1111111

WXK

2025-02-11 e328ebef585cea2351b37117b2d5ac4978ecd3c0

 keil/include/main/main.c

@@ -61,8 +61,15 @@
#include "HIDO_ATLite.h"
#include "HIDO_Timer.h"
#include "TCPClient.h"

//#define DEBUG_MODE
#include "mk_spi.h"
#include "pan_port.h"
#include "mk_timer.h"
//#include "pan_param.h"
//#include "pan_rf.h"
#include "lora_3029.h"
#include "pan_rf.h"
#include "PCA9555.h"
#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
#define TEST_UART_POLL_MODE 0
@@ -76,12 +83,15 @@
#define WARING_LIMIT_TIME 10
#define UPDATE_TIME 10

#define SOS_DIO  IO_PIN_5

void test_Delay_us(uint16_t time);
void Lora_UploadHeartBeartPoll(void);
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;
extern uint8_t anchordata_num;   //bat_percent
uint32_t dev_id;
uint8_t group_id;
uint16_t tag_frequency;
@@ -89,6 +99,7 @@
uint16_t warning_distance,prewarning_distance;
int16_t fVoltage_mv,first_search_flag;
uint8_t bat_percent,g_start_send_flag=1;
uint8_t LORA_REV_uwb_up =0;
uint8_t link_success_flag,motor_count;
uint16_t gps_wait_count;
uint8_t state5v = 1;
@@ -97,6 +108,7 @@
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
int input_5v_flag,air780e_flag1,air780e_flag2,air780e_flag3,air780e_flag4;
typedef enum
{      UN_BIND=0,
        LINK_SUCCESS,
@@ -170,6 +182,11 @@
    }
  //  LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
}
//static void timer_callback(void *dev, uint32_t time)
//{
//    enum TIMER_DEV_T id = *(enum TIMER_DEV_T *)dev;
//    LOG_INFO(TRACE_MODULE_APP, "Timer %d elapsed time %d\r\n", id, time);
//}
//void UartInit(void)
//{
//board_pins_config();
@@ -249,7 +266,8 @@
    }
    //UWB更新列表
    TagListUpdate();
    GPS_Poll();
    //GPS_Poll();
      gps_power_state=1;//测试gps长开
    //UWB状态检测

    if(IfTCPConnected())
@@ -273,22 +291,31 @@
    nomove_count++;
}
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)
{
    IO_control_init();
  //  UWBPoll();
    
    
    MotorPoll();
    g_start_send_flag=1;
   //      #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++;
//      lora_qiehuan++;
//    IO_control_init();
//    UWBPoll();
//    
//    
//    MotorPoll();

    if(secondtask_count++%2==0)
    {
        flag_secondtask = 1;
    }else{
        flag_secondtask = 0;
    }
//    if(secondtask_count++%2==0)
//    {
//        flag_secondtask = 1;
//    }else{
//        flag_secondtask = 0;
//    }

    flag_sleeptimer = 1;
//    flag_sleeptimer = 1;

    //马达震动逻辑
    if(g_com_map[MOTOR_ENABLE])
@@ -320,13 +347,10 @@
    nomove_count=0;
}
uint8_t flag_4G_recdata;
void _4gUsart_handler(enum IO_PIN_T pin)
static void _4gUsart_handler(enum IO_PIN_T pin)
{
    LOG_INFO(TRACE_MODULE_APP, "4G RX 唤醒\r\n");
     flag_4G_recdata = 1;
    
    power_wakeup_disable((enum POWER_WAKEUP_SOURCE_T)_4G_USART_RX_Pin);
    gpio_disable_irq(_4G_USART_RX_Pin);        
    // flag_4G_recdata = 1;
    // AIR780EUartInit();
}
extern uint16_t ip0,ip1,ip2,ip3,port;
@@ -335,6 +359,8 @@
{
    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]=0x6789;
//    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
    tag_frequency = 1000/g_com_map[COM_INTERVAL];//测距频率这个存的是测距时间
@@ -362,9 +388,9 @@
    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)|6;
    g_com_map[VERSION] = (1<<8)|11;
    LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
    LOG_INFO(TRACE_MODULE_APP,"固件版本:UWB-4G手环 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
    LOG_INFO(TRACE_MODULE_APP,"固件版本:MK-LORA 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);
}

@@ -380,7 +406,7 @@
            state5v=1;
            state5V_prase_flag=state5v;
            gps_prase_flag=0;//解除gps解析
            uart1_change_from_gps_to_debug();
            uart1_change_from_gps_to_debug();//测试
         //   uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
            //UartInit();
        }
@@ -393,7 +419,7 @@
            state5v=0;
            state5V_prase_flag=state5v;
            gps_prase_flag=1;//恢复gps解析
            uart1_change_from_debug_to_gps();
            uart1_change_from_debug_to_gps();//测试
          //  uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
            //UartDeinit();
        }
@@ -433,126 +459,786 @@
    uart_close(UART_ID1);//解绑原来串口1
    uart_close(UART_ID0);//解绑原来串口0
}
void test_Delay_us(uint16_t time)
{
   for(int i=time;i>0;i--)
   {
      for(int j=1;j>0;j--)
      {
         __NOP();
   }
   }

}
#define TEST_SPI_MASTER 0
#define TEST_SPI_POLL_MODE 0
#define TEST_SPI_INTERUPT_MODE 1
#define TEST_SPI_DMA_MODE 2
#define TEST_SPI_MODE TEST_SPI_POLL_MODE
void spi_gpio_init()
{
    // SPI0 MOSI/MISO/CLK/CS
    io_pin_mux_set(LORA_CS, IO_FUNC0);
    gpio_pin_set_dir(LORA_CS , GPIO_DIR_OUT, 0);
    io_pull_set(LORA_CS, IO_HIGH_Z, IO_PULL_UP_NONE);

//    io_pin_mux_set(LORA_CS2, IO_FUNC0);
//    gpio_pin_set_dir(LORA_CS2 , GPIO_DIR_OUT, 0);
//    io_pull_set(LORA_CS2, IO_HIGH_Z, IO_PULL_UP_NONE);
	
    io_pin_mux_set(LORA_MOSI, IO_FUNC2);
    io_pin_mux_set(LORA_MISO, IO_FUNC2);
    io_pin_mux_set(LORA_CLK, IO_FUNC2);
	
     io_pin_mux_set(IO_PIN_9, IO_FUNC4);
    io_pin_mux_set(IO_PIN_10, IO_FUNC4);
	
}
void spi_init()
{
    struct SPI_CFG_T usr_spi_cfg =
    {
        .bit_rate = 1000000,
        .data_bits = 8,
//#if TEST_SPI_MASTER
        .slave = 0,
//#else
//        .slave = 1,
//#endif
        .clk_phase = 0,
        .clk_polarity = 0,
        .ti_mode = 0,
//#if (TEST_SPI_MODE == TEST_SPI_POLL_MODE)
        .dma_rx = false,
        .dma_tx = false,
        .int_rx = false,
        .int_tx = false,
//#elif (TEST_SPI_MODE == TEST_SPI_INTERUPT_MODE)
//        .dma_rx = false,
//        .dma_tx = false,
//        .int_rx = true,
//        .int_tx = true,
//#elif (TEST_SPI_MODE == TEST_SPI_DMA_MODE)
//        .dma_rx = true,
//        .dma_tx = true,
//        .int_rx = false,
//        .int_tx = false,
//#endif
    };
    
     spi_open(SPI_ID0, &usr_spi_cfg);
}
uint8_t ceshi;
uint32_t error_cnt=0;
uint32_t successful_cnt=0;
uint8_t flag_4guart_needinit=0;
#define TX_LEN  10
#define RX_LEN  200
uint8_t tx_test_buf[TX_LEN] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
extern uint8_t RX_Buffer[RX_LEN];
extern uint16_t BufferSize;
static uint16_t source_id;
extern struct RxDoneMsg RxDoneParams;


extern uint16_t current_count;
extern uint8_t rec_index,rec_secdelay;
extern uint8_t  yuyin_no_sleep_flag,no_rx_flag;


/********************************************************************************************************/
/********************************************************************************************************/
/********************************************************************************************************/
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;

//ceshi
//uint8_t no_rx_flag=0;
//xtal_38m4_off_time(sleep_time_count);
/********************************************************************************************************/
static void Lora_irq_handler(enum IO_PIN_T pin)
{
	    
         uint16_t checksum1;	
         rf_irq_process();
       gpio_pin_set(IO_PIN_5);//测试
         no_rx_flag=0;
       tx_flag=rf_get_transmit_flag();
       recv_flag=rf_get_recv_flag();
         if(recv_flag == RADIO_FLAG_RXDONE)
        {
             rf_set_recv_flag(RADIO_FLAG_IDLE);
				
             memcpy(RX_Buffer,RxDoneParams.Payload,RxDoneParams.Size);
               BufferSize=RxDoneParams.Size;
                lora_huanxing_count++;
         if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_RANGEPOLL)
    {
		            
//                     time_flag_lorarx=phy_timer_count_get();
                  uwb_open();
                  gpio_pin_clr(IO_PIN_5);//测试
                     UwbRange();
				      
                  uwb_ceju_count++;
      }
//       if(RX_Buffer[0]==0x04,RX_Buffer[1]=='O',RX_Buffer[2]=='N',RX_Buffer[3]=='G')
//       {
//              gpio_pin_set(IO_PIN_5);//测试
////                     time_flag_lorarx=phy_timer_count_get();
//                  uwb_open();
//                  gpio_pin_clr(IO_PIN_5);
//                     UwbRange();
//				      
//                  uwb_ceju_count++;
//                   //rf_enter_continous_rx(); //重新进入接收模式
//                   //LORA_REV_uwb_up=1;
//                  }
             if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_WGRESPTAG)
                  {
                     checksum1=Checksum_u16(RX_Buffer,BufferSize-2);
							
              memcpy(&DEST_ID,&RX_Buffer[DEST_ID_IDX],2);
                     memcpy(&CRC16,&RX_Buffer[BufferSize-2],2);
                     if(!memcmp(&checksum1,&RX_Buffer[BufferSize-2],2))
                     if(!memcmp(&dev_id,&RX_Buffer[DEST_ID_IDX],2))
                     {
                        memcpy(&source_id,&RX_Buffer[SOURCE_ID_IDX],2); 
                        if(wg_state==WG_Lost)
                           {
                            wg_state = WG_Connected;
                            wg_report_id = source_id;
                           }
                        if(!memcmp(&wg_report_id,&RX_Buffer[SOURCE_ID_IDX],2))
                        {
                              wg_lost_count = 0;
                              switch(RX_Buffer[PWTAG_RW_FLAG_IDX])
                              {
                                    case WGRSP_RWTAG_NONE:
//                        current_count = HAL_LPTIM_ReadCounter(&hlptim1);
                                     // sleep_time_count=xtal_38m4_off_time();
                        wg_report_freq = RX_Buffer[POLL_FREQ_IDX]+400;
                        memcpy(&rec_delaytime,&RX_Buffer[NEXTPOLL_TIME_IDX],2);
                        if(report_ancnum<2)
                        {
                            datalen_offset = report_ancnum*85;
                        }else{
                            datalen_offset = (report_ancnum-1)*46+85;
                        }
//                        rec_secdelay = RX_Buffer[PWTAG_SECDELAY_IDX];
//                        if(BufferSize!=13||rec_secdelay>20)
//                        {
//                            rec_secdelay = 0;
//                        }
                        //*3.2768
                        sleep_time_count = (rec_delaytime*32.768 - delaytime-datalen_offset)/10;
//                                    while(sleep_time_count>=1000)
//                                    {
//                                     sleep_time_count-=1000;
//                                    }	
                                    sleep_timer_start(sleep_time_count);
//                        while(sleep_time_count>=32768)
//                            sleep_time_count-=32768;
//                                  sleep_timer_start(sleep_time_count);
                       // __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
                       // rx_count = HAL_LPTIM_ReadCounter(&hlptim1);
                     //   printf("tx %d,rx %d,delay %d",current_count>>5,rx_count>>5,rec_delaytime);
                        break;
                                    case WGRSP_RWTAG_READ:
                                             no_rx_flag = 1;
                                             LoraSendComMap(WGRSP_RWTAG_READ);
                                             break;
                                    case WGRSP_RWTAG_WRITE:
                                          rec_index = RX_Buffer[PWTAG_WRITE_IDX_IDX];
                                       switch(rec_index)
                                             {
                                                   case 0xdd:  //语音下发
                                                         break;
//                        case 0x20:  //蜂鸣
//                            memcpy(&rec_value,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],2);
//                            motor_keeptime = rec_value;
//                            break;
                        default :
                            memcpy(&rec_value,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],2);
                            g_com_map[rec_index/2] = rec_value;
                            save_com_map_to_flash();
                            LoraRspWriteCommap(SUBMSG_WRITE_ANCPARA);
                            //flag_writepara_needreset = 1;
                            no_rx_flag = 1;                           
                                             }

                                             break; 
                                    case WGRSP_RWTAG_UPDATE:
                                    rec_index = RX_Buffer[PWTAG_WRITE_IDX_IDX];
                                    switch(rec_index)
                                    {
                                          case 0xaa:  //升级下发
                                          memcpy(&rec_wenjian_daxiao,&RX_Buffer[WRITEPARA_VALUE_IDX],2);//文件大小
                                          if(rec_wenjian_daxiao>0XAC00||rec_wenjian_daxiao==0)
                                          {}//文件过大，超出范围
                                          else
                                          {
                                                memcpy(&wangguan_up_id,&RX_Buffer[SOURCE_ID_IDX],2);//网关ID 占用2个字节
                                                shengji_flag=1;
                                                LoraUp_flag=1;   
                                                imu_enable=0;                            
                                          }
//                            LoraUp_Poll();
                                                break;                        
                                    }
                                          break; 
                              }
                           }
                        }

                     }						
    if(!no_rx_flag)
    {
        if(lora_jianting_flag)
        {
                  uint32_t para;
//            SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
            rf_set_mode(RF_MODE_STB3);
                  para=(UWB_CHANNEL_FRQ+group_id)*1000000;
                  rf_set_freq(para);	
                  rf_set_sf(UWB_CHANNEL_SF);
            rf_enter_continous_rx();
        }
    }
				
      }
         if(tx_flag == RADIO_FLAG_TXDONE)
        {
             //rf_set_mode(RF_MODE_STB3);
             rf_set_transmit_flag(RADIO_FLAG_IDLE);
             Loratx_flag++;

//            #ifdef DEBUG_BOXING
//          //gpio_pin_clr(IO_PIN_5);//测试
//          gpio_pin_set(IO_PIN_5);//测试
//            #endif
             rf_enter_single_timeout_rx(100);
          // rf_enter_single_rx();
         //      rf_enter_continous_rx();
		
//         mode_change = !mode_change; 
//         if(mode_change)
//         {
//         //rf_init();	
//        rf_set_mode(RF_MODE_STB3);
//        para=4810 * 100000;
//      rf_set_freq(para);	
//      rf_set_sf(5);

//         //dis_set_mode(TX_cnt);
////         rf_enter_continous_rx();
//         rf_single_tx_data(tx_buf, 10,0);
//	
//         }
//         else
//         {
////        rf_init();
//         rf_set_mode(RF_MODE_STB3);
//         para=4910 * 100000;
//      rf_set_freq(para);	
//      rf_set_sf(7);	
//         //dis_set_mode(TX_cnt);
////         rf_enter_continous_rx();
//         rf_single_tx_data(tx_buf, 10,0);

//         }				
         //LoraReportPoll();
        }
        if((recv_flag == RADIO_FLAG_RXTIMEOUT))
        {
//                     #ifdef DEBUG_BOXING
//                     gpio_pin_clr(IO_PIN_5);//测试
//            //      gpio_pin_set(IO_PIN_5);//测试
//                     #endif
					
               //这个超时接收是会自动重启的，所以必须将芯片状态置成STB3这样就退出了连续接收状态
                 rf_set_mode(RF_MODE_STB3);
               //这个超时接收是会自动重启的，所以必须将芯片状态置成STB3这样就退出了连续接收状态
					
                  Lorarx_time_out_flag++;
                 rf_set_recv_flag(RADIO_FLAG_IDLE);
                  rf_set_freq(UWB_CHANNEL_FRQ+group_id*10000000);
                  rf_set_sf(UWB_CHANNEL_SF);
						
               if(lora_jianting_flag)
               {
                  uint32_t para;
//            SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
            rf_set_mode(RF_MODE_STB3);
                  para=(UWB_CHANNEL_FRQ+group_id)*1000000;
                  rf_set_freq(para);	
                  rf_set_sf(UWB_CHANNEL_SF);
            rf_enter_continous_rx();
                }
               //  rf_clr_irq(REG_IRQ_RX_TIMEOUT);
             //  rf_enter_single_timeout_rx(100);
        }
            if((recv_flag == RADIO_FLAG_RXERR))
            {
                rf_set_recv_flag(RADIO_FLAG_IDLE);
               if(lora_jianting_flag)
               {
                  uint32_t para;
//            SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
            rf_set_mode(RF_MODE_STB3);
                  para=(UWB_CHANNEL_FRQ+group_id)*1000000;
                  rf_set_freq(para);	
                  rf_set_sf(UWB_CHANNEL_SF);
            rf_enter_continous_rx();
                }
            }
				
}
static void Sos_irq_handler(enum IO_PIN_T pin)
{
   uint8_t state;
   state=!state;
   UWB_LED_QH_state(state);
  LORA_LED_QG_state(state);
   BT_LED_QF_state(state);
   MOTOR_QA_state(state);
}

//

//static void Lora_irq_handler(enum IO_PIN_T pin)
//{
//         uint16_t checksum1;	
//         rf_irq_process();
//         //这里根据SDK的那个逻辑 用你的接口看看
//       tx_flag=rf_get_transmit_flag();
//       recv_flag=rf_get_recv_flag();
//         if(recv_flag == RADIO_FLAG_RXDONE)
//        {
//             rf_set_recv_flag(RADIO_FLAG_IDLE);
//				
//             memcpy(RX_Buffer,RxDoneParams.Payload,RxDoneParams.Size);
//               BufferSize=RxDoneParams.Size;
//                lora_huanxing_count++;
//               if(RX_Buffer[0]==0x04&&RX_Buffer[1]=='I'&&RX_Buffer[2]=='N'&&RX_Buffer[3]=='G')
//                  {
//             
//                     time_flag_lorarx=phy_timer_count_get();
//                     UwbRange();
//                   //rf_enter_continous_rx(); //重新进入接收模式
//                   //LORA_REV_uwb_up=1;
//                  }
//             if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_WGRESPTAG)
//                  {
//                     checksum1=Checksum_u16(RX_Buffer,BufferSize-2);
//							
//              memcpy(&DEST_ID,&RX_Buffer[DEST_ID_IDX],2);
//                     memcpy(&CRC16,&RX_Buffer[BufferSize-2],2);
//                     if(!memcmp(&checksum1,&RX_Buffer[BufferSize-2],2))
//                     if(!memcmp(&dev_id,&RX_Buffer[DEST_ID_IDX],2))
//                     {
//                        memcpy(&source_id,&RX_Buffer[SOURCE_ID_IDX],2); 
//                        if(wg_state==WG_Lost)
//                           {
//                            wg_state = WG_Connected;
//                            wg_report_id = source_id;
//                           }
//                        if(!memcmp(&wg_report_id,&RX_Buffer[SOURCE_ID_IDX],2))
//                        {
//                              wg_lost_count = 0;
//                              switch(RX_Buffer[PWTAG_RW_FLAG_IDX])
//                              {
//                                    case WGRSP_RWTAG_NONE:
////                        current_count = HAL_LPTIM_ReadCounter(&hlptim1);
////                        wg_report_freq = RX_Buffer[POLL_FREQ_IDX]+400;
////                        memcpy(&rec_delaytime,&RX_Buffer[NEXTPOLL_TIME_IDX],2);
////                        if(report_ancnum<2)
////                        {
////                            datalen_offset = report_ancnum*85;
////                        }else{
////                            datalen_offset = (report_ancnum-1)*46+85;
////                        }
////                        rec_secdelay = RX_Buffer[PWTAG_SECDELAY_IDX];
////                        if(BufferSize!=13||rec_secdelay>20)
////                        {
////                            rec_secdelay = 0;
////                        }
////                    
////                        target_count = current_count + rec_delaytime*3.2768 - delaytime-datalen_offset;
////                        while(target_count>=32768)
////                            target_count-=32768;
////                        __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
//                       // rx_count = HAL_LPTIM_ReadCounter(&hlptim1);
//                     //   printf("tx %d,rx %d,delay %d",current_count>>5,rx_count>>5,rec_delaytime);
//                        break;
//                                    case WGRSP_RWTAG_READ:
//                                             no_rx_flag = 1;
//                                             LoraSendComMap(WGRSP_RWTAG_READ);
//                                             break;
//                                    case WGRSP_RWTAG_WRITE:
//                                          rec_index = RX_Buffer[PWTAG_WRITE_IDX_IDX];
//                                       switch(rec_index)
//                                             {
//                                                   case 0xdd:  //语音下发
//                                                         break;
////                        case 0x20:  //蜂鸣
////                            memcpy(&rec_value,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],2);
////                            motor_keeptime = rec_value;
////                            break;
//                        default :
//                            memcpy(&rec_value,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],2);
//                            g_com_map[rec_index/2] = rec_value;
//                            save_com_map_to_flash();
//                            LoraRspWriteCommap(SUBMSG_WRITE_ANCPARA);
//                            //flag_writepara_needreset = 1;
//                            no_rx_flag = 1;                           
//                                             }

//                                             break; 
//                                    case WGRSP_RWTAG_UPDATE:
//                                    rec_index = RX_Buffer[PWTAG_WRITE_IDX_IDX];
//                                    switch(rec_index)
//                                    {
//                                          case 0xaa:  //升级下发
//                                          memcpy(&rec_wenjian_daxiao,&RX_Buffer[WRITEPARA_VALUE_IDX],2);//文件大小
//                                          if(rec_wenjian_daxiao>0XAC00||rec_wenjian_daxiao==0)
//                                          {}//文件过大，超出范围
//                                          else
//                                          {
//                                                memcpy(&wangguan_up_id,&RX_Buffer[SOURCE_ID_IDX],2);//网关ID 占用2个字节
//                                                shengji_flag=1;
//                                                LoraUp_flag=1;   
//                                                imu_enable=0;                            
//                                          }
////                            LoraUp_Poll();
//                                                break;                        
//                                    }
//                                          break; 
//                              }
//                           }
//                        }

//                     }						

//				
//      }
//         if(tx_flag == RADIO_FLAG_TXDONE)
//        {
//             //rf_set_mode(RF_MODE_STB3);
//             rf_set_transmit_flag(RADIO_FLAG_IDLE);
//               Loratx_flag++;

////            #ifdef DEBUG_BOXING
////          //gpio_pin_clr(IO_PIN_5);//测试
////          gpio_pin_set(IO_PIN_5);//测试
////            #endif
//            rf_enter_single_timeout_rx(100);
//          // rf_enter_single_rx();
//         //      rf_enter_continous_rx();

//        }
//        if((recv_flag == RADIO_FLAG_RXTIMEOUT))
//        {
////                     #ifdef DEBUG_BOXING
////                     gpio_pin_clr(IO_PIN_5);//测试
////            //      gpio_pin_set(IO_PIN_5);//测试
////                     #endif
//					
//               //这个超时接收是会自动重启的，所以必须将芯片状态置成STB3这样就退出了连续接收状态
//                 rf_set_mode(RF_MODE_STB3);
//               //这个超时接收是会自动重启的，所以必须将芯片状态置成STB3这样就退出了连续接收状态
//					
//                  Lorarx_time_out_flag++;
//                 rf_set_recv_flag(RADIO_FLAG_IDLE);
//					
//               //  rf_clr_irq(REG_IRQ_RX_TIMEOUT);
//             //  rf_enter_single_timeout_rx(100);
//        }
//            if((recv_flag == RADIO_FLAG_RXERR))
//            {
//                rf_set_recv_flag(RADIO_FLAG_IDLE);
//            }
//				
//}



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);
}

void Board_SOS_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(SOS_DIO , GPIO_DIR_IN, 0);
      io_pull_set(SOS_DIO, IO_HIGH_Z, IO_PULL_UP_NONE);
    gpio_enable_irq(SOS_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)
{
      PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值
      check_input_change();
}
uint8_t io14_state;
uint16_t  lora_freq=0;
uint16_t  lora_up_count=0;
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();
    board_pins_config();
//    boot_deinit();
    
    board_debug_console_open(TRACE_PORT_UART1);
    // Reset reason
    reset_cause_get();
    reset_cause_clear();

    
    // 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();
        board_calibration_params_load();
        flash_close(FLASH_ID0);
    }
    else
    {
        board_calibration_params_default();
    }

//    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();
//        board_calibration_params_load();
//        flash_close(FLASH_ID0);
//    }
//    else
//    {
//        board_calibration_params_default();
//    }
    
    // Chip calibration
    calib_chip();

//    uwb_led_on();
    // Disable watchdog timer
    wdt_close(WDT_ID0);
    LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
//    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();
//    // TODO 4G
//    Uart_Register(UART_ID_4G, UART_ID0);
//    Internet_Init();
//    TCPClient_Init();

    gpio_open();
     //board_pins_config();    
//    struct TIMER_CFG_T timer_cfg = {
//        .extin_type = TIMER_EXTIN_NONE,
//        .load = 0x1000000,
//        .int_en = true,
//        .callback = timer_callback,
//    };

//    timer_open(TIMER_ID0, &timer_cfg);
    spi_gpio_init();
    //board_led_init();
    
    spi_init();
//      gpio_pin_clr(LORA_CS);
//      gpio_pin_clr(LORA_MOSI);
//      gpio_pin_clr(LORA_MISO);
//      gpio_pin_clr(LORA_CLK);
      //gps_led_on();
		
      //PCA9555_init();
    Board_LORA_NVIC_Init(Lora_irq_handler);
      Board_SOS_NVIC_Init(Sos_irq_handler);
      //pca_input_detection_init(pca_handler);
     //gpio_pin_clr(LORA_CS);
    Lora_init();

    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(0,1);//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();
   // uart1_change_from_gps_to_debug();   
    //Uart1GpsRecDebugSend();   
    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
   
// Initialize low power mode
    power_init();
      AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
		
      //lora_freq=DEFAULT_up_FREQ+g_com_map[GROUP_ID];
//     rf_set_default_para(DEFAULT_up_FREQ+g_com_map[GROUP_ID],DEFAULT_up_SF);
//     rf_set_default_para(478,7);
		
      rf_set_default_para(DEFAULT_WG_SET_FREQ,DEFAULT_WG_SET_SF);
      //IC2_Init();
      IO_control_init();	
//移位寄存器实验
//    BT_LED_QF_state(0);
//    LORA_LED_QG_state(0);
//      UWB_LED_QH_state(0);
//      RED_LED_QD_state(0);
//      GREEN_LED_QE_state(0);
		
		
		
		
//      QA_ON();
//      SRCLK_0;
//      SER_0;
//      RCLK_0;
//		
//      air780_led_off();
//      motor_power_on();
//      uwb_led_off();
   //   gps_air780_power_change(0,1);
//    Accelerometer_Init();
//      PCA9555_init();
     // rf_set_default_para(DEFAULT_up_FREQ+g_com_map[GROUP_ID],DEFAULT_up_SF);
      //rf_enter_continous_rx();
      // rf_enter_continous_rx();
      //rf_enter_continous_tx();
//      if((rf_single_tx_data(TXBuffer,10,0))!= OK)
//    {
//        
//    }
   //   rf_set_default_para(DEFAULT_WG_SET_FREQ,DEFAULT_WG_SET_SF);
   //   rf_set_default_para(DEFAULT_up_FREQ,DEFAULT_up_SF);
//    
     //rf_enter_continous_tx();
//    rf_set_transmit_flag(RADIO_FLAG_TXDONE);
//    rf_set_transmit_flag(RADIO_FLAG_TXDONE);
//    if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != 0)
//    {
//        error_cnt++;
//    }
//    else
//    {
//        successful_cnt ++;
//    }     
    
    
//  while (rf_get_transmit_flag() == RADIO_FLAG_IDLE) ;
//   
//  rf_set_transmit_flag(RADIO_FLAG_IDLE);
    
//    adc_open(&usr_adc_cfg);

//    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(0,1);//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
         Program_Init();
//      SRCLK_1;
//      SER_1;
//      RCLK_1;
//          uwb_led_on();
//       gps_led_on();
      // rf_single_tx_data(TXBuffer,10,2);
//    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
//    
//// Initialize low power mode
//    power_init();
//      AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
    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);
//       LOG_INFO(TRACE_MODULE_APP, "测试进入app");
  board_4GUsart_detection_init(_4gUsart_handler);
    while (1)
    {

        if(flag_TCP_reconnectting||IfTCPConnected())
        {
        if(flag_4G_recdata==1)
            {
                flag_4G_recdata = 2;
                LOG_INFO(TRACE_MODULE_APP, "运行Socket_RecvAll\r\n");
                Socket_RecvAll();
            }
            air780_led_on();
LOG_INFO(TRACE_MODULE_APP, "处理4G\r\n");
            Internet_Poll();
            HIDO_ATLitePoll();
            HIDO_TimerPoll();
            TCPClient_Poll();
            air780_led_off();
        }
        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))//AIR780E_IsIPIdle() Socket_IsSendQueueEmpty(0)
      //  if(flag_4G_recdata!=2)
        if(((IfTCPConnected()&&AIR780E_IsIPIdle()&&Socket_IsSendQueueEmpty(0))||!flag_TCP_reconnectting&&!IfTCPConnected())) //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。
        {   uint32_t lock;
            flag_4guart_needinit = 1;
                        Internet_Poll();
            HIDO_ATLitePoll();
            HIDO_TimerPoll();
            TCPClient_Poll();
            power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)_4G_USART_RX_Pin, POWER_WAKEUP_LEVEL_LOW);
            LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
            trace_flush();
            lock = int_lock();            
            power_enter_power_down_mode(0);
            int_unlock(lock);
        }
      sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
      sleep_time_count=xtal_38m4_off_time();
#ifdef DEBUG_BOXING
      io_pin_mux_set(IO_PIN_9,IO_FUNC0);
      gpio_pin_set_dir(IO_PIN_9,GPIO_DIR_OUT,0);
      io_pull_set(IO_PIN_9,IO_PULL_DOWN,IO_PULL_UP_LEVEL4);
#endif
    //rf_enter_single_timeout_rx(1000);
//    board_acceleration_detection_init(move_handler);
        //rf_enter_single_timeout_rx(900);
      //rf_enter_single_timeout_rx(500);
     //rf_enter_single_rx();
   //   sleep_time_count=xtal_38m4_off_time();
    Uwbinit();
    

//            if((rf_single_tx_data(TXBuffer,10,0))!= OK)
//    {
//        
//    }
//       PCA9555_Set_One_Value_Config(LORA_LED,0);      //设置LORALED为输出
//        PCA9555_Set_One_Value_Output(LORA_LED,0);
//      PCA9555_Set_One_Value_Output(UWB_LED,0);
   // sleep_timer_start(__MS_TO_32K_CNT(500));
    while (1)
    { 
      gpio_pin_clr(IO_PIN_9);
       Lora_Tx_Poll();
     
       // UwbRange();
   
//        if(flag_TCP_reconnectting||IfTCPConnected())
//        {
//            
//        //    LOG_INFO(TRACE_MODULE_APP, "处理4G任务\r\n");
//            air780_led_on();
//            if(flag_4guart_needinit)
//            {
//                flag_4guart_needinit = 0;
//                AIR780EUartInit();
//            }
//            Internet_Poll();
//            HIDO_ATLitePoll();
//            HIDO_TimerPoll();
//            TCPClient_Poll();
//            air780_led_off();
//        }
//        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())) //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);
//        }
//#endif
    }
}