成功分离2个测距功能

chen

2025-05-16 4cdc4b3d488e15b1d6572bdcd61a2ce92d0c8c9b

 keil/include/main/main.c

@@ -40,349 +40,143 @@

#include "mk_trace.h"
#include "mk_wdt.h"
#include "mk_calib.h"
#include "mk_reset.h"
#include "mk_gpio.h"
#include "mk_misc.h"
#include "mk_sleep_timer.h"
#include "mk_power.h"
#include "mk_uwb.h"
#include "mk_calib.h"
#include "mk_uart.h"
#include "mk_spi.h"
#include "mk_flash.h"
#include "libc_rom.h"
#include "Usart.h"
#include <serial_at_cmd_app.h>
#include <global_param.h>

#include "board.h"

#include "pal_sys.h"
#include "wsf_os.h"
#include "wsf_timer.h"
#include "wsf_buf.h"
#include "wsf_nvm.h"
#include "mk_power.h"
#include "Usart.h"
#include "mk_adc.h"
#include "mk_sleep_timer.h"
#include "lis3dh_driver.h"
#include "sn74hc595.h"
#include "mk_4G.h"
#include "UART.h"
#include "AIR780EDriver.h"
#include "Internet.h"
#include "HIDO_ATLite.h"
#include "HIDO_Timer.h"
#include "TCPClient.h"

//#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
#define TEST_UART_POLL_MODE 0
#define TEST_UART_INTERUPT_MODE 1
#define TEST_UART_DMA_MODE 2
#define TEST_UART_MODE TEST_UART_DMA_MODE
#include "app.h"
#include "ranging_fira.h"
#include "uwb_api.h"
#include "lib_ranging.h"
#include "uci_tl_task.h"
#include "libc_rom.h"

#define NUM_SAMPLES 1
#define BIND_TRIGGER_TIME 60000
#define MOTOR_COUNT_TIME 1
#define WARING_LIMIT_TIME 10
#define UPDATE_TIME 10


extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
extern int distance;
extern uint8_t anchordata_num;
uint32_t dev_id;
uint8_t group_id;
uint16_t tag_frequency;
uint16_t disoffset;
uint16_t warning_distance,prewarning_distance;
int16_t fVoltage_mv,first_search_flag;
uint8_t bat_percent,g_start_send_flag=1;
uint8_t link_success_flag,motor_count;
uint16_t gps_wait_count;
uint8_t state5v;
uint8_t motor_power_state=1,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state,first_motor_in_flag;
float nomove_count=0;
static uint32_t sample[NUM_SAMPLES] = {0};
uint8_t recev_error_num,send_messgae_count,send_flag,control_state;
uint8_t flag_4g_usart_rx_state = 1;  //4G 串口RX当前是 RX状态，不是GPIO状态
typedef enum
{      UN_BIND=0,
        LINK_SUCCESS,
        SEARCH_DEV,
} Operation_step;
Operation_step UWB_work_state;


Commend_SendDate send_struct;
static struct ADC_CFG_T usr_adc_cfg = {
    .mode = ADC_MODE_CONTINUE,    /* Selected single conversion mode  */
    .clk_sel = ADC_CLK_HIGH,      /* Selected 62.4M high speed clock */
    .vref_sel = ADC_SEL_VREF_INT, /* Using internal reference voltage (1.2V)*/
    .rate = 500000,               /* ADC works at high frequency system clock, the maximum sampling rate is 2M */
    .channel_p = ADC_IN_EXTPIN0,  /* ADC positive channel --> GPIO0 */
    .channel_n = ADC_IN_VREF,     /* ADC negative channel --> Vref */
    .int_en = false,
    .dma_en = false, /* DMA support only in continue mode */
    .acc_num = 0,
    .high_pulse_time = 4,
    .settle_time = 1,
};
struct UART_CFG_T test_uart_cfg =
{
    .parity = UART_PARITY_NONE,
    .stop = UART_STOP_BITS_1,
    .data = UART_DATA_BITS_8,
    .flow = UART_FLOW_CONTROL_NONE,
    .rx_level = UART_RXFIFO_CHAR_1,
    .tx_level = UART_TXFIFO_EMPTY,
    .baud = BAUD_115200,
#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
    .dma_en = false,
    .int_rx = false,
    .int_tx = false,
#elif (TEST_UART_MODE == TEST_UART_INTERUPT_MODE)
    .dma_en = false,
    .int_rx = true,
    .int_tx = true,
#elif (TEST_UART_MODE == TEST_UART_DMA_MODE)
    .dma_en = true,
    .int_rx = false,
    .int_tx = false,
#ifdef UWB_UCI_TEST_EN
#include "uwb_test.h"
#endif

#ifdef CELL_PHONE_EN
#include "mk_efuse.h"

#define EFUSE_FLASH_EN_ADDR (0x67)
#define EFUSE_FLASH_EN_BIT (0x80)

bool check_flash_bit_of_efuse(void);
bool program_efuse(void);

bool check_flash_bit_of_efuse(void)
{
    uint8_t val;
    val = efuse_read_byte(EFUSE_FLASH_EN_ADDR);
    return ((val & EFUSE_FLASH_EN_BIT) ? true : false);
}

bool program_efuse(void)
{
    efuse_program_byte(EFUSE_FLASH_EN_ADDR, EFUSE_FLASH_EN_BIT);
    if (check_flash_bit_of_efuse())
    {
        LOG_INFO(TRACE_MODULE_APP, "Program eFuse INT_FLASH bit successfully.\r\n");
        return true;
    }
    else
    {
        LOG_INFO(TRACE_MODULE_APP, "Program eFuse INT_FLASH bit failed.\r\n");
        return false;
    }
    return true;
}
#endif

//*****************************************************************************
//
// WSF buffer pools.
//
//*****************************************************************************
#define WSF_BUF_POOLS 5
void Fira_Change_Task(void);
extern uint8_t normal_flag,log_4g_enable_flag;
extern uint16_t ip0,ip1,ip2,ip3,port;
uint8_t group_id,enable_sleep_count;
uint32_t dev_id;
uint16_t disoffset;
// Default pool descriptor.
static wsfBufPoolDesc_t poolDescriptors[WSF_BUF_POOLS] = {
    {32, 26}, {64, 24}, {128, 4}, {256 + 32, 4}, {1024 + 32, 2},
};
static void uart_receive_callback(void *dev, uint32_t err_code)
{
    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}
static void adc_callback(void *data, uint32_t number)
{
    uint32_t *result = (uint32_t *)data;
    for (uint16_t i = 0; i < number; i++)
    {
//        LOG_INFO(TRACE_MODULE_APP, "The voltage measured %d mv\r\n",
//        ADC_INTERNAL_VREF_MV + adc_code_to_mv((int16_t)*result, ADC_INTERNAL_VREF_MV));
        fVoltage_mv=ADC_INTERNAL_VREF_MV + adc_code_to_mv((int16_t)*result, ADC_INTERNAL_VREF_MV);
        fVoltage_mv=fVoltage_mv*2;
        if(fVoltage_mv < 3300)
        {
            bat_percent = 0;
        }
        else if(fVoltage_mv > 4100)
        {
            bat_percent = 100;
        }
        else
        {
            bat_percent = ((fVoltage_mv - 3300) /8);
        }
    }
    LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
}
//void UartInit(void)
//{
//board_pins_config();
//uart_open(UART_ID1, &test_uart_cfg);
//board_debug_console_open(TRACE_PORT_UART0);
//uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
//}
extern gps_uwb_flag;
uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1;
uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag;
int need_open_gps_count;
void MotorPoll(void)
{
    if(UWB_work_state==UN_BIND) {
        gps_uwb_flag=0;//关闭GPS
        moter_open_uwb_flag=0;//关闭震动
        need_open_gps_count=0;//清0计数gps
    } else { //绑定状态下
        if(anchordata_num==1) {
            if(distance<g_com_map[ALARM_DISTANCE1]) { //小于预警距离
                need_open_gps_count=0;
                moter_open_uwb_flag=0;//关闭震动
                gps_uwb_flag=0;//关闭GPS
            } else if(g_com_map[ALARM_DISTANCE1]<=distance&&distance<=g_com_map[ALARM_DISTANCE2]) { //大于预警距离小于报警距离
                need_open_gps_count++;
                moter_open_uwb_flag=1;//开启震动
                if(need_open_gps_count>=20) {
                    gps_uwb_flag=1;//开启gps测距流程
                    need_open_gps_count=0;
                }
            } else if(distance>=g_com_map[ALARM_DISTANCE2]) { //大于报警距离
                need_open_gps_count++;
                moter_open_uwb_flag=1;//开启震动
                if(need_open_gps_count>=20) {
                    gps_uwb_flag=1;//开启gps测距流程
                    need_open_gps_count=0;
                }
            }
        } else if(anchordata_num==0) {

            gps_uwb_flag=1;//开启gps测距流程
            moter_open_uwb_flag=1;//开启震动
            need_open_gps_count=0;
        }
    }
}
void SecondTask(void)
{
    //UWB更新列表
    TagListUpdate();
    GPS_Poll();
    g_com_map[ALARM_DISTANCE1]=30;//测试
    g_com_map[ALARM_DISTANCE2]=40;
    //UWB状态检测

    if(IfTCPConnected())
    {
        TCP_reconnect_timer =0;
        flag_TCP_reconnectting = 0;
    } else {
        if(TCP_reconnect_timer<30)//如果TCP没有连接，每隔10分钟尝试连接30秒
        {
            flag_TCP_reconnectting = 1;
        } else {
            flag_TCP_reconnectting = 0;
        }
        if(TCP_reconnect_timer++>600)
        {
            TCP_reconnect_timer = 0;
        }

    }
    HIDO_TimerTick();
    nomove_count++;
}
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
static void sleep_timer_callback(void *dev, uint32_t time)
{
    IO_control_init();
    UWBPoll();
 //   MotorPoll();
    if(secondtask_count++%2==0)
    {
        flag_secondtask = 1;
    }else{
        flag_secondtask = 0;
    }

    flag_sleeptimer = 1;

    //马达震动逻辑
    if(motor_open_air_flag||moter_open_uwb_flag)
    {
       if (motor_count++%2==0)
       {
        motor_power_state = 1;
       }else{
        motor_power_state = 0;
       }
    } else {
        motor_power_state=1;
    }

    //GPS工作逻辑

}
static void voltage_input_handler(enum IO_PIN_T pin)
{

}
static void move_handler(enum IO_PIN_T pin)
{
    nomove_count=0;
}
uint8_t flag_4G_recdata;
static void _4gUsart_handler(enum IO_PIN_T pin)
{
    LOG_INFO(TRACE_MODULE_APP, "4G RX 唤醒\r\n");
    // flag_4G_recdata = 1;
    // AIR780EUartInit();
    // LOG_INFO(TRACE_MODULE_APP, "Wake up by sleep timer %d\r\n", time);
}
void Program_Init(void)
{
    Usart1ParseDataCallback = UsartParseDataHandler;//需改为默认为gps处理，UsartParseDataHandler为升级处理当调试时候改为
    parameter_init_anchor();//g_com_map表初始化角色默认为基站
    dev_id=g_com_map[DEV_ID];//这里不太对
    group_id=g_com_map[GROUP_ID];//组ID
    tag_frequency = 1000/g_com_map[COM_INTERVAL];//测距频率这个存的是测距时间
    group_id=(uint8_t)g_com_map[GROUP_ID];//组ID
//    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;
    g_com_map[ALARM_DISTANCE2
    ] = 40;
    warning_distance=g_com_map[ALARM_DISTANCE1];
    prewarning_distance=g_com_map[ALARM_DISTANCE2];
    send_struct.warnDistence=warning_distance;
    send_struct.alarmDistence=prewarning_distance;//更新报警距离
    memcpy(&send_struct.gunLableId,&g_com_map[BIND_DEV_ID],2);//更新绑定ID
    send_struct.tagId=dev_id;//更新设备ID
    g_com_map[BIND_DEV_ID] = 0x1234;
    if(g_com_map[BIND_DEV_ID]==0)
    {
        UWB_work_state = UN_BIND;
    }else{
        UWB_work_state = SEARCH_DEV;
    }
//    g_com_map[ALARM_DISTANCE1] = 40;
//    g_com_map[ALARM_DISTANCE2] = 40;
//    warning_distance=g_com_map[ALARM_DISTANCE1];
//    prewarning_distance=g_com_map[ALARM_DISTANCE2];
      //g_com_map[SEND_4G_SECOND]
//    if(g_com_map[SEND_4G_SECOND]<30)
//      {
//      gps_open_flag=0;
//      }else{
//      gps_open_flag=1;
//      }
    g_com_map[MODBUS_MODE] = 0;
      log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
    ip0 = (g_com_map[TCP_IP_0]>>12&0xf)*1000+(g_com_map[TCP_IP_0]>>8&0xf)*100+(g_com_map[TCP_IP_0]>>4&0xf)*10+(g_com_map[TCP_IP_0]&0xf);
    ip1 = (g_com_map[TCP_IP_1]>>12&0xf)*1000+(g_com_map[TCP_IP_1]>>8&0xf)*100+(g_com_map[TCP_IP_1]>>4&0xf)*10+(g_com_map[TCP_IP_1]&0xf);
    ip2 = (g_com_map[TCP_IP_2]>>12&0xf)*1000+(g_com_map[TCP_IP_2]>>8&0xf)*100+(g_com_map[TCP_IP_2]>>4&0xf)*10+(g_com_map[TCP_IP_2]&0xf);
    ip3 = (g_com_map[TCP_IP_3]>>12&0xf)*1000+(g_com_map[TCP_IP_3]>>8&0xf)*100+(g_com_map[TCP_IP_3]>>4&0xf)*10+(g_com_map[TCP_IP_3]&0xf);
    port = g_com_map[TCP_PORT];
    g_com_map[VERSION] = (1<<8)|0;
    LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
    LOG_INFO(TRACE_MODULE_APP,"固件版本:4G-GPS定位手环 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);
}



void IdleTask(void)
static void board_init(void)
{
    if(gpio_pin_get_val(INPUT_5V_Pin))
    {
    uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
    uint32_t external_flash = (REG_READ(0x40010030) >> 28) & 0x3;

        if(state5v==0)
        {
            state5v=1;
            state5V_prase_flag=state5v;
            gps_prase_flag=0;//解除gps解析
            uart1_change_from_gps_to_debug();
            uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
            //UartInit();
        }

        //UART_CheckSend();
    } else {
        if(state5v==1)
        {
            state5v=0;
            state5V_prase_flag=state5v;
            gps_prase_flag=1;//恢复gps解析
            uart1_change_from_debug_to_gps();
            uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
            //UartDeinit();
        }
        UART_CheckReceive();
    }
}
int bind_check(void)
{
    if(g_com_map[BIND_DEV_ID]!=0x00)
    {
        return 1;
//绑定信息为1说明设备已经被下发绑定
    } else {
        return 0;
//绑定信息为0说明设备未被绑定
    }
}
void check_if_in_search(void)
{
    if(link_success_flag==1) { //如果第一次测距收包成功那么则进入连接测距模式
        UWB_work_state=LINK_SUCCESS;
    } else { //否则进入搜索模式
        UWB_work_state=SEARCH_DEV;
        if(first_search_flag==0)
            first_search_flag=1;
    }
}

uint8_t flag_4guart_needinit=0;
int main(void)
{
    // Clock configuration
    board_clock_run();
      boot_deinit();//新加的
    // Pin configuration
    board_pins_config();
    board_debug_console_open(TRACE_PORT_UART0);
    // Trace configuration
    board_debug_console_open(TRACE_PORT_UART1);
    // Reset reason
    reset_cause_get();
    reset_cause_clear();

#ifndef CELL_PHONE_EN
    // Load calibration parameters from NVM
    uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
    uint32_t external_flash = (REG_READ(0x40010030) >> 28) & 0x3;
    if (internal_flash || external_flash == 1)
    {
        WsfNvmInit();
@@ -393,99 +187,189 @@
    {
        board_calibration_params_default();
    }
#else
    if (internal_flash)
    {
        program_efuse();
    }
    board_calibration_params_default();
#endif

    // Chip calibration
    calib_chip();

    // Disable watchdog timer
    wdt_close(WDT_ID0);
    //  LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");

    // open system timer
    //sys_timer_open();

    // TODO 4G
    Uart_Register(UART_ID_4G, UART_ID0);
    Internet_Init();
    TCPClient_Init();

    gpio_open();
    //board_led_init();
#ifdef CELL_PHONE_EN
    // Configure IO_04 for RF Switch
    gpio_pin_set_dir(IO_PIN_4, GPIO_DIR_OUT, 0);
#else
      Program_Init();
    // led
    board_led_init();
//    board_led_on(BOARD_LED_1);
#endif
    board_configure();
}

//      adc_open(&usr_adc_cfg);
    IIC2_Init();
    Accelerometer_Init();
    IO_control_init();
    io_pin_mux_set(SCL_PIN, IO_FUNC0);//测试测距波形
    gpio_pin_set_dir(SCL_PIN , GPIO_DIR_OUT, 0);
    io_pull_set(SCL_PIN , IO_PULL_DOWN, IO_PULL_UP_LEVEL4);
    gps_air780_power_change(1,1);//开启gps，4G 
//加速度计初始化必须在IO_control_init之前因为复用SDA引脚
    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
    uart_open(UART_ID1, &test_uart_cfg);
    Program_Init();
void app_process_handle(uint8_t msg_id, const void *param)
{
    switch (msg_id)
    {
        case APP_TEST_TIMER1_MSG:
        {
#if ANT_DELAY_CAL_EN
            // stop calibration
            uwbapi_session_stop(uwb_app_config.session_id);
            uwbapi_session_deinit(uwb_app_config.session_id);

            // restart UCI RX
            uci_tl_rx_restart();
#endif
        }
        break;

        default:
            break;
    }
}

void Fira_Change_Task(void)
{
}

static void uart_receive_callback(void *dev, uint32_t err_code)
{
    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
// Initialize low power mode
    power_init();
    //  LOG_INFO(TRACE_MODULE_APP, "测试数据");
}

int main(void)
{		
   // Initialize MCU system
    board_init();
    // Disable watchdog timer
    wdt_close(WDT_ID0);
    LOG_INFO(TRACE_MODULE_APP, "UCI FiRa example\r\n");
   if(gpio_pin_get_val(MODE_CHANGE_PIN))
   {
   
		
      // Platform init for WSF
    PalSysInit();

    sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
    //sleep_timer_start(__MS_TO_32K_CNT(g_com_map[COM_INTERVAL]));//测试
    sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
//    board_5V_input_init(voltage_input_handler);
    board_acceleration_detection_init(move_handler);
    // Initialize os

    //AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
    //
    // Set up timers for the WSF scheduler.
    //
    WsfOsInit();
    WsfTimerInit();
    sys_tick_callback_set(WsfTimerUpdateTicks);

    //
    // Initialize a buffer pool for WSF dynamic memory needs.
    //
    uint32_t wsfBufMemLen = WsfBufInit(WSF_BUF_POOLS, poolDescriptors);

    if (wsfBufMemLen > FREE_MEM_SIZE)
    {
        LOG_INFO(TRACE_MODULE_APP, "Memory pool is not enough %d\r\n", wsfBufMemLen - FREE_MEM_SIZE);
    }
//
    // Create app task
    //
   wsfHandlerId_t handlerId = WsfOsSetNextHandler(app_handler);
    app_init(handlerId);

    //
    // Create ranging task or test task
    //
    handlerId = WsfOsSetNextHandler(ranging_handler);
    ranging_init(handlerId);

#ifdef UWB_UCI_TEST_EN
    // Create test task
    handlerId = WsfOsSetNextHandler(uwb_test_handler);
    uwb_test_init(handlerId);
#endif

#ifndef MY_MODE
    uwb_open();

    // set advanced parameters
    struct PHY_ADV_CONFIG_T adv_config =
    {
        // RPM0: 40, RPM3: 60
        .thres_fap_detect = 60,
        // RPM0: 4, RPM3: 8
        .nth_scale_factor = 8,
        // RFrame SP0: 0/1, Others: 0/1/2/3
        .ranging_performance_mode = 3,
#if RX_ANT_PORTS_NUM == 4
        .skip_weakest_port_en = 1,
#else
        .skip_weakest_port_en = 0,
#endif
    };
    phy_adv_params_configure(&adv_config);

    // which RX ports will be used for AoA/PDoA
    phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);

    uwbs_init();
    uwb_app_config.ranging_flow_mode = (uint8_t)(RANGING_FLOW_FIRA);
    uwb_app_config.filter_en = (uint8_t)(FILTER_EN);
    uwb_app_config.session_param.tx_power_level = board_param.tx_power_fcc[CALIB_CH(uwb_app_config.ppdu_params.ch_num)];
    uwb_app_config.ppdu_params.rx_ant_id = (uint8_t)(RX_MAIN_ANT_PORT);
	
#elif defined MY_MODE
      Uwb_init();//默认为我们测距配置
      OpenUWB();
      uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
#endif
    //
    // Create UCI transmission layer task
    //
    handlerId = WsfOsSetNextHandler(uci_tl_handler);
    uci_tl_init(handlerId);

    // Initialize low power mode
    power_init();
#if LOW_POWER_EN
    power_mode_request(POWER_UNIT_USER, POWER_MODE_POWER_DOWN);
    uwb_app_config.low_power_en = 1;
#else
    power_mode_request(POWER_UNIT_USER, POWER_MODE_SLEEP);
    uwb_app_config.low_power_en = 0;
#endif

    // Enable sleep timer
    sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, sleep_timer_callback);
		
    while (1)
    {
        if(flag_TCP_reconnectting||IfTCPConnected())
        {
            //   LOG_INFO(TRACE_MODULE_APP, "处理4G任务\r\n");
            if(flag_4guart_needinit)
            {
                flag_4guart_needinit = 0;
                AIR780EUartInit();
            }
            Internet_Poll();
            HIDO_ATLitePoll();
            HIDO_TimerPoll();
            TCPClient_Poll();
        }
        if(flag_secondtask)
        {
            flag_secondtask = 0;
            SecondTask();
        }
        IdleTask();
        //3种情况后都要发包和休眠
        //if(send_flag){
        //message_construct();
        //send_udp;
        //air780_success_state=0;//关闭4G成功发送灯
        //blink_led(&air780_success_state);//成功测距闪烁4G状态灯
        //air780_success_state=0;
        //}
#ifndef DEBUG_MODE
//if(flag_sleeptimer)
    //    if(!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&Socket_IsSendQueueEmpty(0))||!flag_TCP_reconnectting&&!IfTCPConnected())&&!flag_4G_recdata) //进入休眠条件（与关系，全满足才进）：1.没有5V输入 2 TCP已连接时发送队列为空||TCP无连接时不在重连状态。
        {
            //     if(!flag_4guart_needinit)
            {
                //           LOG_INFO(TRACE_MODULE_APP, "4G RX 中断打开\r\n");
                //             board_4GUsart_detection_init(_4gUsart_handler);
//
            }
//               flag_sleeptimer =0;
//            LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
            //    flag_4guart_needinit = 1;
//
//        trace_flush();
//        uint32_t lock = int_lock();
//        //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
//        power_enter_power_down_mode(0);
//        int_unlock(lock);
        }
        wsfOsDispatcher();
#ifdef MY_MODE
            if(normal_flag)
            {
            IdleTask();
            }
#endif
        power_manage();
    }
   }else{
//             adc_open(&usr_adc_cfg);
      Uwb_init();//默认为我们测距配置
      OpenUWB();
      uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
          while (1)
            {
            uwb_app_poll();//我们的测距逻辑
            IdleTask();
            }
   }    

}

void app_restore_from_power_down(void)
{
}