ChinaUWBProject.git

			@@ -62,15 +62,11 @@
			#include "HIDO_Timer.h"
			#include "TCPClient.h"
			#include "mk_spi.h"
			//#include "pan_port.h"
			#include "mk_timer.h"
			//#include "pan_param.h"
			//#include "pan_rf.h"
			#include "lora_1268.h"
			//#include "pan_rf.h"
			#include "PCA9555.h"
			#include "mk_phy.h"
			#include "HIDO_Timer.h"

			#define DEBUG_MODE
			extern int simple_main(void);
			extern int temp_main(void);
			@@ -98,7 +94,7 @@
			#define UWB_MEASUREMENT_INTERVAL 3 // 正常状态测距周期
			#define UWB_MEASUREMENT_INTERVAL_SLEEP 60 // 休眠状态测距周期
			#define INACTIVE_TIMEOUT 30 // 无步数变化超时时间（秒）
			bool uwb_is_on = false; // UWB当前状态标记


			void test_Delay_us(uint16_t time);
			int LEDTask(uint8_t Uwb_led,uint8_t Bt_led,uint8_t Lora_led,uint8_t Power_led);
			@@ -337,6 +333,7 @@
			uint8_t input5v_time;
			extern uint8_t uwbled,btled,loraled,powerled;
			uint8_t jibu_flag;
			uint8_t jishu_flag;
			static void sleep_timer_callback(void *dev, uint32_t time)
			{
			input5v_time=1;
			@@ -345,23 +342,14 @@
			// lora_tx_flag++;
			uwb_time_count++;
			jibu_flag=1;
			upload_apppoll();
			jishu_flag=1;
			// upload_apppoll();

			if (current_state == STATE_NORMAL)
			{
			sleep_time++;
			}
			if(!read_5v_input_pca())
			{
			if(bat_percent>15)
			{
			powerled=1;
			}
			else
			{
			powerled=0;
			}
			}



			input5v_time=1;
			@@ -466,12 +454,9 @@
			Usart1ParseDataCallback = UsartParseDataHandler;//需改为默认为gps处理，UsartParseDataHandler为升级处理当调试时候改为
			Usart0ParseDataCallback = UsartParseDataHandler_1;
			parameter_init_anchor();//g_com_map表初始化角色默认为基站
			// g_com_map[DEV_ID]=0x0721;
			g_com_map[STATIONARY_TIME] = 10;
			// g_com_map[GROUP_ID]=1;
			dev_id=g_com_map[DEV_ID];//这里不太对
			group_id=g_com_map[GROUP_ID];//组ID
			// group_id=0x04;
			tag_frequency = 1000/g_com_map[COM_INTERVAL];//测距频率这个存的是测距时间
			memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
			// g_com_map[ALARM_DISTANCE1] = 40;
			@@ -500,7 +485,8 @@
			g_com_map[VERSION] = (1<<8)\|13;
			LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
			LOG_INFO(TRACE_MODULE_APP,"固件版本:BGK-mk+蓝牙薄工卡V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
			LOG_INFO(TRACE_MODULE_APP,"服务器地址: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port);
			LOG_INFO(TRACE_MODULE_APP,"小组ID: %d .\r\n",group_id);
			// LOG_INFO(TRACE_MODULE_APP,"服务器地址: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port);
			}

			uint32_t adctick = 0;
			@@ -509,50 +495,53 @@
			{
			UART0_CheckReceive();
			UART_CheckReceive();
			if(read_5v_input_pca())
			{
			chongman_time=0;
			RED_LED_OFF;
			GREEN_LED_OFF;
			UWB_LED_OFF;
			BT_LED_OFF;
			LORA_LED_OFF;
			while(1)
			{
			nomove_count = 0;
			adctick = HIDO_TimerGetTick();
			if(HIDO_TimerGetTick()-adctick>60) //10分钟采样一次电量
			{
			chongman_time=chongman_time+60;
			adctick = HIDO_TimerGetTick();
			PCA9555_Set_One_Value_Output(PWR_GND,0);//拉低
			adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
			}
			if(bat_percent>=99&&chongman_time>=600)
			{
			GREEN_LED_ON;
			RED_LED_OFF;
			}
			else
			{
			//if(read_5v_input_pca())
			// {
			// chongman_time=0;
			// RED_LED_ON;
			// GREEN_LED_OFF;
			// UWB_LED_OFF;
			// BT_LED_OFF;
			// LORA_LED_OFF;
			// while(1)
			// {
			// nomove_count = 0;

			// if(HIDO_TimerGetTick()-adctick>600) //10分钟采样一次电量
			// {
			// chongman_time=chongman_time+60;
			// adctick = HIDO_TimerGetTick();
			// PCA9555_Set_One_Value_Output(PWR_GND,0);//拉低
			// adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
			// }
			// if(bat_percent>=99&&chongman_time>=180)
			// {
			// GREEN_LED_ON;
			// RED_LED_OFF;
			// }
			// else
			// {
			// RED_LED_ON;
			GREEN_LED_OFF;
			}

			if(!read_5v_input_pca())
			{
			break;
			}
			}
			sys_reset(0);
			// NVIC_SystemReset();
			// input5vflag=1;
			}
			else
			{

			// sys_reset(0);
			}
			// GREEN_LED_OFF;
			// }
			// UART_CheckReceive();
			// if(input5v_time)
			// {
			// if(!read_5v_input_pca())
			// {
			// break;
			// }
			// }
			// }
			// sys_reset(0);
			//// NVIC_SystemReset();
			//// input5vflag=1;
			// }
			// else
			// {
			//
			//// sys_reset(0);
			// }
			}

			int bind_check(void)
			@@ -613,13 +602,15 @@
			LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
			//关闭蓝牙灯
			LORA_LED_OFF;
			GREEN_LED_OFF;
			PCA9555_Set_One_Value_Config(GREEN_LED,0);
			PCA9555_Set_One_Value_Output(GREEN_LED,0);
			// GREEN_LED_OFF;
			UWB_LED_OFF;
			RED_LED_OFF;
			BT_LED_OFF;
			PCA9555_Set_One_Value_Output(BT_EN,0);
			// PCA9555_Set_One_Value_Config(BT_IRQ,0); //设置BT_IRQ为输出拉低
			// PCA9555_Set_One_Value_Output(BT_IRQ,0);
			// PCA9555_Set_One_Value_Output(BT_EN,0);
			PCA9555_Set_One_Value_Config(BT_IRQ,0); //设置BT_IRQ为输出拉低
			PCA9555_Set_One_Value_Output(BT_IRQ,1);
			sleep_timer_stop();
			power_enter_power_down_mode(1);
			sys_reset(0);
			@@ -661,11 +652,6 @@
			io_pin_mux_set(UART0_RX, IO_FUNC4);
			io_pin_mux_set(UART0_TX, IO_FUNC4);
			uart_open(UART_ID0, &test_uart_cfg);
			// io_pin_mux_set(UART0_RX, IO_FUNC0);
			// gpio_pin_set_dir(UART0_RX , GPIO_DIR_OUT, 0);
			// io_pin_mux_set(UART0_TX, IO_FUNC0);
			// gpio_pin_set_dir(UART0_TX , GPIO_DIR_OUT, 0);
			// board_debug_console_open(TRACE_PORT_UART0);
			uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);//开启dma

			//串口1
			@@ -754,6 +740,7 @@
			extern uint32_t uwb_time_count;
			uint8_t uwbled,btled,loraled,powerled;
			uint8_t send_count=0;
			//uint32_t elapsed_time_jibu;
			void upload_apppoll()
			{
			uint32_t elapsed_time_jibu;
			@@ -764,17 +751,20 @@
			elapsed_time_jibu = uwb_time_count - state_start_time;
			switch(elapsed_time_jibu)
			{
			case UWB_OPEN_COUNT:
			CloseUWB();
			case UWB_OPEN_COUNT:
			CloseUWB();
			LoraReportPoll();
			break;

			case UWB_MEASUREMENT_INTERVAL:
			LEDTask(uwbled,btled,loraled,powerled);
			LEDTask(0,0,0,2);
			PCA9555_Set_One_Value_Output(IO_KONG,0);
			// PCA9555_Set_One_Value_Output(IO_KONG,0);
			// delay_us(10000);
			// PCA9555_Set_One_Value_Output(IO_KONG,1);
			PCA9555_Set_One_Value_Output(BT_IRQ,0);
			delay_us(10000);
			PCA9555_Set_One_Value_Output(IO_KONG,1);
			PCA9555_Set_One_Value_Output(BT_IRQ,1);
			CloseUWB();
			Uwbinit();
			OpenUWB();
			@@ -797,9 +787,12 @@
			case UWB_MEASUREMENT_INTERVAL_SLEEP:
			LEDTask(uwbled,btled,loraled,powerled);
			LEDTask(0,0,0,2);
			PCA9555_Set_One_Value_Output(IO_KONG,0);
			// PCA9555_Set_One_Value_Output(IO_KONG,0);
			// delay_us(10000);
			// PCA9555_Set_One_Value_Output(IO_KONG,1);
			PCA9555_Set_One_Value_Output(BT_IRQ,0);
			delay_us(10000);
			PCA9555_Set_One_Value_Output(IO_KONG,1);
			PCA9555_Set_One_Value_Output(BT_IRQ,1);
			CloseUWB();
			Uwbinit();
			OpenUWB();
			@@ -878,11 +871,12 @@


			Board_LORA_NVIC_Init(Lora_irq_handler);
			pca_input_detection_init(pca_handler);

			IIC2_Init();
			Accelerometer_Init();

			PCA9555_init();
			pca_input_detection_init(pca_handler);
			adc_open(&usr_adc_cfg);
			Lora_1268_Init();
			SwitchLoraSettings(478,7,22);
			@@ -891,26 +885,33 @@
			sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
			sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
			adc_get(&sample[0], NUM_SAMPLES, adc_callback);
			//#ifdef DEBUG_BOXING
			// io_pin_mux_set(BOXING_PIN,IO_FUNC0);
			// gpio_pin_set_dir(BOXING_PIN,GPIO_DIR_OUT,0);
			// io_pull_set(BOXING_PIN,IO_PULL_DOWN,IO_PULL_UP_LEVEL4);
			//#endif
			Uwbinit();
			// OpenUWB();
			// boot_deinit();
			while (1)
			{
			if(jibu_flag)
			{
			jibu_flag=0;
			step_count = mir3da_get_step(); // 获取步数
			if(!read_5v_input_pca())
			{
			if(bat_percent>15)
			{
			powerled=1;
			}
			else
			{
			powerled=0;
			}
			}
			}

			// Lora_Tx_Poll();

			uwb_app_poll();
			check_step_and_update_state();
			// upload_apppoll();
			if(jishu_flag)
			{
			jishu_flag=0;
			upload_apppoll();
			}
			IdleTask();
			IMUTask();