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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 "CRC.h"
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#include "dw_mbx_anc.h"
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#include "ADC.h"
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//#define USART_INTEGRATE_OUTPUT
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/*------------------------------------ Marcos ------------------------------------------*/
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/* Inter-ranging delay period, in milliseconds. */
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#define RNG_DELAY_MS 100
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/* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */
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#define TX_ANT_DLY 0
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#define RX_ANT_DLY 32899
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/* UWB microsecond (uus) to device time unit (dtu, around 15.65 ps) conversion factor.
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* 1 uus = 512 / 499.2 µs and 1 µs = 499.2 * 128 dtu. */
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#define UUS_TO_DWT_TIME 65536
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/* Delay between frames, in UWB microseconds. See NOTE 4 below. */
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/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
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#define POLL_TX_TO_RESP_RX_DLY_UUS 150
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/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
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* frame length of approximately 2.66 ms with above configuration. */
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#define RESP_RX_TO_FINAL_TX_DLY_UUS 410
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/* Receive response timeout. See NOTE 5 below. */
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#define RESP_RX_TIMEOUT_UUS 600
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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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/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
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#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
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/* Receive final timeout. See NOTE 5 below. */
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#define FINAL_RX_TIMEOUT_UUS 4300
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#define SPEED_OF_LIGHT 299702547
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/* Indexes to access some of the fields in the frames defined above. */
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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_TS_LEN 4
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//#define _UWB_4G
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static dwt_config_t config = {
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#ifdef _UWB_4G
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2, /* Channel number. */
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#else
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5,
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#endif
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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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static uint8_t tx_poll_msg[20] = {0};
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static uint8_t tx_sync_msg[14] = {0};
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static uint8_t tx_final_msg[60] = {0};
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static uint8_t tx_resp_msg[22] = {0};
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uint8_t tx_near_msg[80] = {0};
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static uint32_t frame_seq_nb = 0;
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static uint32_t status_reg = 0;
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static uint8_t rx_buffer[100];
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static uint64_t poll_tx_ts;
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static uint64_t resp_rx_ts;
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static uint64_t final_tx_ts;
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static uint64_t poll_rx_ts;
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static uint64_t resp_tx_ts;
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static uint64_t final_rx_ts;
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int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
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uint32_t tag_id = 0;
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uint32_t tag_id_recv = 0;
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uint32_t anc_id_recv = 0;
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uint8_t random_delay_tim = 0;
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double distance, dist_no_bias, dist_cm;
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uint32_t g_UWB_com_interval = 0;
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float dis_after_filter; //µ±Ç°¾àÀëÖµ
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LPFilter_Frac* p_Dis_Filter; //²â¾àÓõĵÍͨÂ˲¨Æ÷
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float range_lost_time = 0;
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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 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(RX_ANT_DLY); //ÉèÖýÓÊÕÌìÏßÑÓ³Ù
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dwt_settxantennadelay(TX_ANT_DLY); //ÉèÖ÷¢ÉäÌìÏßÑÓ³Ù
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}
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void Dw1000_App_Init(void)
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{
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//g_com_map[DEV_ID] = 0x0b;
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//tag_state=DISCPOLL;
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tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
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tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
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tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
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tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
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memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 2);
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memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
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memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
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memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 2);
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memcpy(&tx_near_msg[ANCHOR_ID_IDX], &dev_id, 2);
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memcpy(&tx_near_msg[TAG_ID_IDX], &dev_id, 2);
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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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u16 tag_time_recv[TAG_NUM_IN_SYS];
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u8 usart_send[25];
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u8 battary,button;
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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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float freqlost_count = 0;
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u8 regpoll_count;
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u32 id;
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void UWB_Wkup(void)
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{
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SPIx_CS_GPIO->BRR = SPIx_CS;
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delay_us(600);
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SPIx_CS_GPIO->BSRR = SPIx_CS;
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id = dwt_readdevid() ;
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while (0xDECA0130!=id)
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{
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u8 iderror_count = 0;
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id = dwt_readdevid() ;
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if(iderror_count++>100)
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{
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printf("UWBоƬID´íÎó");
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break;
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}
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}
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}
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#include "radio.h"
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#include "dw_mbx_anc.h"
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u8 lora_start_poll_buff[4] = {LORA_MSGTYPE_RANGEPOLL,'I','N','G'};
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uint16_t current_count,target_count;
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typedef enum{ Next_Poll_RANGE,
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Next_Poll_LORASYNC,
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}nextpoll_enum;
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#define UWB 0
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#define LORA 1
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static uint8_t lora_sendbuffer[40];
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static uint16_t wg_report_id=0xffff;
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uint8_t seq_num;
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static u16 checksum;
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#define SEQNUM_IDX 6 //±êÇ©±¨ÎÄÐòºÅ
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#define BAT_IDX 7 //±êÇ©µçÁ¿
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#define STATE_IDX 8
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#define ANCID_IDX 30 //УÑéÔÚ4*ancnum+ANCID_IDX λÖÃ
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#define LORA5_CHANNEL_FRQ 484
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#define LORA5_CHANNEL_SF 7
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uint8_t poll_state;
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void Lora_Poll(void)
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{
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SwitchLoraSettings(LORA5_CHANNEL_FRQ,LORA5_CHANNEL_SF,22);
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lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGMSGTOWG_GPS;
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lora_sendbuffer[MSG_LENGTH] = 30;
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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] = 0;
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// memcpy(&lora_sendbuffer[GPS_JINGDU_IDX],&gps_jingdu,8);
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// memcpy(&lora_sendbuffer[GPS_WEIDU_IDX],&gps_jingdu,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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// 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*0+ANCID_IDX);
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memcpy(&lora_sendbuffer[ANCID_IDX+0*4],&checksum,2);
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Radio.Send(lora_sendbuffer,ANCID_IDX+0*4+2);
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}
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nextpoll_enum next_poll_state;
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extern uint8_t sync_lost_count;
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extern uint8_t Lorahuifu_flag;
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extern int16_t intheight;
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extern u16 uwbdistance;
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void Tag_App(void)//·¢ËÍģʽ(TAG±êÇ©)
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{
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// SyncStateSwitch();
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if(poll_state==UWB) //¶ÁÈ¡±¾´ÎµÄ¹¤×÷״̬ ²â¾à»¹ÊÇͬ²½
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{
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poll_state=LORA;
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current_count=HAL_LPTIM_ReadCounter(&hlptim1);
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// g_com_map[LORA_POWER]=22;
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// g_com_map2[LORA_POWER]=22;
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SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],5,g_com_map[LORA_POWER]); //Çл»lora½ÓÊÕƵµã
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memcpy(&lora_start_poll_buff[ANC_ID_IDX],&g_com_map[DEV_ID],2);
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Radio.Send(lora_start_poll_buff, 4);
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UWB_Wkup();
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delay_us(700);
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MBXANCPoll();
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dwt_entersleep();
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// next_poll_state = Next_Poll_LORASYNC;
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}else{
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poll_state=UWB;
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Lora_Poll();
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if(intheight!=0)
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printf("¸ß¶ÈÖµ:%d\r\n",intheight);
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if(uwbdistance!=0)
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printf("UWB²â¾àÖµ:%d\r\n",uwbdistance);
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if(Lorahuifu_flag)
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{
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Lorahuifu_flag=0;
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printf("ÊÕµ½Íø¹Ø»Ø¸´,LORA³É¹¦\r\n");
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}
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// LoraSyncRecPoll();
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// if(GetRangeState()) //»ñÈ¡µ±Ç°²â¾à״̬£¬ÊÇ·ñ¿ªÆô¡£Èç¹û¿ªÆôÏ´ÎΪ²â¾à£¬·ñΪͬ²½
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// {
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// next_poll_state = Next_Poll_RANGE;
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// }else{
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// next_poll_state = Next_Poll_LORASYNC;
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// }
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}
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// Radio.Sleep();
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// if(next_poll_state == Next_Poll_LORASYNC) //É趨ÏÂÒ»´ÎµÄ»½ÐÑʱ¼ä
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// {
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//// if(sync_state==Sync_Lost)
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//// {
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//// target_count = GetLoraSyncCount()-(18000)/LPTIMER_LSB+sync_lost_count*1000;
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//// }else
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// {
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// target_count = GetLoraSyncCount()-(18000)/LPTIMER_LSB; //±ÈÉÏ´ÎÊÕµ½µÄloraÌáÇ°17ms»½ÐÑ£¨lora½ÓÊÕ´ó¸Å17ms£©£¬Èç¹ûÔÚͬ²½¼ä¸ôÄÚ£¬Ôò»á¿ìËÙ½øÈëÐÝÃß¡£
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// }
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// if(target_count<0)
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// target_count+=32768;
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// __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
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// }else{
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// target_count = GetUwbPollCount(); //²â¾àÌáÇ°2ms»½ÐÑ
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// __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
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// }
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}
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