ChinaUWBProject.git

			@@ -152,7 +152,7 @@
			.flow = UART_FLOW_CONTROL_NONE,
			.rx_level = UART_RXFIFO_CHAR_1,
			.tx_level = UART_TXFIFO_EMPTY,
			.baud = BAUD_115200,
			.baud = BAUD_921600,
			#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
			.dma_en = false,
			.int_rx = false,
			@@ -194,7 +194,17 @@
			bat_percent = ((fVoltage_mv - 3300) /8);
			}
			}
			// LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
			if(fVoltage_mv<3300)
			{
			//power_low_flag=1;
			//gps_air780_power_change(gps_power_state,0);//gps原样，关闭4G
			// LOG_INFO(TRACE_MODULE_APP, "电池电压低于3.3V，4G，GPS停止工作\r\n");
			}else{
			//power_low_flag=0;
			//gps_air780_power_change(gps_power_state,1);//gps原样,开启4G
			// LOG_INFO(TRACE_MODULE_APP, "电池电压正常,4G，GPS,正常工作\r\n");
			}
			PCA9555_Set_One_Value_Output(PWR_GND,1);//拉高
			}
			//static void timer_callback(void *dev, uint32_t time)
			//{
			@@ -269,7 +279,8 @@
			}
			void MinuteTask(void)
			{
			adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
			PCA9555_Set_One_Value_Output(PWR_GND,0);//拉低
			adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
			}
			void SecondTask(void)
			{static uint8_t second_count;
			@@ -315,13 +326,14 @@
			uint32_t last_step_count = 0; // 上一次步数
			CountState_t current_state = STATE_NORMAL; // 当前状态
			uint32_t state_start_time = 0; // 状态开始时间

			uint8_t led_state;
			uint8_t stationary_flag;
			extern uint8_t lora_tx_flag;
			extern uint16_t sleep_time;
			uint8_t input5v_time;
			static void sleep_timer_callback(void *dev, uint32_t time)
			{

			input5v_time=1;
			// g_start_send_flag=1;
			HIDO_TimerTick();
			// lora_tx_flag++;
			@@ -335,16 +347,27 @@
			sleep_time++;
			}
			step_count = mir3da_get_step(); // 获取步数
			// if(yundong_bushu<mir3da_get_step())
			// {
			// yundong_bushu=mir3da_get_step();
			// onemin_onesecond_flag=1;
			// }
			// else
			// {
			// yundong_bushu=mir3da_get_step();
			// onemin_onesecond_flag=0;
			// }

			if(!read_5v_input_pca())
			{
			if(bat_percent>15)
			{
			led_state=!led_state;
			if(led_state)
			GREEN_LED_ON;
			else
			{
			GREEN_LED_OFF;
			}

			}
			else
			{
			RED_LED_ON;
			GREEN_LED_OFF;
			}
			}
			input5v_time=1;
			//马达震动逻辑
			if(g_com_map[MOTOR_ENABLE])
			{
			@@ -387,7 +410,7 @@
			// sleep_time = uwb_time_count - state_start_time;
			if (sleep_time >= 30)
			{ // 30秒后切换到休眠状态
			current_state = STATE_SLEEP;
			// current_state = STATE_SLEEP;
			sleep_time = 0;
			}
			}
			@@ -426,7 +449,7 @@
			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=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);
			@@ -459,11 +482,49 @@
			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;
			uint16_t chongman_time;
			void IdleTask(void)
			{
			UART0_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
			{
			// RED_LED_ON;
			GREEN_LED_OFF;
			}

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

			int bind_check(void)
			@@ -491,11 +552,16 @@
			{
			//将boot中串口返回普通gpio
			// UART0 TX/RX
			io_pin_mux_set(IO_PIN_5, IO_FUNC0);
			io_pin_mux_set(IO_PIN_6, IO_FUNC0);
			io_pin_mux_set(UART0_RX, IO_FUNC0);
			io_pin_mux_set(UART0_TX, IO_FUNC0);

			gpio_pin_set_dir(UART0_RX , GPIO_DIR_OUT, 0);
			gpio_pin_set_dir(UART0_TX , GPIO_DIR_OUT, 0);
			// UART1 RX/TX
			io_pin_mux_set(IO_PIN_10, IO_FUNC0);
			io_pin_mux_set(IO_PIN_9, IO_FUNC0);
			io_pin_mux_set(UART1_RX, IO_FUNC0);
			io_pin_mux_set(UART1_TX, IO_FUNC0);


			uart_close(UART_ID1);//解绑原来串口1
			uart_close(UART_ID0);//解绑原来串口0
			}
			@@ -515,6 +581,7 @@
			uint32_t lock;
			trace_flush();
			lock = int_lock();
			boot_deinit();
			LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
			//关闭蓝牙灯
			LORA_LED_OFF;
			@@ -523,6 +590,8 @@
			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);
			sleep_timer_stop();
			power_enter_power_down_mode(1);
			sys_reset(0);
			@@ -530,7 +599,7 @@
			}
			void IMUTask(void)
			{
			if(nomove_count>10&&g_com_map[IMU_ENABLE]==2)
			if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==2)
			{
			power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)PCA_INPUT_DETECT, POWER_WAKEUP_LEVEL_LOW);
			mcu_deep_sleep();
			@@ -556,24 +625,25 @@
			io_pin_mux_set(LORA_DIO, IO_FUNC0);


			// //ADC
			// io_pin_mux_set(ADC_PIN, IO_FUNC1);
			// io_pull_set(ADC_PIN, IO_HIGH_Z, IO_PULL_UP_NONE);
			//ADC
			io_pin_mux_set(ADC_PIN, IO_FUNC1);
			io_pull_set(ADC_PIN, IO_HIGH_Z, IO_PULL_UP_NONE);

			// //串口0
			// io_pin_mux_set(UART0_RX, IO_FUNC4);
			// io_pin_mux_set(UART0_TX, IO_FUNC4);

			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);
			//串口0
			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
			uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);//开启dma

			//串口1
			// io_pin_mux_set(UART1_RX, IO_FUNC4);
			// io_pin_mux_set(UART1_TX, IO_FUNC4);
			io_pin_mux_set(UART1_RX, IO_FUNC4);
			io_pin_mux_set(UART1_TX, IO_FUNC4);
			board_debug_console_open(TRACE_PORT_UART1,BAUD_115200);
			}
			void spi_init()
			{
			@@ -630,31 +700,7 @@
			/********************************************************************************************************/
			/********************************************************************************************************/
			/********************************************************************************************************/
			//static uint16_t delaytime = 771;
			//extern uint16_t wg_report_freq,wg_report_id;
			//extern uint32_t wg_lost_count;
			//extern uint8_t shengji_flag;
			//extern uint8_t lora_jianting_flag,report_ancnum;
			//uint8_t imu_enable,motor_enable;
			//uint32_t time_flag_lorarx=0;
			//uint32_t lora_huanxing_count=0;
			//uint16_t Lora_wangguanid=0;
			//wg_state_enum wg_state = WG_Lost;
			//uint16_t wangguan_up_id;
			//uint8_t LoraUp_flag;
			//uint16_t rec_wenjian_daxiao;
			//uint16_t recnum[3];
			//uint16_t recv_flag=0;
			//uint16_t tx_flag=0;
			//uint16_t CRC16=0;
			//uint16_t DEST_ID=0;
			//uint16_t rec_value,rec_delaytime,rx_count,datalen_offset;
			//uint16_t Loratx_flag=0;
			//uint16_t Lorarx_flag=0;
			//uint16_t Lorarx_time_out_flag=0;
			//uint8_t tx_buf[5]={0,1,0,1,1};
			//uint32_t sleep_time_count=0;
			//uint32_t uwb_ceju_count=0;

			wg_state_enum wg_state = WG_Lost;
			/********************************************************************************************************/
			static void Lora_irq_handler(enum IO_PIN_T pin)
			@@ -729,7 +775,7 @@
			{
			board_clock_run();
			boot_deinit();
			// board_debug_console_open(TRACE_PORT_UART1);

			// Reset reason
			reset_cause_get();
			reset_cause_clear();
			@@ -739,6 +785,7 @@
			wdt_close(WDT_ID0);
			gpio_open();
			Board_gpio_init();

			//board_led_init();
			spi_init();

			@@ -749,22 +796,26 @@
			Accelerometer_Init();

			PCA9555_init();
			adc_open(&usr_adc_cfg);
			Lora_1268_Init();
			SwitchLoraSettings(478,7,22);
			Program_Init();
			power_init();
			sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
			sleep_timer_start(__MS_TO_32K_CNT(1000));//测试

			#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
			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();
			// boot_deinit();

			// OpenUWB();
			while (1)
			{
			BT_LED_OFF;
			// Lora_Tx_Poll();
			// uwb_app_poll();
			check_step_and_update_state();