
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}
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break;
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}
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}else{
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// printf("debug4 timec:%d timee:%d\r\n",current_time,end_time);
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dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
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// dwt_rxenable(0);
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}
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if(uwb_rx_remaintime_ms>0)
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{
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dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
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dwt_setrxtimeout(uwb_rx_remaintime_ms*1000);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
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dwt_rxenable(0);//´ò¿ª½ÓÊÕ
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}else{
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dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0);
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dwt_forcetrxoff();
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dwt_entersleep();
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}
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}
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wg_state_enum wg_state = WG_Lost;
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uint8_t lora_sendbuffer[200];
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u8 seq_num;
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extern u8 wg_lost_count;
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uint16_t wg_report_freq,wg_report_id;
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uint8_t wg_report_sf;
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#define WG_LOST_SWITCH_THRES 3
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#define WG_LOST_NOUWB_COUNT 60
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#define DEFAULT_WG_ID 0xFFFF
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#define DEFAULT_LR_WG_ID 0xFFFE
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u8 lora_jianting_flag = 1;
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void LoraReportFreqPoll(void)
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{
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// wg_state = WG_Lost;
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if(wg_lost_count++>WG_LOST_NOUWB_COUNT)
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{
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lora_jianting_flag = 0;
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} else {
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lora_jianting_flag = 1;
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}
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if(wg_state==WG_Lost)
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{static u8 channel_switch_count = 0;
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// channel_switch_count = 10;
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if(channel_switch_count++>1)
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{
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channel_switch_count = 0;
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wg_report_id = DEFAULT_LR_WG_ID;
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wg_report_freq = LR_DATA_CHANNEL_FRQ; //Èç¹û¶ªÊ§Á´½Ó¾Í½øÈëWG¹ÜÀíÐŵÀ¡£
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wg_report_sf = LR_DATA_CHANNEL_SF;
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}else{
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wg_report_id = DEFAULT_WG_ID;
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wg_report_freq = REPORT_MANGE_CHANNEL_FRQ; //Èç¹û¶ªÊ§Á´½Ó¾Í½øÈëWG¹ÜÀíÐŵÀ¡£
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wg_report_sf = REPORT_CHANNEL_SF;
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}
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} else {
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if(wg_lost_count>WG_LOST_SWITCH_THRES)
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{
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wg_state = WG_Lost;
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}
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}
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}
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static u16 checksum;
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u8 gps_state,gps_satel_num,gps_signalpower;
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double gps_jingdu,gps_weidu;
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float gps_height;
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extern u8 bat_percent,stationary_flag;
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int16_t sendcount = 0,tp1,bar_height;
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u8 flag_getwgresp;
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void LoraHeartBeartPoll(void)
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{
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lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGHEARTBEAT;
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lora_sendbuffer[MSG_LENGTH] = 14;
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memcpy(&lora_sendbuffer[SOURCE_ID_IDX],&g_com_map[DEV_ID],2);
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memcpy(&lora_sendbuffer[DEST_ID_IDX],&wg_report_id,2);
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memcpy(&lora_sendbuffer[HB_VERSION_IDX],&g_com_map[VERSION],2);
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lora_sendbuffer[HB_UWBPOWER_IDX] = g_com_map[POWER];
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lora_sendbuffer[HB_LORAPOWER_IDX] = g_com_map[LORA_POWER];
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checksum = Checksum_u16(lora_sendbuffer,14);
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memcpy(&lora_sendbuffer[14],&checksum,2);
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Radio.Send(lora_sendbuffer,16);
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}
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#define HEATBEAT_UPDATE_TIME 3600
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uint16_t heatbeat_count = HEATBEAT_UPDATE_TIME-10;
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int16_t intheight;
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#define LORA_REPORT_MAXANC_NUM 7
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u8 tarray[20]={1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20},test_num;
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extern float Height;
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extern IWDG_HandleTypeDef hiwdg;
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u8 uwb_rxflag;
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void LoraReportPoll(void)
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{
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if(sendcount++>0)
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TagListUpdate();
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LoraReportFreqPoll();
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flag_getwgresp = 0;
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// wg_report_freq = REPORT_MANGE_CHANNEL_FRQ;
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SwitchLoraSettings(wg_report_freq,wg_report_sf,g_com_map[LORA_POWER]);
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if(heatbeat_count++>HEATBEAT_UPDATE_TIME && WG_Connected == wg_state) //Èç¹ûÐÄÌø°üµ½´ïÉÏ´«Ê±¼ä£¬²¢ÇÒÍø¹Ø´¦ÓÚÁ´½Ó״̬£¬¾ÍÉÏ´«ÐÄÌø°ü
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{
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heatbeat_count = 0;
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LoraHeartBeartPoll();
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return;
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}
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for(u16 i=0; i<report_ancnum-1; i++)
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{
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for(u16 j=0; j<report_ancnum-1-i; j++)
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{
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if(report_ancdist[j]>report_ancdist[j+1])
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{
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u16 id,dist;
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u8 bat;
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id = report_ancid[j];
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dist = report_ancdist[j];
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report_ancid[j] = report_ancid[j+1];
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report_ancdist[j] = report_ancdist[j+1];
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report_ancid[j+1] = id;
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report_ancdist[j+1] = dist;
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}
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}
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}
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if(report_ancnum>0)
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{
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uwbled=BLUE;
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}else{
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uwbled=RED;
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}
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if(report_ancnum>LORA_REPORT_MAXANC_NUM) //¿¼ÂÇlora´«Êäʱ¼ä£¬×î¶à·¢ËÍ10¸ö»ùÕ¾Êý¾Ý¡£
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report_ancnum = LORA_REPORT_MAXANC_NUM;
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#ifdef USE_GPS
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lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGMSGTOWG_GPS;
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lora_sendbuffer[MSG_LENGTH] = 4*report_ancnum+ANCID_IDX;
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#else
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lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGMSGTOWG;
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lora_sendbuffer[MSG_LENGTH] = 4*report_ancnum+ANCID_IDX;
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#endif
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// 2000f026 02020002 //000220200
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memcpy(&lora_sendbuffer[SOURCE_ID_IDX],&g_com_map[DEV_ID],2);
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memcpy(&lora_sendbuffer[DEST_ID_IDX],&wg_report_id,2);
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lora_sendbuffer[SEQNUM_IDX] = seq_num++;
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lora_sendbuffer[BAT_IDX] = bat_percent;
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lora_sendbuffer[STATE_IDX] = !GET_USERKEY|stationary_flag<<1;
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#ifdef USE_GPS
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memcpy(&lora_sendbuffer[GPS_JINGDU_IDX],&gps_jingdu,8);
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memcpy(&lora_sendbuffer[GPS_WEIDU_IDX],&gps_weidu,8);
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memcpy(&lora_sendbuffer[GPS_HEIGHT_IDX],&gps_height,8);
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lora_sendbuffer[GPS_STATE_IDX] = gps_state;
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lora_sendbuffer[GPS_SATEL_NUM_IDX] = gps_satel_num;
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lora_sendbuffer[GPS_SPOWER_IDX] = gps_signalpower;
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lora_sendbuffer[GPS_CHAFENLINGQI] = gps_chafenlingqi;
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#endif
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memcpy(&lora_sendbuffer[BAR_HEIGHT_IDX],&intheight,2);
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lora_sendbuffer[ANCNUM_IDX] = report_ancnum;
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memcpy(&lora_sendbuffer[ANCID_IDX],report_ancid,report_ancnum*2);
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memcpy(&lora_sendbuffer[ANCID_IDX+report_ancnum*2],report_ancdist,report_ancnum*2);
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checksum = Checksum_u16(lora_sendbuffer,4*report_ancnum+ANCID_IDX);
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memcpy(&lora_sendbuffer[ANCID_IDX+report_ancnum*4],&checksum,2);
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// UWB_RXStart(100);
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Radio.Send(lora_sendbuffer,ANCID_IDX+report_ancnum*4+2);
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// RadioGetStatus();
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// UWB_RXStart(60);
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// RadioGetStatus();
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UWB_RXON();
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HAL_IWDG_Refresh(&hiwdg);
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uwb_rxflag=1;
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// GetPressAndHeight();
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// intheight = Height*100;
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}
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