/*
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* Copyright (c) 2019-2023 Beijing Hanwei Innovation Technology Ltd. Co. and
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* its subsidiaries and affiliates (collectly called MKSEMI).
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form, except as embedded into an MKSEMI
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* integrated circuit in a product or a software update for such product,
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* must reproduce the above copyright notice, this list of conditions and
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* the following disclaimer in the documentation and/or other materials
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* provided with the distribution.
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*
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* 3. Neither the name of MKSEMI nor the names of its contributors may be used
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* to endorse or promote products derived from this software without
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* specific prior written permission.
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*
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* 4. This software, with or without modification, must only be used with a
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* MKSEMI integrated circuit.
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*
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* 5. Any software provided in binary form under this license must not be
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* reverse engineered, decompiled, modified and/or disassembled.
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*
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* THIS SOFTWARE IS PROVIDED BY MKSEMI "AS IS" AND ANY EXPRESS OR IMPLIED
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* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
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* MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL MKSEMI OR CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
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* THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "mk_trace.h"
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#include "mk_wdt.h"
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#include "mk_calib.h"
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#include "mk_misc.h"
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#include "mk_flash.h"
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#include "libc_rom.h"
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#include <serial_at_cmd_app.h>
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#include <global_param.h>
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#include "board.h"
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#include "wsf_nvm.h"
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#include "mk_power.h"
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#include "Usart.h"
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#include "mk_adc.h"
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#include "mk_sleep_timer.h"
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#include "lis3dh_driver.h"
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#include "sn74hc595.h"
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#include "mk_4G.h"
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#include "UART.h"
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#include "AIR780EDriver.h"
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#include "Internet.h"
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#include "HIDO_ATLite.h"
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#include "HIDO_Timer.h"
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#include "TCPClient.h"
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#include "PCA9555.h"
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#include "WS2812.h"
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#include "dw_app_anchor.h"
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#include "ymodem.h"
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#include "mk_phy.h"
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#define DEBUG_MODE
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extern int simple_main(void);
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extern int temp_main(void);
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void uart_change_check(uint16_t gpio_state);
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#define TEST_UART_POLL_MODE 0
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#define TEST_UART_INTERUPT_MODE 1
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#define TEST_UART_DMA_MODE 2
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#define TEST_UART_MODE TEST_UART_DMA_MODE
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#define NUM_SAMPLES 1
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#define BIND_TRIGGER_TIME 60000
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#define MOTOR_COUNT_TIME 1
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#define WARING_LIMIT_TIME 10
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#define UPDATE_TIME 10
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extern uint8_t mUsartReceivePack[100];
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extern uint8_t mUsart2ReceivePack[150];
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extern uint8_t state5V_prase_flag,gps_prase_flag;
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extern int distance;
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extern uint8_t anchordata_num;
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uint32_t dev_id;
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uint8_t group_id;
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uint16_t tag_frequency;
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uint16_t disoffset;
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uint16_t warning_distance,prewarning_distance;
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int16_t fVoltage_mv,first_search_flag;
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uint8_t bat_percent,g_start_send_flag=1;
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uint8_t link_success_flag,motor_count;
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uint16_t gps_wait_count,gps_wait_count2;
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uint8_t state5v = 1;
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uint8_t motor_power_state=1,uwb_state,air780_power_state,gps_success_state,red_charge_state,green_charge_state,air780_success_state,first_motor_in_flag;
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float nomove_count=0;
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static uint32_t sample[NUM_SAMPLES] = {0};
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uint8_t recev_error_num,send_messgae_count,send_flag,control_state,power_low_flag;
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uint8_t flag_4g_usart_rx_state = 1; //4G ´®¿ÚRXµ±Ç°ÊÇ RX״̬£¬²»ÊÇGPIO״̬
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int input_5v_flag,air780e_flag1,air780e_flag2,air780e_flag3,air780e_flag4;
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extern uint8_t pca9555writedata_config[10];//ÔÝ´æ¼Ä´æÆ÷ËùÓÐÅäÖõÄÊý×é
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extern uint8_t pca9555writedata_output[10];//ÔÝ´æÊä³ö¸ßµÍµçƽÅäÖõÄÊý×é
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extern uint8_t pca9555writedata_input[10];//ÔÝ´æÊäÈë¼Ä´æÆ÷ËùÓÐÅäÖõÄÊý×é
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extern uint8_t pca9555writedata_polarity[10];//ÔÝ´æÊäÈ뼫ÐÔ·´×ª¼Ä´æÆ÷ËùÓÐÅäÖõÄÊý×é
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uint8_t temp_pca9555writedata_input[10];//ÔÝ´æÉÏÒ»´ÎÊäÈë¼Ä´æÆ÷ËùÓÐÅäÖõÄÊý×é
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Operation_step UWB_work_state;
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Commend_SendDate send_struct;
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struct ADC_CFG_T usr_adc_cfg = {
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.mode = ADC_MODE_CONTINUE, /* Selected single conversion mode */
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.clk_sel = ADC_CLK_HIGH, /* Selected 62.4M high speed clock */
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.vref_sel = ADC_SEL_VREF_INT, /* Using internal reference voltage (1.2V)*/
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.rate = 500000, /* ADC works at high frequency system clock, the maximum sampling rate is 2M */
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.channel_p = ADC_IN_EXTPIN0, /* ADC positive channel --> GPIO0 */
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.channel_n = ADC_IN_VREF, /* ADC negative channel --> Vref */
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.int_en = false,
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.dma_en = false, /* DMA support only in continue mode */
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.acc_num = 0,
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.high_pulse_time = 4,
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.settle_time = 1,
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};
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struct UART_CFG_T test_uart_cfg =
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{
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.parity = UART_PARITY_NONE,
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.stop = UART_STOP_BITS_1,
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.data = UART_DATA_BITS_8,
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.flow = UART_FLOW_CONTROL_NONE,
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.rx_level = UART_RXFIFO_CHAR_1,
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.tx_level = UART_TXFIFO_EMPTY,
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.baud = BAUD_9600,
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#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
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.dma_en = false,
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.int_rx = false,
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.int_tx = false,
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#elif (TEST_UART_MODE == TEST_UART_INTERUPT_MODE)
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.dma_en = false,
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.int_rx = true,
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.int_tx = true,
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#elif (TEST_UART_MODE == TEST_UART_DMA_MODE)
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.dma_en = true,
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.int_rx = false,
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.int_tx = false,
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#endif
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};
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void uart_receive_callback(void *dev, uint32_t err_code)
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{
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uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
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}
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void mcu_deep_sleep(void)
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{
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uint32_t lock;
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trace_flush();
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lock = int_lock();
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LOG_INFO(TRACE_MODULE_APP, "½øÈëÉî¶ÈÐÝÃß\r\n");
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gps_air780_power_change(0,0);//¹Ø±Õgps£¬4G
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sleep_timer_stop();
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//adc_close();
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power_enter_power_down_mode(1);
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//LOG_INFO(TRACE_MODULE_APP, "½øÈëÉî¶ÈÐÝÃß\r\n");
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sys_reset(0);
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int_unlock(lock);
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}
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static void adc_callback(void *data, uint32_t number)
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{
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uint32_t *result = (uint32_t *)data;
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for (uint16_t i = 0; i < number; i++)
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{
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// LOG_INFO(TRACE_MODULE_APP, "The voltage measured %d mv\r\n",
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// ADC_INTERNAL_VREF_MV + adc_code_to_mv((int16_t)*result, ADC_INTERNAL_VREF_MV));
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fVoltage_mv=ADC_INTERNAL_VREF_MV + adc_code_to_mv((int16_t)*result, ADC_INTERNAL_VREF_MV);
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fVoltage_mv=fVoltage_mv*2;
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if(fVoltage_mv < 3300)
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{
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bat_percent = 0;
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}
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else if(fVoltage_mv > 4100)
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{
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bat_percent = 100;
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}
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else
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{
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bat_percent = ((fVoltage_mv - 3300) /8);
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}
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}
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if(fVoltage_mv<3300)
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{
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power_low_flag=1;
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gps_air780_power_change(gps_power_state,0);//gpsÔÑù£¬¹Ø±Õ4G
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//LOG_INFO(TRACE_MODULE_APP, "µç³ØµçѹµÍÓÚ3.3V£¬4G£¬GPSÍ£Ö¹¹¤×÷\r\n");
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}else{
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power_low_flag=0;
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gps_air780_power_change(gps_power_state,1);//gpsÔÑù,¿ªÆô4G
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//LOG_INFO(TRACE_MODULE_APP, "µç³ØµçѹÕý³£,4G£¬GPS,Õý³£¹¤×÷\r\n");
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}
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PCA9555_Set_One_Value_Output(ADC_MINIUS,1);//À¸ß
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// LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
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}
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//void UartInit(void)
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//{
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//board_pins_config();
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//uart_open(UART_ID1, &test_uart_cfg);
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//board_debug_console_open(TRACE_PORT_UART0);
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//uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
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//}
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extern uint8_t gps_uwb_flag,gps_need_data_flag;
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uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0,userkey_state;
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uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag,flag_fenli_alarm = 0,fenli_alarm_count,delaysleep_count,enbale_blink_flag;
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int need_open_gps_count;
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uint32_t keystarttime,keystarttime2,keystarttime3;
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extern uint32_t get_in_num,get_out_num;
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//void MotorPoll(void)
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//{
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// if(UWB_work_state==UN_BIND) {
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// gps_uwb_flag=0;//¹Ø±ÕGPS
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// moter_open_uwb_flag=0;//¹Ø±ÕÕð¶¯
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// need_open_gps_count=0;//Çå0¼ÆÊýgps
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// } else { //°ó¶¨×´Ì¬ÏÂ
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// if(anchordata_num==1) {
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// if(distance<g_com_map[ALARM_DISTANCE1]) { //СÓÚÔ¤¾¯¾àÀë
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// fenli_alarm_count = 0;
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// if(flag_fenli_alarm)
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// {
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// flag_fenli_alarm = 0;
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// fenli_alarm_count = 0;
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// _4GAlarmUpload(2);
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// }
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// }
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// }
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// if(distance>g_com_map[ALARM_DISTANCE1]||anchordata_num==0)
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// {
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// if(fenli_alarm_count++>20)
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// {
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// if(!flag_fenli_alarm)
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// {
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// flag_fenli_alarm = 1;
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// _4GAlarmUpload(1);
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// }
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// }
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// }
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// if(distance<g_com_map[ALARM_DISTANCE1]) { //СÓÚÔ¤¾¯¾àÀë
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// if(flag_alam_state)
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// {
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// flag_alam_state = 0;
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// }
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//
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// need_open_gps_count=0;
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// moter_open_uwb_flag=0;//¹Ø±ÕÕð¶¯
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// gps_uwb_flag=0;//¹Ø±ÕGPS
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// } else if(g_com_map[ALARM_DISTANCE1]<=distance&&distance<=g_com_map[ALARM_DISTANCE2]) { //´óÓÚÔ¤¾¯¾àÀëСÓÚ±¨¾¯¾àÀë
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// need_open_gps_count++;
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// moter_open_uwb_flag=1;//¿ªÆôÕð¶¯
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// if(need_open_gps_count>=20) {
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// if(!flag_alam_state)
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// {
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// flag_alam_state = 1;
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// }
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// gps_uwb_flag=1;//¿ªÆôgps²â¾àÁ÷³Ì
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// need_open_gps_count=0;
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// }
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// } else if(distance>=g_com_map[ALARM_DISTANCE2]) { //´óÓÚ±¨¾¯¾àÀë
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// need_open_gps_count++;
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// moter_open_uwb_flag=1;//¿ªÆôÕð¶¯
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// if(need_open_gps_count>=20) {
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// if(!flag_alam_state)
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// {
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// flag_alam_state = 1;
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// }
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// gps_uwb_flag=1;//¿ªÆôgps²â¾àÁ÷³Ì
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// need_open_gps_count=0;
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// }
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//
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// }
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// if(anchordata_num==0) {
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// if(!flag_alam_state)
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// {
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// flag_alam_state = 1;
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// }
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// distance = 0x1ffff;
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// gps_uwb_flag=1;//¿ªÆôgps²â¾àÁ÷³Ì
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// moter_open_uwb_flag=1;//¿ªÆôÕð¶¯
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// need_open_gps_count=0;
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// }
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// }
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// }
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void IMUTask(void)
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{
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if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)
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{power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)ACCLERATE_DETECT_Pin, POWER_WAKEUP_LEVEL_HIGH);
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mcu_deep_sleep();
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}
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}
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void UserKeyTask(void)
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{
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if(!read_userkey_input_pca())
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{
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if(HIDO_TimerGetTick() - keystarttime3>2)
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{
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userkey_state = 1;
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keystarttime3 = HIDO_TimerGetTick();
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//UDPClient_UploadGPS();
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}
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// if(HIDO_TimerGetTick() - keystarttime2>10)
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// {
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//
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// g_com_map[CNT_RESTART] = 1;
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// }
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}else
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{
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keystarttime3 = HIDO_TimerGetTick();
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}
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}
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void PowerTask(void)
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{
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if(read_powerkey_input_pca())
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{
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if(HIDO_TimerGetTick() - keystarttime>2)
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{
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keystarttime = HIDO_TimerGetTick();
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PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//µÍµçƽ¹Ø±Õ
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PCA9555_Set_One_Value_Output(GPS_LED,0);//Êä³öµÍµçƽ¹Ø±ÕLED
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}
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// if(HIDO_TimerGetTick() - keystarttime2>10)
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// {
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//
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// g_com_map[CNT_RESTART] = 1;
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// }
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}else
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{
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keystarttime = HIDO_TimerGetTick();
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keystarttime2 = HIDO_TimerGetTick();
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}
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}
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void MinuteTask(void)
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{
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PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//ÀµÍ
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adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc²ÉÑù
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}
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void SecondTask(void)
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{static uint8_t second_count;
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if(second_count++>60)
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{
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second_count = 0;
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MinuteTask();
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}
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// if(!power_low_flag)
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// Gps_change();
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// else{
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// gps_power_state=0;//¹Ø±ÕGPS
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// update_led_power_state();
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// //³õʼ»¯GPS¼ÆÊýÊý¾Ý
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// gps_need_data_flag=1;
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// gps_wait_count2=0;
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// gps_wait_count=0;
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// }
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// //UWB״̬¼ì²â
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//if(!power_low_flag)//µÍ¹©µçϲ»ÐèÒª¼ì²âÖØÁ¬
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// {
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// if(IfTCPConnected())
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// {
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// TCP_reconnect_timer =0;
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// flag_TCP_reconnectting = 0;
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// } else {
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// if(TCP_reconnect_timer<30)//Èç¹ûTCPûÓÐÁ¬½Ó£¬Ã¿¸ô10·ÖÖÓ³¢ÊÔÁ¬½Ó30Ãë
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// {
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// flag_TCP_reconnectting = 1;
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// } else {
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// flag_TCP_reconnectting = 0;
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// }
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// if(TCP_reconnect_timer++>600)
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// {
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// TCP_reconnect_timer = 0;
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// }
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// }
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// }
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HIDO_TimerTick();
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if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//·ÀÖ¹Òç³ö
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nomove_count++;
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else{
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nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
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}
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}
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uint8_t tt=1;
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uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
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uint8_t uwb_enable_flag=0;
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void PwtagTimeTask(void)
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{
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for(uint8_t i=0; i<PWTAG_MAXGROUPNUM; i++)
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{
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if(pwtag.remain_time[i]>0)
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{
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pwtag.remain_time[i]--;
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}
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}
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}
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void check_input_change(void)
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{
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uint16_t gpio_state;
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gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];
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if(WAKE_UP_POSITION&gpio_state)
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{
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nomove_count=0;
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}
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//uart_change_check(gpio_state);
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}
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uint8_t Get_anchor_appdata_flag;
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uint8_t Get_anchor_appdata_num;
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extern uint8_t update_tag_time;
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static void sleep_timer_callback(void *dev, uint32_t time)
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{
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if(secondtask_count++%2==0)
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{
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flag_secondtask = 1;
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PwtagTimeTask();
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if(update_tag_time>0)
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{
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update_tag_time--;
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if(update_tag_time==0)
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{
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NVIC_SystemReset();
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}
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}
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if(Get_anchor_appdata_flag==1)
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{
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Get_anchor_appdata_num++;
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if(Get_anchor_appdata_num>40)
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{
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g_com_map[YAOGEIANC_UPWENJIAN_FLAG]=0;
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save_com_map_to_flash();
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delay_ms(300);
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NVIC_SystemReset();
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}
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}
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}else{
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flag_secondtask = 0;
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}
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if(delaysleep_count>0)
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delaysleep_count--;
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//GPS¹¤×÷Âß¼
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}
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static void move_handler(enum IO_PIN_T pin)
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{
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nomove_count=0;
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}
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static void pca_handler(enum IO_PIN_T pin)
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{
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PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//¶ÁÊäÈë¼Ä´æÆ÷µÄÖµ
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check_input_change();
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}
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uint8_t flag_4G_recdata;
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void _4gUsart_handler(enum IO_PIN_T pin)
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{
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//LOG_INFO(TRACE_MODULE_APP, "4G RX »½ÐÑ\r\n");
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flag_4G_recdata = 1;
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delaysleep_count = 3;
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}
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extern uint16_t ip0,ip1,ip2,ip3,port;
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extern uint8_t gps_4g_flag;
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extern uint8_t gps_need_data_flag,gps_open_flag;
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uint8_t uwb_ch;
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void Program_Init(void)
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{
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Usart1ParseDataCallback = UsartParseDataHandler;//Ðè¸ÄΪĬÈÏΪgps´¦Àí£¬UsartParseDataHandlerΪÉý¼¶´¦Àíµ±µ÷ÊÔʱºò¸ÄΪ
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parameter_init_anchor();//g_com_map±í³õʼ»¯½ÇɫĬÈÏΪ»ùÕ¾
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dev_id=g_com_map[DEV_ID];//ÕâÀﲻ̫¶Ô
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group_id=g_com_map[GROUP_ID];//×éID
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// tag_frequency = 1000/g_com_map[COM_INTERVAL];//²â¾àƵÂÊÕâ¸ö´æµÄÊDzâ¾àʱ¼ä
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memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
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// g_com_map[ALARM_DISTANCE1] = 40;
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// g_com_map[ALARM_DISTANCE2] = 40;
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warning_distance=g_com_map[ALARM_DISTANCE1];
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prewarning_distance=g_com_map[ALARM_DISTANCE2];
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send_struct.warnDistence=warning_distance;
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send_struct.alarmDistence=prewarning_distance;//¸üб¨¾¯¾àÀë
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memcpy(&send_struct.gunLableId,&g_com_map[BIND_DEV_ID],2);//¸üаó¶¨ID
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send_struct.tagId=dev_id;//¸üÐÂÉ豸ID
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// uwb_ch=g_com_map[NEARBASE_ID1];
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// if(g_com_map[BIND_DEV_ID]==0)
|
// {
|
// UWB_work_state = UN_BIND;
|
// }else{
|
// UWB_work_state = SEARCH_DEV;
|
// }
|
//g_com_map[SEND_4G_SECOND]
|
if(g_com_map[SEND_4G_SECOND]<30)
|
{
|
gps_open_flag=0;
|
}else{
|
gps_open_flag=1;
|
}
|
g_com_map[MODBUS_MODE] = 0;
|
log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
|
ip0 = (g_com_map[TCP_IP_0]>>12&0xf)*1000+(g_com_map[TCP_IP_0]>>8&0xf)*100+(g_com_map[TCP_IP_0]>>4&0xf)*10+(g_com_map[TCP_IP_0]&0xf);
|
ip1 = (g_com_map[TCP_IP_1]>>12&0xf)*1000+(g_com_map[TCP_IP_1]>>8&0xf)*100+(g_com_map[TCP_IP_1]>>4&0xf)*10+(g_com_map[TCP_IP_1]&0xf);
|
ip2 = (g_com_map[TCP_IP_2]>>12&0xf)*1000+(g_com_map[TCP_IP_2]>>8&0xf)*100+(g_com_map[TCP_IP_2]>>4&0xf)*10+(g_com_map[TCP_IP_2]&0xf);
|
ip3 = (g_com_map[TCP_IP_3]>>12&0xf)*1000+(g_com_map[TCP_IP_3]>>8&0xf)*100+(g_com_map[TCP_IP_3]>>4&0xf)*10+(g_com_map[TCP_IP_3]&0xf);
|
port = g_com_map[TCP_PORT];
|
g_com_map[VERSION] = (1<<8)|0;
|
LOG_INFO(TRACE_MODULE_APP,"É豸ID: %x .\r\n",dev_id);
|
LOG_INFO(TRACE_MODULE_APP,"¹Ì¼þ°æ±¾:4G-GPS¶¨Î»ÊÖ»· V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
|
LOG_INFO(TRACE_MODULE_APP,"·þÎñÆ÷µØÖ·: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port);
|
}
|
|
|
void uart_change_check(uint16_t gpio_state)
|
{
|
if(INPUT_5V_POSITION&gpio_state)
|
{
|
if(state5v==0)
|
{
|
state5v=1;
|
state5V_prase_flag=state5v;
|
gps_prase_flag=0;//½â³ýgps½âÎö
|
uart1_change_from_gps_to_debug();//²âÊÔ
|
PCA9555_Set_One_Value_Output(MCU_A,1);//Êä³ö¸ßµçƽÇл»Îª5VÊäÈë
|
}
|
}else {
|
if(state5v==1)
|
{
|
g_com_map[MODBUS_MODE] = 0;
|
state5v=0;
|
state5V_prase_flag=state5v;
|
gps_prase_flag=1;//»Ö¸´gps½âÎö
|
uart1_change_from_debug_to_gps();//²âÊÔ
|
PCA9555_Set_One_Value_Output(MCU_A,0);//Êä³öµÍµçƽÇл»ÎªGPS
|
}
|
}
|
}
|
void IdleTask(void)
|
{
|
//if(read_5v_input_pca())
|
// {
|
// if(state5v==0)
|
// {
|
//// state5v=1;
|
//// state5V_prase_flag=state5v;
|
//// gps_prase_flag=0;//½â³ýgps½âÎö
|
//// uart1_change_from_gps_to_debug();//²âÊÔ
|
//// PCA9555_Set_One_Value_Output(MCU_A,1);//Êä³ö¸ßµçƽÇл»Îª5VÊäÈë
|
// }
|
// }else {
|
// if(state5v==1)
|
// {
|
//// g_com_map[MODBUS_MODE] = 0;
|
//// state5v=0;
|
//// state5V_prase_flag=state5v;
|
//// gps_prase_flag=1;//»Ö¸´gps½âÎö
|
//// uart1_change_from_debug_to_gps();//²âÊÔ
|
//// PCA9555_Set_One_Value_Output(MCU_A,0);//Êä³öµÍµçƽÇл»ÎªGPS
|
// }
|
// }
|
UART0_CheckReceive();
|
}
|
int bind_check(void)
|
{
|
if(g_com_map[BIND_DEV_ID]!=0x00)
|
{
|
return 1;
|
//°ó¶¨ÐÅϢΪ1˵Ã÷É豸ÒѾ±»Ï·¢°ó¶¨
|
} else {
|
return 0;
|
//°ó¶¨ÐÅϢΪ0˵Ã÷É豸δ±»°ó¶¨
|
}
|
}
|
//void check_if_in_search(void)
|
//{
|
// if(link_success_flag==1) { //Èç¹ûµÚÒ»´Î²â¾àÊÕ°ü³É¹¦ÄÇôÔò½øÈëÁ¬½Ó²â¾àģʽ
|
// UWB_work_state=LINK_SUCCESS;
|
// } else { //·ñÔò½øÈëËÑË÷ģʽ
|
// UWB_work_state=SEARCH_DEV;
|
// if(first_search_flag==0)
|
// first_search_flag=1;
|
// }
|
//}
|
void boot_deinit(void)
|
{
|
//½«bootÖд®¿Ú·µ»ØÆÕͨgpio
|
// UART0 TX/RX
|
io_pin_mux_set(IO_PIN_5, IO_FUNC0);
|
io_pin_mux_set(IO_PIN_6, IO_FUNC0);
|
// UART1 RX/TX
|
io_pin_mux_set(IO_PIN_10, IO_FUNC0);
|
io_pin_mux_set(IO_PIN_9, IO_FUNC0);
|
uart_close(UART_ID1);//½â°óÔÀ´´®¿Ú1
|
uart_close(UART_ID0);//½â°óÔÀ´´®¿Ú0
|
}
|
uint8_t flag_4guart_needinit=0;
|
uint8_t index1,index2,index3;
|
int16_t Voltage_input;
|
int tt2;
|
int test1,test3;
|
uint32_t test4;
|
void Chuanshuwenjian_Poll()
|
{
|
if(g_com_map[YAOGEIANC_UPWENJIAN_FLAG]==1)
|
{
|
calib_chip();
|
wdt_close(WDT_ID0);
|
Get_anchor_appdata_flag=1;
|
struct UART_CFG_T test_uart_cfg =
|
{
|
.parity = UART_PARITY_NONE,
|
.stop = UART_STOP_BITS_1,
|
.data = UART_DATA_BITS_8,
|
.flow = UART_FLOW_CONTROL_NONE,
|
.rx_level = UART_RXFIFO_CHAR_1,
|
.tx_level = UART_TXFIFO_EMPTY,
|
.baud = BAUD_115200,
|
.dma_en = true,
|
.int_rx = false,
|
.int_tx = false,
|
|
};
|
flash_open(FLASH_ID0, NULL);
|
//uart_open(UART_ID1, &test_uart_cfg);
|
uart_open(UART_ID0, &test_uart_cfg);
|
//uart_receive(UART_ID1, trx_buf, 1, uart_receive_callback);
|
Serial0PutString("MK8000-Îļþ´«ÊäÆô¶¯\r\n");
|
// Get_anchor_appdata_flag=1;
|
// HAL_TIM_Base_Start_IT(&htim4);
|
while(1)
|
{
|
if(SerialDownload()==0)
|
{
|
// Get_anchor_appdata_flag=0;
|
g_com_map[YAOGEIANC_UPWENJIAN_FLAG]=0;
|
save_com_map_to_flash();
|
delay_ms(300);
|
// Get_anchor_appdata_flag=0;
|
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
|
}
|
// else{
|
// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
|
// }
|
}
|
}
|
}
|
uint16_t final_bag_num;
|
extern uint8_t Lora_qingqiu_flag;
|
uint8_t send_lora_data[250];
|
uint16_t mubiao_anchor_ID;
|
uint16_t Lora_qingqiu_bao;
|
uint8_t jindu;
|
uint8_t shengji_changdu;
|
uint8_t Dtu_shengji_jindu[20]= {0x55,0xAA,0x34,0x05};
|
extern uint32_t tempflag;
|
uint32_t tx_en_start_u32;
|
uint32_t tx_en_start_u321;
|
uint8_t baifenbi=5;
|
void Lora_upanc_ing_Poll( void )
|
{ uint16_t crc16;
|
// if(Lora_upanc_flag==1)
|
// {
|
// Lora_deinit_Poll();
|
if(Lora_qingqiu_flag==1)
|
{
|
CloseUWB();
|
// mubiao_anchor_ID=0x1872;
|
final_bag_num=(g_com_map[YAOGEIANC_UPWENJIAN_DAXIAO]/ONE_BAG_DAXIAO)+1;//¼ÆËãÒ»¹²Òª·¢¶¼ÊÇ°ü
|
// final_bag_num=651;
|
Lora_qingqiu_flag=0;
|
send_lora_data[MSG_TYPE_IDX]=LORA_MSGTYPE_UPDATEFILE_RESP;//LORA MSG TYPE ¶¨Òå
|
memcpy(&send_lora_data[SOURCE_ID_IDX],&dev_id,2);//×Ô¼ºID Õ¼ÓÃ2¸ö×Ö½Ú
|
memcpy(&send_lora_data[DEST_ID_IDX],&mubiao_anchor_ID,2);//±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
|
memcpy(&send_lora_data[MUQIAN_BAG],&Lora_qingqiu_bao,2);
|
memcpy(&send_lora_data[DATA_IDX], (HIDO_VOID *)(APP_CONFIG_APPLICATION_ADDRESS+Lora_qingqiu_bao*ONE_BAG_DAXIAO), ONE_BAG_DAXIAO);
|
crc16=Cal_CRC16(send_lora_data,DATA_IDX+ONE_BAG_DAXIAO);
|
memcpy(&send_lora_data[DATA_IDX+ONE_BAG_DAXIAO],&crc16,2);
|
// Lora_status=1;
|
jindu=(Lora_qingqiu_bao*100)/final_bag_num;
|
// LOG_INFO(TRACE_MODULE_APP, "Éý¼¶½ø¶È%d\r\n",jindu);
|
Dtu_shengji_jindu[4]=jindu;
|
memcpy(&Dtu_shengji_jindu[5],&mubiao_anchor_ID,2);
|
if(jindu>baifenbi)
|
{
|
uart_send(UART_ID0, Dtu_shengji_jindu,9, NULL);
|
baifenbi=baifenbi+10;
|
}
|
tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(100U);//·¢ËͱØÐëÒªÑÓʱ·¢ËͲſÉÒÔÓÃÓÚ²â¾à·ñÔòÁ¢¼´·¢ËÍ»á»ñȡʱ¼ä´Á²»¶Ô£¬ÐèÒª¼ÆËã³ÌÐòÔËÐÐʱ¼ä£¬±ÜÃâÉèÖùýȥʱ¼ä
|
tempflag=uwb_tx(send_lora_data,DATA_IDX+ONE_BAG_DAXIAO+2+2,1,tx_en_start_u32);//Á¢¼´·¢ËÍ
|
tx_en_start_u321= phy_timer_count_get();
|
// while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É
|
|
}
|
// }
|
}
|
extern uint8_t shengji_flag;
|
int main(void)
|
{
|
board_clock_run();
|
boot_deinit();
|
board_pins_config();
|
board_debug_console_open_baud(TRACE_PORT_UART0,BAUD_921600);
|
// Reset reason
|
reset_cause_get();
|
reset_cause_clear();
|
Program_Init();
|
sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
|
sleep_timer_start(__MS_TO_32K_CNT(500));//²âÊÔ
|
Chuanshuwenjian_Poll();
|
//×¢Òâ´®¿ÚÒ»²¨ÌØÂʸÄΪ9600ÁËΪÁËÄܺÍGPSͨÐÅÉÏ
|
// Load calibration parameters from NVM
|
uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
|
uint32_t external_flash = (REG_READ(0x40010030) >> 28) & 0x3;
|
if (internal_flash || external_flash == 1)
|
{
|
WsfNvmInit();
|
board_calibration_params_load();
|
flash_close(FLASH_ID0);
|
}
|
else
|
{
|
board_calibration_params_default();
|
}
|
|
// Chip calibration
|
calib_chip();
|
|
// Disable watchdog timer
|
wdt_close(WDT_ID0);
|
LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
|
|
// open system timer
|
//sys_timer_open();
|
|
// TODO 4G
|
// Uart_Register(UART_ID_4G, UART_ID0);
|
// Internet_Init();
|
// TCPClient_Init();
|
|
gpio_open();
|
LED_output_init();//ÅäÖÃadcGNDÒý½Å
|
// battery_monitor_open();
|
// Voltage_input=battery_monitor_get();
|
// battery_monitor_close();
|
|
adc_open(&usr_adc_cfg);
|
|
// IIC2_Init();
|
Accelerometer_Init();
|
// PCA9555_init();
|
if(!read_5v_input_pca())
|
{
|
Set4LEDColor(BLUE,GREEN,WHITE,GREEN);
|
delay_ms(500);
|
Set4LEDColor(RED,WHITE,RED,WHITE);
|
delay_ms(500);
|
//Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
|
}
|
//IO_control_init();
|
// io_pin_mux_set(SCL_PIN, IO_FUNC0);//²âÊÔ²â¾à²¨ÐÎ
|
// gpio_pin_set_dir(SCL_PIN , GPIO_DIR_IN, 0);
|
// io_pull_set(SCL_PIN , IO_PULL_UP, IO_PULL_UP_LEVEL4);
|
//gps_air780_power_change(0,1);//¿ªÆôgps£¬4G
|
//¼ÓËٶȼƳõʼ»¯±ØÐëÔÚIO_control_init֮ǰÒòΪ¸´ÓÃSDAÒý½Å
|
gpio_pin_clr(ADC_GND_ENABLE);
|
Program_Init();
|
//uart_open(UART_ID1, &test_uart_cfg);
|
// uart1_change_from_gps_to_debug();
|
//Uart1GpsRecDebugSend();
|
uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
|
|
// Initialize low power mode
|
power_init();
|
//AIR780E_Reset(); //4GÄ£¿éÖØÆô£¬ºÄʱ1.5Ãë,Õâ¸öÊÇÎÞ·¨Í¬²½µÄ¹Ø¼ü
|
sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
|
sleep_timer_start(__MS_TO_32K_CNT(500));//²âÊÔ
|
//sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//²âÊÔ
|
// board_5V_input_init(voltage_input_handler);
|
// PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//ÀµÍ
|
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc²ÉÑù
|
board_acceleration_detection_init(move_handler);
|
pca_input_detection_init(pca_handler);//pca¼ì²âÊäÈë
|
Uwb_init();
|
OpenUWB();
|
LOG_INFO(TRACE_MODULE_APP,"³õʼ»¯_uwb_rx´ò¿ª\r\n");
|
|
//board_4GUsart_detection_init(_4gUsart_handler);
|
while (1)
|
{
|
if(!shengji_flag)
|
uwb_app_poll();
|
// Lora_upanc_ing_Poll();
|
//test4=gpio_pin_get_val(SCL_PIN);
|
//UWBPoll();
|
// if(!power_low_flag)//È·ÈÏÊÇ·ñÐÝÃßϲſªÆô¹¦ÄÜ
|
// {
|
// if(flag_TCP_reconnectting||IfTCPConnected())
|
// {
|
// // LOG_INFO(TRACE_MODULE_APP, "´¦Àí4GÈÎÎñ\r\n");
|
//
|
//// if(flag_4guart_needinit)
|
//// {
|
//// flag_4guart_needinit = 0;
|
//// AIR780EUartInit();
|
//// }//yuan
|
// if(flag_4G_recdata==1)
|
// {
|
// flag_4G_recdata = 2;
|
//
|
// //LOG_INFO(TRACE_MODULE_APP, "ÔËÐÐSocket_RecvAll tt2 %d\r\n",tt2);
|
// Socket_RecvAll();
|
// }
|
//// air780_led_on();
|
// Internet_Poll();
|
// HIDO_ATLitePoll();
|
// HIDO_TimerPoll();
|
// TCPClient_Poll();
|
//// air780_led_off();
|
// }
|
// }
|
if(flag_secondtask)
|
{
|
flag_secondtask = 0;
|
SecondTask();
|
|
}
|
// PowerTask();
|
// IMUTask();
|
// UserKeyTask();
|
IdleTask();
|
#ifndef DEBUG_MODE
|
//if(flag_sleeptimer)
|
// if(!gps_need_data_flag&&!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&Socket_IsSendQueueEmpty(0))||!flag_TCP_reconnectting&&!IfTCPConnected())) //½øÈëÐÝÃßÌõ¼þ£¨Óë¹Øϵ£¬È«Âú×ã²Å½ø£©£º1.ûÓÐ5VÊäÈë 2 TCPÒÑÁ¬½Óʱ·¢ËͶÓÁÐΪ¿Õ||TCPÎÞÁ¬½Óʱ²»ÔÚÖØÁ¬×´Ì¬¡£
|
// {
|
// if(!flag_4guart_needinit)
|
// {
|
// LOG_INFO(TRACE_MODULE_APP, "4G RX Öжϴò¿ª\r\n");
|
// board_4GUsart_detection_init(_4gUsart_handler);
|
|
// }
|
// flag_sleeptimer =0;
|
//LOG_INFO(TRACE_MODULE_APP, "½øÈëÐÝÃß\r\n");
|
// flag_4guart_needinit = 1;
|
|
// trace_flush();
|
// uint32_t lock = int_lock();
|
// //LOG_INFO(TRACE_MODULE_APP, "½øÈëµÍ¹¦ºÄ");
|
// power_enter_power_down_mode(0);
|
// int_unlock(lock);
|
// }//yuan
|
|
if(delaysleep_count==0)
|
if(!gps_power_state&&!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&AIR780E_IsIPIdle()&&Socket_IsSendQueueEmpty(0))||((!flag_TCP_reconnectting)&&!IfTCPConnected())||power_low_flag))
|
{
|
// test1=gpio_pin_get_val(_4G_USART_RX_Pin);
|
uint32_t lock;
|
//flag_4guart_needinit = 1;
|
// Internet_Poll();
|
// HIDO_ATLitePoll();
|
// HIDO_TimerPoll();
|
// TCPClient_Poll();
|
|
// delay_us(300000);
|
trace_flush();
|
lock = int_lock();
|
power_enter_power_down_mode(0);
|
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
|
// test3=gpio_pin_get_val(_4G_USART_RX_Pin);
|
//LOG_INFO(TRACE_MODULE_APP, "½øÈëÐÝÃß\r\n");
|
int_unlock(lock);
|
}
|
|
#endif
|
}
|
}
|
