ChinaUWBProject.git

			@@ -275,7 +275,7 @@
			MinuteTask();
			}
			//UWB更新列表
			TagListUpdate();
			// TagListUpdate();
			//GPS_Poll();
			gps_power_state=1;//测试gps长开
			//UWB状态检测
			@@ -297,22 +297,26 @@
			}

			}
			// HIDO_TimerTick();
			nomove_count++;
			HIDO_TimerTick();

			}
			uint8_t stationary_flag;
			uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
			uint8_t lora_wg_up=0;
			extern uint8_t lora_tx_flag;
			static void sleep_timer_callback(void *dev, uint32_t time)
			{


			g_start_send_flag=1;
			// HIDO_TimerGetTick();
			HIDO_TimerTick();
			// #ifdef DEBUG_BOXING
			//// gpio_pin_clr(IO_PIN_5);//测试
			// gpio_pin_set(IO_PIN_5);//测试
			// lora_wg_up=1;

			lora_tx_flag=1;
			lora_tx_flag++;
			// lora_qiehuan++;
			// IO_control_init();
			// UWBPoll();
			@@ -348,13 +352,25 @@
			}

			//GPS工作逻辑

			if(nomove_count++>g_com_map[STATIONARY_TIME])
			{
			stationary_flag = 1;
			} else
			{
			stationary_flag = 0;
			}
			// nomove_count++;
			#ifdef DEBUG_BOXING
			// gpio_pin_clr(BOXING_PIN);//测试
			gpio_pin_set(BOXING_PIN);//测试
			#endif
			delay_us(1000);
			}

			void phy_timer_callback(uint32_t time)
			{
			lora_tx_flag++;
			}
			//void phy_timer_callback(uint32_t time)
			//{
			// lora_tx_flag++;
			//}

			void uart0_receive_callback()
			{
			@@ -381,10 +397,11 @@
			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
			g_com_map[DEV_ID]=0x1234;
			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
			g_com_map[LORA_POWER]=22;
			// 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;
			@@ -498,8 +515,8 @@
			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);
			}
			void spi_init()
			{
			@@ -556,7 +573,31 @@
			/********************************************************************************************************/
			/********************************************************************************************************/
			/********************************************************************************************************/

			//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)
			@@ -564,17 +605,12 @@
			RadioIrqProcess();
			}






			void Board_LORA_NVIC_Init(GPIO_IRQ_HANDLER_T irq_handler) //LORA 中断配置
			{
			// io_pin_mux_set(_4G_USART_RX_Pin,IO_FUNC0);//把原先io 变为普通GPIO
			gpio_pin_set_dir(LORA_DIO , GPIO_DIR_IN, 0);
			io_pull_set(LORA_DIO, IO_HIGH_Z, IO_PULL_UP_NONE);
			gpio_enable_irq(LORA_DIO, GPIO_IRQ_TYPE_RISING_EDGE, irq_handler);
			gpio_enable_irq(LORA_DIO, GPIO_IRQ_TYPE_RISING_EDGE, irq_handler);
			}
			extern uint8_t pca9555writedata_input[10];//暂存输入寄存器所有配置的数组
			static void pca_handler(enum IO_PIN_T pin)
			@@ -588,7 +624,6 @@
			uint8_t TXBuffer[8]={0,1,2,3,4,5,6,7};
			uint8_t test_buf[10]={0,1,1,1,1,1,1,1,1,1};
			int main(void)

			{
			board_clock_run();
			// boot_deinit();
			@@ -604,27 +639,35 @@
			Board_gpio_init();
			//board_led_init();
			spi_init();


			Board_LORA_NVIC_Init(Lora_irq_handler);
			pca_input_detection_init(pca_handler);
			IIC2_Init();
			Accelerometer_Init();
			PCA9555_init();
			Lora_1268_Init();
			// SwitchLoraSettings(473,7,0);
			SwitchLoraSettings(478,7,22);
			Program_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
			Uwbinit();
			OpenUWB();

			while (1)
			{
			#ifdef DEBUG_BOXING
			gpio_pin_clr(BOXING_PIN);//测试
			// gpio_pin_set(BOXING_PIN);//测试
			#endif
			Lora_Tx_Poll();
			// uwb_app_poll();
			uwb_app_poll();
			IdleTask();
			}
			}