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/*! ----------------------------------------------------------------------------
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* @file main.c
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* @brief Double-sided two-way ranging (DS TWR) initiator example code
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*
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*
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*
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* @attention
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*
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* Copyright 2015 (c) Decawave Ltd, Dublin, Ireland.
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*
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* All rights reserved.
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*
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* @author Decawave
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*/
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#include <string.h>
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#include <math.h>
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#include "dw_app.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 "modbus.h"
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#include "BMP390.h"
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/*------------------------------------ Marcos ------------------------------------------*/
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dwt_config_t config = {
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5, /* Channel number. */
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DWT_PRF_64M, /* Pulse repetition frequency. */
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DWT_PLEN_128, /* Preamble length. */
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DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
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9, /* TX preamble code. Used in TX only. */
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9, /* RX preamble code. Used in RX only. */
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1, /* Use non-standard SFD (Boolean) */
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DWT_BR_6M8, /* Data rate. */
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DWT_PHRMODE_STD, /* PHY header mode. */
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(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
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};
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void Dw1000_Init(void)
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{
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/* Reset and initialise DW1000.
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* For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
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* performance. */
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Reset_DW1000();//ÖØÆôDW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
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Spi_ChangePrescaler(SPIx_PRESCALER_SLOW); //ÉèÖÃΪ¿ìËÙģʽ
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dwt_initialise(DWT_LOADUCODE);//³õʼ»¯DW1000
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Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //ÉèÖÃΪ¿ìËÙģʽ
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/* Configure DW1000. See NOTE 6 below. */
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dwt_configure(&config);//ÅäÖÃDW1000
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/* Apply default antenna delay value. See NOTE 1 below. */
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dwt_setrxantennadelay(32899); //ÉèÖýÓÊÕÌìÏßÑÓ³Ù
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dwt_settxantennadelay(0); //ÉèÖ÷¢ÉäÌìÏßÑÓ³Ù
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/* Set expected response's delay and timeout. See NOTE 4 and 5 below.
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* As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
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//ÉèÖýÓÊÕ³¬Ê±Ê±¼ä
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}
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uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
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{
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uint16_t sum = 0;
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uint32_t i;
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for(i=0; i<len; i++)
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sum += pdata[i];
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sum = ~sum;
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return sum;
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}
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extern uint8_t g_pairstart;
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void tag_sleep_configuraion(void)
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{
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dwt_configuresleep(0x940, 0x7);
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dwt_entersleep();
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}
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int16_t intheight;
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u32 id,error_times=0;
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extern float Height;
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extern float Altitude;
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void QiyaJizhan_Send(void)
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{
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static uint16_t frame_seq_nb;
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uint8_t nearbase_num;
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uint16_t mainbase_id,checksum;
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GetPressAndHeight();
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intheight =Altitude*100;
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nearbase_num = 0;
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mainbase_id = 0x1234;
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usart_send[0] = 0x55;
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usart_send[1] = 0xaa;
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usart_send[2] = 0x0c;//Õý³£Ä£Ê½
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usart_send[3] = 15+8*(nearbase_num+1);//Êý¾Ý¶Î³¤¶È
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memcpy(&usart_send[4],&dev_id,2);
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usart_send[6] = frame_seq_nb;
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usart_send[7] = frame_seq_nb++>>8;
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usart_send[8] = bat_percent;
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usart_send[9] = 0;
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memcpy(&usart_send[10],&intheight,2);
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usart_send[12] = tag_frequency;
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usart_send[13] = 0;
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usart_send[14] = 0;
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usart_send[15] = 0;
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usart_send[16] = nearbase_num+1;
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memcpy(&usart_send[17],&mainbase_id,2);
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// memcpy(&usart_send[19],&nearbaseid_list,2*nearbase_num);
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// memcpy(&usart_send[19+nearbase_num*2],&nearbase_distlist,4*nearbase_num+4);
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// memcpy(&usart_send[19+nearbase_num*6+4],&rec_anc_signalpower,2*nearbase_num+2);
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checksum = Checksum_u16(&usart_send[2],23+8*nearbase_num);
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memcpy(&usart_send[25+8*nearbase_num],&checksum,2);
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USART_puts(usart_send,27+8*nearbase_num);
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//HexToAsciiSendUDP(usart_send,27+8*nearbase_num);
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}
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extern void SwitchTagState(void);
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extern u8 userkey_state;
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void Tag_App(void)//·¢ËÍģʽ(TAG±êÇ©)
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{
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// //LED0_ON;
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// SPIx_CS_GPIO->BRR = SPIx_CS;
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// delay_us(700);
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// SPIx_CS_GPIO->BSRR = SPIx_CS;
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// id = dwt_readdevid() ;
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// while (DWT_DEVICE_ID != id)
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// {
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// // Dw1000_Init();
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// id = dwt_readdevid() ;
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// IdleTask();
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// if(error_times++>20)
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// {
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// printf("DW ID ERROR.\r\n");
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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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#ifdef QIYA_JIZHAN
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QiyaJizhan_Send();
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#else
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// Dw1000_Init();
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dwt_forcetrxoff();
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error_times = 0;
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SwitchTagState();
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GetPressAndHeight();
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intheight =Altitude*100;
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userkey_state = !GET_USERKEY;
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dwt_forcetrxoff();
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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(0);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
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dwt_rxenable(0);
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#endif
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//dwt_entersleep();
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}
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