/*
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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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//#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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#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 GPS_OPEN_TIME_OUT 240
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#define GPS_RESTART_TIME1 1200
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#define GPS_RESTART_TIME2 120
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#define SEARCH_TIMESTEMP 120
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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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int link_success_flag,motor_count,gps_wait_count;
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uint8_t state5v,link_error_count;
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uint8_t gps_power_state,motor_power_state=1,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_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,gps_need_data_flag,gps_timeout_flag,search_open_flag;
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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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Commend_SendDate send_struct;
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static 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_115200,
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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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static 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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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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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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uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1;
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uint8_t gps_enable_flag,gps_uwb_flag,gps_air_flag,motor_open_air_flag,moter_open_uwb_flag;
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int need_open_gps_count;
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void SecondTask(void)
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{
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//UWB¸üÐÂÁбí
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TagListUpdate();
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g_com_map[ALARM_DISTANCE1]=30;//²âÊÔ
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g_com_map[ALARM_DISTANCE2]=40;
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//UWB״̬¼ì²â
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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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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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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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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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}else if(anchordata_num==0){
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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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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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HIDO_TimerTick();
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nomove_count++;
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}
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static void sleep_timer_callback(void *dev, uint32_t time)
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{
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SecondTask();
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// IO_control_init();
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// uwb_led_on();
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// delay_us(1000);
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// uwb_led_off();
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// send_messgae_count+=g_com_map[COM_INTERVAL];
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// //if(send_messgae_count>=g_com_map[4G_INTERNAL]){
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// //send_message_count=0;
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// //send_flag=1;
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// //}
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//Âí´ïÕð¶¯Âß¼
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if(motor_open_air_flag||moter_open_uwb_flag){
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if(first_motor_in_flag==0){
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first_motor_in_flag=1;
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motor_power_state=0;
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motor_count=0;
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}
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motor_count++;
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if(motor_count>=MOTOR_COUNT_TIME){
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motor_count=0;
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motor_power_state^=1;
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}
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}else{
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motor_power_state=1;
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motor_count=0;
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first_motor_in_flag=0;
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}
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//GPS¹¤×÷Âß¼
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if(gps_air_flag||gps_uwb_flag){
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gps_power_state=1;//¿ªÆôGPS
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if(!gps_timeout_flag){
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if(gps_need_data_flag){
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gps_wait_count++;
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if(gps_wait_count>=GPS_OPEN_TIME_OUT){//³¬Ê±Çл»¹¤×÷״̬
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gps_timeout_flag=1;//´®¿ÚÌí¼Ó¸Ä±ätimeoutÂß¼
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gps_wait_count=0;
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gps_need_data_flag=0;//Çл»Îª¹Ø±Õģʽ
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}
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}else{
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gps_wait_count++;
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gps_power_state=0;//¹Ø±ÕGPS
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if(gps_wait_count>GPS_RESTART_TIME2){
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gps_need_data_flag=1;
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gps_wait_count=0;
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}
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}
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}else{//³¬Ê±¹¤×÷״̬
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if(gps_need_data_flag){
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gps_wait_count++;
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if(gps_wait_count>=GPS_OPEN_TIME_OUT){//³¬Ê±Çл»¹¤×÷״̬
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gps_timeout_flag=1;
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gps_need_data_flag=0;
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gps_wait_count=0;
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}
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}else{
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gps_wait_count++;
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gps_power_state=0;//¹Ø±ÕGPS
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if(gps_wait_count>GPS_RESTART_TIME1){
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gps_need_data_flag=1;
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gps_wait_count=0;
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}
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}
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}
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}else{
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gps_power_state=0;//¹Ø±Õgps
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gps_wait_count=0;
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gps_timeout_flag=0;
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gps_need_data_flag=1;
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}
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if(UWB_Work_State==LINK_SUCCESS) { //³É¹¦Ê±Çå0´íÎó¼ÆÊý
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link_error_count=0;
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g_start_send_flag=1;
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}
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if(UWB_Work_State==SEARCH_DEV) {
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// if(first_search_flag){//µ±µÚÒ»´ÎÁ¬½Ó¶Ï¿ª²úÉúʱ²Å¿ªÊ¼¼ÆÊý
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//link_error_count=0;
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// }
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link_error_count++;
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if(link_error_count==SEARCH_TIMESTEMP){
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link_error_count=0;
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search_open_flag=1;
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}
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//link_error_count+=g_com_map[COM_INTERVAL];
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//if(link_error_count>=g_com_map[4G_INTERNAL])
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//link_error_count=0;
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update_led_power_state();//¸üеÆ״̬
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}
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}
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static void voltage_input_handler(enum IO_PIN_T pin)
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{
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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 _4gUsart_handler(enum IO_PIN_T pin)
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{
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io_pin_mux_set(_4G_USART_RX_Pin,IO_FUNC4);
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AIR780EUartInit();
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}
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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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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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}
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void IdleTask(void)
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{
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if(gpio_pin_get_val(INPUT_5V_Pin))
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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();
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uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//¿ªÆôdma
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//UartInit();
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}
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//UART_CheckSend();
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} else {
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if(state5v==1)
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{
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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();
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uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//¿ªÆôdma
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//UartDeinit();
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}
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UART_CheckReceive();
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}
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}
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int bind_check(void)
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{
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if(g_com_map[BIND_DEV_ID]!=0x00)
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{
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return 1;
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//°ó¶¨ÐÅϢΪ1˵Ã÷É豸ÒѾ±»Ï·¢°ó¶¨
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} else {
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return 0;
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//°ó¶¨ÐÅϢΪ0˵Ã÷É豸δ±»°ó¶¨
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}
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}
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void check_if_in_search(void)
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{
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if(link_success_flag==1) { //Èç¹ûµÚÒ»´Î²â¾àÊÕ°ü³É¹¦ÄÇôÔò½øÈëÁ¬½Ó²â¾àģʽ
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UWB_Work_State=LINK_SUCCESS;
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} else { //·ñÔò½øÈëËÑË÷ģʽ
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UWB_Work_State=SEARCH_DEV;
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if(first_search_flag==0)
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first_search_flag=1;
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}
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}
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uint8_t flag_4guart_needinit=0;
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int main(void)
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{
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board_clock_run();
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board_pins_config();
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board_debug_console_open(TRACE_PORT_UART0);
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// Reset reason
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reset_cause_get();
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reset_cause_clear();
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// Load calibration parameters from NVM
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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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// Chip calibration
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calib_chip();
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// Disable watchdog timer
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wdt_close(WDT_ID0);
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// LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
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// open system timer
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//sys_timer_open();
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// TODO 4G
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Uart_Register(UART_ID_4G, UART_ID0);
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Internet_Init();
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TCPClient_Init();
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gpio_open();
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//board_led_init();
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// adc_open(&usr_adc_cfg);
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// IIC2_Init();
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// Accelerometer_Init();
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IO_control_init();
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io_pin_mux_set(SCL_PIN, IO_FUNC0);//²âÊÔ²â¾à²¨ÐÎ
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gpio_pin_set_dir(SCL_PIN , GPIO_DIR_OUT, 0);
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io_pull_set(SCL_PIN , IO_PULL_DOWN, IO_PULL_UP_LEVEL4);
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gps_air780_power_change(0,1);//¿ªÆôgps£¬4G
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//¼ÓËٶȼƳõʼ»¯±ØÐëÔÚIO_control_init֮ǰÒòΪ¸´ÓÃSDAÒý½Å
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//adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc²ÉÑù
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uart_open(UART_ID1, &test_uart_cfg);
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Program_Init();
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uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
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// Initialize low power mode
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power_init();
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// LOG_INFO(TRACE_MODULE_APP, "²âÊÔÊý¾Ý");
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g_com_map[BIND_DEV_ID]=0x1122;//²âÊÔ
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if(bind_check())//°ó¶¨ºó²ÅÌáÇ°¿ªÆô²â¾à
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{ link_success_flag=temp_main();//ÉÏ»ú¿ªÆô½ÓÊÕ2s°ó¶¨³É¹¦Ôò½øÐÐÏÂÃæÂÖѯ²â¾àÁ÷³Ì,²»³É¹¦Ôò1·ÖºóÔٴοªÆô2s½ÓÊÕ
|
check_if_in_search();
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} else {
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send_struct.bindState=false;
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UWB_Work_State=UN_BIND;
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}
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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(g_com_map[COM_INTERVAL]));//²âÊÔ
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sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//²âÊÔ
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// board_5V_input_init(voltage_input_handler);
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// board_acceleration_detection_init(move_handler);
|
|
//AIR780E_Reset(); //4GÄ£¿éÖØÆô£¬ºÄʱ1.5Ãë,Õâ¸öÊÇÎÞ·¨Í¬²½µÄ¹Ø¼ü
|
while (1)
|
{
|
if(flag_TCP_reconnectting||IfTCPConnected())
|
{
|
if(flag_4guart_needinit)
|
{
|
flag_4guart_needinit = 0;
|
AIR780EUartInit();
|
}
|
Internet_Poll();
|
HIDO_ATLitePoll();
|
HIDO_TimerPoll();
|
TCPClient_Poll();
|
}
|
switch(UWB_Work_State) {
|
case LINK_SUCCESS:
|
{ //Á¬½Ó³É¹¦½øÐÐÂÖѯ²â¾à
|
if(g_start_send_flag) {
|
g_start_send_flag = 0;
|
uwb_led_on();
|
simple_main();
|
uwb_led_off();
|
IdleTask();
|
} else {
|
IdleTask();
|
}
|
}
|
break;
|
case SEARCH_DEV:
|
{ //½Ó°ü²»³É¹¦»òÕßͨѶʧ°Ü½øÈëËÑË÷ģʽ
|
if(search_open_flag||first_search_flag) {
|
first_search_flag=0;
|
search_open_flag=0;
|
uwb_led_on();
|
link_success_flag=temp_main();//µÚÒ»´Î¿ªÆô½ÓÊÕ2s°ó¶¨Ê§°ÜºóÔò½øÐÐÏÂÃæ1·ÖÖÓºóÖØпªÆô2s°ó¶¨Á÷³Ì
|
uwb_led_off();
|
if(link_success_flag)
|
UWB_Work_State=LINK_SUCCESS;
|
}
|
IdleTask();
|
}
|
break;
|
case UN_BIND:
|
{ uwb_led_off();//¹Ø±ÕuwbָʾµÆ
|
IdleTask();
|
}
|
break;
|
}
|
|
//3ÖÖÇé¿öºó¶¼Òª·¢°üºÍÐÝÃß
|
//if(send_flag){
|
//message_construct();
|
//send_udp;
|
//air780_success_state=0;//¹Ø±Õ4G³É¹¦·¢Ë͵Æ
|
//blink_led(&air780_success_state);//³É¹¦²â¾àÉÁ˸4G״̬µÆ
|
//air780_success_state=0;
|
//}
|
#ifndef DEBUG_MODE
|
if(!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&Socket_IsSendQueueEmpty(0))||!flag_TCP_reconnectting&&!IfTCPConnected())&&!gps_power_state) //½øÈëÐÝÃßÌõ¼þ£¨Óë¹Øϵ£¬È«Âú×ã²Å½ø£©£º1.ûÓÐ5VÊäÈë 2 TCPÒÑÁ¬½Óʱ·¢ËͶÓÁÐΪ¿Õ||TCPÎÞÁ¬½Óʱ²»ÔÚÖØÁ¬×´Ì¬¡£
|
{
|
board_4GUsart_detection_init(_4gUsart_handler);
|
// LOG_INFO(TRACE_MODULE_APP, "½øÈëÐÝÃß");
|
flag_4guart_needinit = 1;
|
trace_flush();
|
uint32_t lock = int_lock();
|
//LOG_INFO(TRACE_MODULE_APP, "½øÈëµÍ¹¦ºÄ");
|
power_enter_power_down_mode(0);
|
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
|
int_unlock(lock);
|
}
|
#endif
|
}
|
}
|
