#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 "DBG.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 boot_deinit(void);
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void upload_apppoll();
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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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#define UWB_OPEN_COUNT 1
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#define UWB_MEASUREMENT_INTERVAL 5
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#define UWB_MEASUREMENT_INTERVAL_SLEEP 60
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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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uint16_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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typedef enum
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{ UN_BIND=0,
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LINK_SUCCESS,
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SEARCH_DEV,
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} Operation_step;
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Operation_step UWB_work_state;
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// ¶¨Òå״̬
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typedef enum {
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STATE_NORMAL, // Õý³£×´Ì¬£¬3Ãë²â¾àÉÏ´«Ò»´Î
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STATE_SLEEP // ÐÝÃß״̬£¬1·ÖÖÓ²â¾àÉÏ´«Ò»´Î
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} CountState_t;
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uint32_t uwb_time_count = 0; // ¶¨Ê±Æ÷¼ÆÊýÖµ
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//uint32_t step_count = 0; // ²½Êý¼ÆÊý
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//uint32_t last_step_count = 0; // ÉÏÒ»´Î²½Êý
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CountState_t current_state = STATE_NORMAL; // µ±Ç°×´Ì¬
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uint32_t state_start_time = 0; // ״̬¿ªÊ¼Ê±¼ä
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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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uint8_t deep_sleep_falg=1;
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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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deep_sleep_falg=0;
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PCA9555_Set_One_Value_Output(LED_POWER,0);//Êä³öµÍµçƽ¹Ø±ÕLED
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PCA9555_Set_One_Value_Output(GPS_POWER,0);//¹Ø±Õgps£¬4G
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PCA9555_Set_One_Value_Config(MAIN_RI,0);//ÅäÖÃ4G»½ÐÑÒý½ÅΪÊäÈë
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// PCA9555_Set_One_Value_Output(MAIN_RI,1);
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boot_deinit();
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CloseUWB();
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PCA9555_Set_One_Value_Output(AIR780E_ENBALE,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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// delay_us(200000);
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// sys_reset(0);
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//// LOG_INFO(TRACE_MODULE_APP, "´ÓÐÝÃß³öÀ´\r\n");
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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 > 4200)
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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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}
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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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uint8_t flag_4G_recdata;
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uint8_t ledonflag;
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uint32_t ledontime;
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extern uint8_t flag_first_TCPconnect;
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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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power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)PCA_INPUT_DETECT, POWER_WAKEUP_LEVEL_LOW);
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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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delay_ms(1000);
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if(!read_userkey_input_pca())
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{
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userkey_state = 1;
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keystarttime3 = HIDO_TimerGetTick();
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flag_first_TCPconnect = 1;
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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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delay_ms(1000);
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if(read_powerkey_input_pca())
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{
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rtkled=WHITE;
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uwbled=WHITE;
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led4g=WHITE;
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powerled=WHITE;
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Set4LEDColor(uwbled,rtkled,led4g,powerled);
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delay_ms(500);
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keystarttime = HIDO_TimerGetTick();
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PCA9555_Set_One_Value_Output(LED_POWER,0);//Êä³öµÍµçƽ¹Ø±ÕLED
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PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
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PCA9555_Set_One_Value_Output(GPS_POWER,0);//¹ØGPS
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PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//µÍµçƽ¹Ø±Õ
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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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delay_ms(100);
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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++>120)
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{
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second_count = 0;
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MinuteTask();
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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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uint8_t input5v_time;
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extern uint8_t taglist_num;
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uint8_t gps_ntripsend;
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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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input5v_time=1;
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flag_secondtask = 1;
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#ifdef UWB_1_5HZ
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uwb_time_count++;
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#endif
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if(!read_5v_input_pca())
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{
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if(bat_percent>15)
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{
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powerled = BLUE;
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}else{
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powerled = RED;
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}
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ledonflag=1;
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// ledontime=HIDO_TimerGetTick();
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Set4LEDColor(uwbled,rtkled,led4g,powerled);
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// uart_send(UART_ID1, ceshidata, 50,NULL);
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}
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input5v_time=1;
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if(taglist_num==0)
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{
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// CloseUWB();
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// Uwb_init();
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// OpenUWB();
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}
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upload_apppoll();
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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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}
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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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// uint16_t gpio_state;
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// gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];
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}
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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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uint8_t gps_need_data_flag,gps_open_flag;
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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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// g_com_map[GROUP_ID]=9;
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group_id=g_com_map[GROUP_ID];//×éID
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memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
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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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tag_frequency = 1000/g_com_map[COM_INTERVAL];
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// g_com_map[IP_0]=111;
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// g_com_map[IP_1]=198;
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// g_com_map[IP_2]=60;
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// g_com_map[IP_3]=6;
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// g_com_map[PORT]=6666;
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// g_com_map[IP_0]=117;
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// g_com_map[IP_1]=72;
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// g_com_map[IP_2]=111;
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// g_com_map[IP_3]=237;
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// g_com_map[PORT]=7000;
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//
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// g_com_map[TCP_IP_0]=111;
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// g_com_map[TCP_IP_1]=198;
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// g_com_map[TCP_IP_2]=60;
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// g_com_map[TCP_IP_3]=6;
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// g_com_map[TCP_PORT]=1234;
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/*
|
RTCMMODE_NONE,
|
RTCMMODE_TCP,
|
RTCMMODE_NTRIP,
|
*/
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// g_com_map[RTCMMODE_INDEX] = RTCMMODE_NTRIP;
|
|
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// snprintf((char *)&g_com_map[NTRIP_HOST_INDEX], 32, "140.143.212.42");
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// g_com_map[NTRIP_PORT_INDEX] = HIDO_UtilStrToInt("8005");
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//// snprintf((char *)&g_com_map[NTRIP_PORT_INDEX], 32, "8005");
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// snprintf((char *)&g_com_map[NTRIP_USERNANME_INDEX], 32, "test005");
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// snprintf((char *)&g_com_map[NTRIP_PASSWORD_INDEX], 32, "Hxzk0228");
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// snprintf((char *)&g_com_map[NTRIP_SOURCENAME_INDEX], 32, "RTCM32_GNSS2");
|
|
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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];
|
g_com_map[VERSION] = (1<<8)|8;
|
|
|
LOG_INFO(TRACE_MODULE_APP,"É豸ID: %x .\r\n",dev_id);
|
LOG_INFO(TRACE_MODULE_APP,"¹Ì¼þ°æ±¾:4G-GPS¶¨Î»¹¤¿¨ 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",g_com_map[IP_0],g_com_map[IP_1],g_com_map[IP_2],g_com_map[IP_3],g_com_map[PORT]);
|
if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
|
{
|
LOG_INFO(TRACE_MODULE_APP,"TCP_RTCMģʽ,·þÎñÆ÷µØÖ·: %d.%d.%d.%d:%d.\r\n",g_com_map[TCP_IP_0],g_com_map[TCP_IP_1],g_com_map[TCP_IP_2],g_com_map[TCP_IP_3],g_com_map[TCP_PORT]);
|
}
|
else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
|
{
|
LOG_INFO(TRACE_MODULE_APP,"NtripHost:%s.\r\n",(char *)&g_com_map[NTRIP_HOST_INDEX]);
|
LOG_INFO(TRACE_MODULE_APP,"NtripPort:%d.\r\n",g_com_map[NTRIP_PORT_INDEX]);
|
LOG_INFO(TRACE_MODULE_APP,"NtripUsername:%s.\r\n",(char *)&g_com_map[NTRIP_USERNANME_INDEX]);
|
LOG_INFO(TRACE_MODULE_APP,"NtripPassword:%s.\r\n",(char *)&g_com_map[NTRIP_PASSWORD_INDEX]);
|
LOG_INFO(TRACE_MODULE_APP,"NtripSourcename:%s.\r\n",(char *)&g_com_map[NTRIP_SOURCENAME_INDEX]);
|
}
|
else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NONE)
|
{
|
LOG_INFO(TRACE_MODULE_APP,"µ¥µã¶¨Î»Ä£Ê½Ä£Ê½. \r\n");
|
}
|
delay_ms(500);
|
}
|
uint32_t adctick = 0;
|
uint8_t only_one_flag;
|
uint16_t chongman_time;
|
uint8_t bat_percent_old=100;
|
uint8_t input5vflag;
|
extern uint8_t ota_flag;
|
void IdleTask(void)
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{
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if(read_5v_input_pca())
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{
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if(state5v==0)
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{
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state5v=1;
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state5V_prase_flag=state5v;
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gps_prase_flag=0;//½â³ýgps½âÎö
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uart1_change_from_gps_to_debug();//²âÊÔ
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PCA9555_Set_One_Value_Output(MCU_A,1);//Êä³ö¸ßµçƽÇл»Îª5VÊäÈë
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}
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chongman_time=0;
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only_one_flag=0;
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uwbled=0;
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rtkled=0;
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led4g=0;
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powerled=0;
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// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
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while(1)
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{
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nomove_count = 0;
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// adctick = HIDO_TimerGetTick();
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if(HIDO_TimerGetTick()-adctick>600) //10·ÖÖÓ²ÉÑùÒ»´Î µçÁ¿
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{
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chongman_time=chongman_time+60;
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adctick = HIDO_TimerGetTick();
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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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if(bat_percent>=99&&!only_one_flag)
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{
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only_one_flag=1;
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chongman_time=0;
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}
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if(bat_percent>=99&&chongman_time>=180)
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{
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powerled = GREEN;
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}else{
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powerled = RED;
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}
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if(DBG_GetMode() == DBG_MODE_SHELL)
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{
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if(ota_flag==1)
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{
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// OTA_Poll();
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// HTTPClient_Poll();
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}
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else
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{
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uwb_app_poll();
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}
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Internet_Poll();
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HIDO_TimerPoll();
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HIDO_ATLitePoll();
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TCPClient_Poll();
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if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
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{TCPClient_Poll_1();}
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if(flag_secondtask)
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{
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flag_secondtask = 0;
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SecondTask();
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}
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UserKeyTask();
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}
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UART_CheckReceive();
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if(flag_secondtask)
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{
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flag_secondtask = 0;
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SecondTask();
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}
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if(DBG_GetMode() == DBG_MODE_SHELL)
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{
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Set4LEDColor(uwbled,rtkled,led4g,powerled);
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if(g_com_map[CNT_RESTART]==1)
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{
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g_com_map[CNT_RESTART]=0;
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save_com_map_to_flash();
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NVIC_SystemReset();
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}
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}
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else
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{
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Set4LEDColor(0,0,0,powerled);
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}
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if(input5v_time)
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{
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if(!read_5v_input_pca())
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{
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break;
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}
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}
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}
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NVIC_SystemReset();
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input5vflag=1;
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}
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else
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{
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if(state5v==1)
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{
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g_com_map[MODBUS_MODE] = 0;
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state5v=0;
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state5V_prase_flag=state5v;
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gps_prase_flag=1;//»Ö¸´gps½âÎö
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uart1_change_from_debug_to_gps();//²âÊÔ
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PCA9555_Set_One_Value_Output(MCU_A,0);//Êä³öµÍµçƽÇл»ÎªGPS
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}
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}
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UART_CheckReceive();
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if(g_com_map[CNT_RESTART]==1)
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{
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g_com_map[CNT_RESTART]=0;
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NVIC_SystemReset();
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}
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if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
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{
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NVIC_SystemReset();
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}
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HIDO_TimerPoll();
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if(ledonflag==1)
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{
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ledonflag=0;
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uwbled=0;
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rtkled=0;
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led4g=0;
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powerled=0;
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Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
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}
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}
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void boot_deinit(void)
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{
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//½«bootÖд®¿Ú·µ»ØÆÕͨgpio
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// UART0 TX/RX
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io_pin_mux_set(IO_PIN_5, IO_FUNC0);
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io_pin_mux_set(IO_PIN_6, IO_FUNC0);
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gpio_pin_set_dir(IO_PIN_5 , GPIO_DIR_OUT, 0);
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gpio_pin_set_dir(IO_PIN_6 , GPIO_DIR_OUT, 0);
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// UART1 RX/TX
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io_pin_mux_set(IO_PIN_10, IO_FUNC0);
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io_pin_mux_set(IO_PIN_9, IO_FUNC0);
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uart_close(UART_ID1);//½â°óÔÀ´´®¿Ú1
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uart_close(UART_ID0);//½â°óÔÀ´´®¿Ú0
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}
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extern uint32_t uwb_time_count;
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uint8_t GPS_UPLOAD_FLAG=0;
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void upload_apppoll()
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{
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uint32_t elapsed_time_jibu;
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#ifdef UWB_1_5HZ
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|
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switch (current_state)
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{
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case STATE_NORMAL:
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elapsed_time_jibu = uwb_time_count - state_start_time;
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switch(elapsed_time_jibu)
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{
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case UWB_OPEN_COUNT:
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CloseUWB();
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// uwbled = LEDOFF;
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UWBSendUDPTask();
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GPS_UPLOAD_FLAG=1;
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break;
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case UWB_MEASUREMENT_INTERVAL:
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OpenUWB();
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// uwbled = WHITE;
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state_start_time = uwb_time_count;
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break;
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}
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break;
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case STATE_SLEEP:
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elapsed_time_jibu = uwb_time_count - state_start_time;
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switch(elapsed_time_jibu)
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{
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case UWB_OPEN_COUNT:
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CloseUWB();
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break;
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case UWB_MEASUREMENT_INTERVAL_SLEEP:
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OpenUWB();
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state_start_time = uwb_time_count;
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break;
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}
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break;
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}
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#endif
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}
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uint8_t flag_4guart_needinit=0;
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uint8_t index1,index2,index3;
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int16_t Voltage_input;
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int tt2;
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int test1,test3;
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uint32_t test4;
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extern uint8_t receive_flag;
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int main(void)
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{
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__enable_irq();
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board_clock_run();
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boot_deinit();
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board_pins_config();
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board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_115200);
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// Reset reason
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reset_cause_get();
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reset_cause_clear();
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uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
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uint32_t external_flash = (REG_READ(0x40010030) >> 28) & 0x3;
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if (internal_flash || external_flash == 1)
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{
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WsfNvmInit();
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board_calibration_params_load();
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flash_close(FLASH_ID0);
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}
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else
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{
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board_calibration_params_default();
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}
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calib_chip();
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wdt_close(WDT_ID0);
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Program_Init();
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Uart_Register(UART_ID_4G, UART_ID0);
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Uart_Register(UART_ID_DBG_GPS, UART_ID1);
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DBG_Init();
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Internet_Init();
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TCPClient_Init();
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// if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
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// {
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// NTRIPClient_Init();
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// NTRIPApp_Init();
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// }
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if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
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{
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TCPClient_Init_1();
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}
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// HTTPClient_Init();
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gpio_open();
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LED_output_init();//ÅäÖòÊÉ«µÆÒý½Å
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IIC2_Init();
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Accelerometer_Init();
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PCA9555_init();
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adc_open(&usr_adc_cfg);
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uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
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power_init();
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sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
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sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//²âÊÔ
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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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pca_input_detection_init(pca_handler);//pca¼ì²âÊäÈë
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Uwb_init();
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#ifdef UWB_CK
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OpenUWB();
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#endif
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// DBG_SetMode(DBG_MODE_SHELL);
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// Shell_Init();
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if(!read_5v_input_pca())
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{
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Set4LEDColor(BLUE,GREEN,WHITE,RED);
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delay_ms(500);
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Set4LEDColor(RED,WHITE,RED,WHITE);
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delay_ms(500);
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Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
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}
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g_com_map[MODBUS_MODE] = 0;
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state5v=0;
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state5V_prase_flag=state5v;
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gps_prase_flag=1;//»Ö¸´gps½âÎö
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uart1_change_from_debug_to_gps();//²âÊÔ
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PCA9555_Set_One_Value_Output(MCU_A,0);//Êä³öµÍµçƽÇл»ÎªGPS
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while (1)
|
{
|
uwb_app_poll();
|
Internet_Poll();
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HIDO_TimerPoll();
|
HIDO_ATLitePoll();
|
TCPClient_Poll();
|
if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
|
{
|
TCPClient_Poll_1();
|
}
|
if(flag_secondtask)
|
{
|
flag_secondtask = 0;
|
SecondTask();
|
}
|
IMUTask();
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IdleTask();
|
}
|
}
|
