ChinaUWBProject.git

zhangbo

2025-04-25 5bf948272927a95041754945cbdef8c848c57738

添加OTA中断使能，待测试，

已修改8个文件

	keil/JLinkLog.txt	14228 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/Listings/uwb_simple_example.map	5437 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/Objects/uwb_simple_example.build_log.htm	2 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/Objects/uwb_simple_example.hex	8572 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/Objects/uwb_simple_example.htm	8 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/Objects/uwb_simple_example_MK8000 Release.dep	4 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/include/main/main.c	62 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/uwb_app.c	2 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史

 keil/JLinkLog.txt

ÎÄ¼þÌ«´ó

 keil/Listings/uwb_simple_example.map

ÎÄ¼þÌ«´ó

 keil/Objects/uwb_simple_example.build_log.htm

@@ -42,7 +42,7 @@
  D:\keil\pack\MKSEMI\MK800X_DFP\1.0.3\Device\Include

<h2>Collection of Component Files used:</h2>
Build Time Elapsed:  00:00:01
Build Time Elapsed:  00:00:00
</pre>
</body>
</html>

 keil/Objects/uwb_simple_example.hex

ÎÄ¼þÌ«´ó

 keil/Objects/uwb_simple_example.htm

@@ -3,7 +3,7 @@
<title>Static Call Graph - [.\Objects\uwb_simple_example.axf]</title></head>
<body><HR>
<H1>Static Call Graph for image .\Objects\uwb_simple_example.axf</H1><HR>
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6140002: Last Updated: Fri Apr 25 11:46:56 2025
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6140002: Last Updated: Fri Apr 25 17:56:56 2025
<BR><P>
<H3>Maximum Stack Usage =       1604 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3>
@@ -2410,8 +2410,8 @@
<BR>[Called By]<UL><LI><a href="#[1ce]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;check_input_change
</UL>

<P><STRONG><a name="[17d]"></a>Program_Init</STRONG> (Thumb, 496 bytes, Stack size 40 bytes, main.o(.text.Program_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 844<LI>Call Chain = Program_Init &rArr; parameter_init_anchor &rArr; flash_open &rArr; trace_printf &rArr; trace_output &rArr;  trace_printf (Cycle)
<P><STRONG><a name="[17d]"></a>Program_Init</STRONG> (Thumb, 500 bytes, Stack size 32 bytes, main.o(.text.Program_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 836<LI>Call Chain = Program_Init &rArr; parameter_init_anchor &rArr; flash_open &rArr; trace_printf &rArr; trace_output &rArr;  trace_printf (Cycle)
</UL>
<BR>[Calls]<UL><LI><a href="#[a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;trace_printf
<LI><a href="#[e6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;delay_ms
@@ -3631,7 +3631,7 @@
<BR><BR>[Called By]<UL><LI><a href="#[1f9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;power_enter_power_down_mode
</UL>

<P><STRONG><a name="[2a]"></a>main</STRONG> (Thumb, 596 bytes, Stack size 16 bytes, main.o(.text.main))
<P><STRONG><a name="[2a]"></a>main</STRONG> (Thumb, 600 bytes, Stack size 16 bytes, main.o(.text.main))
<BR><BR>[Stack]<UL><LI>Max Depth = 1220<LI>Call Chain = main &rArr; IdleTask &rArr; UART_CheckReceive &rArr; DBG_Poll &rArr; UsartParseDataHandler &rArr; GPS_RecvFsm &rArr; UDPClient_UploadGPS &rArr; Socket_Send &rArr; HIDO_Debug &rArr; Uart_Send &rArr; uart_send &rArr; dma_transfer &rArr; trace_assert_dump &rArr; trace_print_backtrace &rArr; mk_snprintf &rArr; trace_format &rArr; _PrintInt &rArr; _PrintUnsigned &rArr; __aeabi_uidiv
</UL>
<BR>[Calls]<UL><LI><a href="#[1b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;adc_open

 keil/Objects/uwb_simple_example_MK8000 Release.dep

@@ -748,7 +748,7 @@
I (D:\keil\ARM\ARMCLANG\include\stdarg.h)(0x5DDFFD72)

I (include\drivers\mk_gpio.h)(0x6809FCA0)

I (include\drivers\Usart.h)(0x6809FCA0)

F (.\include\main\main.c)(0x680AFDCC)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include/components/internet/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-ID:/keil/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/main.o -MD)

F (.\include\main\main.c)(0x680B5C67)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include/components/internet/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-ID:/keil/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/main.o -MD)

I (include\drivers\mk_trace.h)(0x6809FCA0)

I (include\drivers\mk_common.h)(0x6809FCA0)

I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72)

@@ -846,7 +846,7 @@
I (include\drivers\mk_misc.h)(0x6809FCA0)

I (include\drivers\serial_at_cmd_app.h)(0x6809FCA0)

I (include\drivers\DBG.h)(0x6809FCA0)

F (.\uwb_app.c)(0x6809FCA0)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include/components/internet/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-ID:/keil/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/uwb_app.o -MD)

F (.\uwb_app.c)(0x680B507B)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include/components/internet/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-ID:/keil/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/uwb_app.o -MD)

I (include\drivers\mk_trace.h)(0x6809FCA0)

I (include\drivers\mk_common.h)(0x6809FCA0)

I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72)


 keil/include/main/main.c

@@ -40,6 +40,10 @@
#define UPDATE_TIME 10


#define UWB_OPEN_COUNT 1
#define UWB_MEASUREMENT_INTERVAL 3
#define UWB_MEASUREMENT_INTERVAL_SLEEP 60

extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
@@ -71,8 +75,20 @@
        LINK_SUCCESS,
        SEARCH_DEV,
} Operation_step;
Operation_step UWB_work_state;

Operation_step UWB_work_state;
// å®ä¹ç¶æ
typedef enum {
    STATE_NORMAL,    // æ£å¸¸ç¶æï¼3ç§æµè·ä¸ä¼ ä¸æ¬¡
    STATE_SLEEP      // ä¼ç ç¶æï¼1åéæµè·ä¸ä¼ ä¸æ¬¡
} CountState_t;

uint32_t uwb_time_count = 0;  // å®æ¶å¨è®¡æ°å¼
//uint32_t step_count = 0;      // æ¥æ°è®¡æ°
//uint32_t last_step_count = 0; // ä¸ä¸æ¬¡æ¥æ°

CountState_t current_state = STATE_NORMAL; // å½åç¶æ
uint32_t state_start_time = 0; // ç¶æå¼å§æ¶é´

Commend_SendDate send_struct;
struct ADC_CFG_T usr_adc_cfg = {
@@ -571,6 +587,49 @@
     uart_close(UART_ID0);//è§£ç»åæ¥ä¸²å£0
}

extern uint32_t uwb_time_count;
void upload_apppoll()
{	
      uint32_t elapsed_time_jibu;

    switch (current_state) 
            {
        case STATE_NORMAL:
            elapsed_time_jibu = uwb_time_count - state_start_time;
                    switch(elapsed_time_jibu)
                        {
                            case UWB_OPEN_COUNT:

                                        CloseUWB();	
                            break;
							
                            case UWB_MEASUREMENT_INTERVAL:
                                        OpenUWB();	
                    state_start_time = uwb_time_count;							
                            break;						
                        }
            break;

        case STATE_SLEEP:
            elapsed_time_jibu = uwb_time_count - state_start_time;
                    switch(elapsed_time_jibu)
                        {
                            case UWB_OPEN_COUNT:

                                            CloseUWB();	
                            break;
							
                            case UWB_MEASUREMENT_INTERVAL_SLEEP:

                                            OpenUWB();	
                      state_start_time = uwb_time_count;							
                            break;						
                        }
            break;
            }	

}

uint8_t flag_4guart_needinit=0;
uint8_t index1,index2,index3;
int16_t Voltage_input;
@@ -580,6 +639,7 @@
extern uint8_t receive_flag;
int main(void)
{
      __enable_irq();
    board_clock_run();
    boot_deinit();
    board_pins_config();

 keil/uwb_app.c

@@ -141,7 +141,7 @@
    .phy_cfg.code_index = 9,                  /* TRX preamble code                         */
    .phy_cfg.mean_prf = MEAN_PRF_64M,         /* Mean prf 64/128/256M                      */
    .phy_cfg.data_bit_rate = DATA_BR_6M8,     /* Data rate 6.8M                            */
    .phy_cfg.sync_sym = PREAM_LEN_128,        /* Preamble duration, length of preamble 128 */
    .phy_cfg.sync_sym = PREAM_LEN_64,        /* Preamble duration, length of preamble 128 */
    .phy_cfg.sfd_sym = NON_STD_NSFD5_8,          /* Identifier for SFD sequence               */
    .phy_cfg.ranging_bit = 1,                 /* ranging bit set 1                         */
    .phy_cfg.trx_mode = TRX_MODE_15_4A,  /* IEEE802.15.4z - BPRF mode                 */

			@@ -42,7 +42,7 @@
			D:\keil\pack\MKSEMI\MK800X_DFP\1.0.3\Device\Include

			<h2>Collection of Component Files used:</h2>
			Build Time Elapsed: 00:00:01
			Build Time Elapsed: 00:00:00
			</pre>
			</body>
			</html>

			@@ -3,7 +3,7 @@
			<title>Static Call Graph - [.\Objects\uwb_simple_example.axf]</title></head>
			<body><HR>
			<H1>Static Call Graph for image .\Objects\uwb_simple_example.axf</H1><HR>
			<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6140002: Last Updated: Fri Apr 25 11:46:56 2025
			<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6140002: Last Updated: Fri Apr 25 17:56:56 2025
			<BR><P>
			<H3>Maximum Stack Usage = 1604 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
			Call chain for Maximum Stack Depth:</H3>
			@@ -2410,8 +2410,8 @@
			<BR>[Called By]<UL><LI><a href="#[1ce]">>></a>   check_input_change
			</UL>

			<P><STRONG><a name="[17d]"></a>Program_Init</STRONG> (Thumb, 496 bytes, Stack size 40 bytes, main.o(.text.Program_Init))
			<BR><BR>[Stack]<UL><LI>Max Depth = 844<LI>Call Chain = Program_Init ⇒ parameter_init_anchor ⇒ flash_open ⇒ trace_printf ⇒ trace_output ⇒ trace_printf (Cycle)
			<P><STRONG><a name="[17d]"></a>Program_Init</STRONG> (Thumb, 500 bytes, Stack size 32 bytes, main.o(.text.Program_Init))
			<BR><BR>[Stack]<UL><LI>Max Depth = 836<LI>Call Chain = Program_Init ⇒ parameter_init_anchor ⇒ flash_open ⇒ trace_printf ⇒ trace_output ⇒ trace_printf (Cycle)
			</UL>
			<BR>[Calls]<UL><LI><a href="#[a5]">>></a>   trace_printf
			<LI><a href="#[e6]">>></a>   delay_ms
			@@ -3631,7 +3631,7 @@
			<BR><BR>[Called By]<UL><LI><a href="#[1f9]">>></a>   power_enter_power_down_mode
			</UL>

			<P><STRONG><a name="[2a]"></a>main</STRONG> (Thumb, 596 bytes, Stack size 16 bytes, main.o(.text.main))
			<P><STRONG><a name="[2a]"></a>main</STRONG> (Thumb, 600 bytes, Stack size 16 bytes, main.o(.text.main))
			<BR><BR>[Stack]<UL><LI>Max Depth = 1220<LI>Call Chain = main ⇒ IdleTask ⇒ UART_CheckReceive ⇒ DBG_Poll ⇒ UsartParseDataHandler ⇒ GPS_RecvFsm ⇒ UDPClient_UploadGPS ⇒ Socket_Send ⇒ HIDO_Debug ⇒ Uart_Send ⇒ uart_send ⇒ dma_transfer ⇒ trace_assert_dump ⇒ trace_print_backtrace ⇒ mk_snprintf ⇒ trace_format ⇒ _PrintInt ⇒ _PrintUnsigned ⇒ __aeabi_uidiv
			</UL>
			<BR>[Calls]<UL><LI><a href="#[1b9]">>></a>   adc_open

			@@ -748,7 +748,7 @@
			I (D:\keil\ARM\ARMCLANG\include\stdarg.h)(0x5DDFFD72)
			I (include\drivers\mk_gpio.h)(0x6809FCA0)
			I (include\drivers\Usart.h)(0x6809FCA0)
			F (.\include\main\main.c)(0x680AFDCC)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include/components/internet/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include -ID:/keil/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/main.o -MD)
			F (.\include\main\main.c)(0x680B5C67)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include/components/internet/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include -ID:/keil/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/main.o -MD)
			I (include\drivers\mk_trace.h)(0x6809FCA0)
			I (include\drivers\mk_common.h)(0x6809FCA0)
			I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72)
			@@ -846,7 +846,7 @@
			I (include\drivers\mk_misc.h)(0x6809FCA0)
			I (include\drivers\serial_at_cmd_app.h)(0x6809FCA0)
			I (include\drivers\DBG.h)(0x6809FCA0)
			F (.\uwb_app.c)(0x6809FCA0)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include/components/internet/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include -ID:/keil/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/uwb_app.o -MD)
			F (.\uwb_app.c)(0x680B507B)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include/components/internet/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -ID:/keil/pack/MKSEMI/MK800X_DFP/1.0.3/Device/Include -ID:/keil/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/uwb_app.o -MD)
			I (include\drivers\mk_trace.h)(0x6809FCA0)
			I (include\drivers\mk_common.h)(0x6809FCA0)
			I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72)

			@@ -40,6 +40,10 @@
			#define UPDATE_TIME 10


			#define UWB_OPEN_COUNT 1
			#define UWB_MEASUREMENT_INTERVAL 3
			#define UWB_MEASUREMENT_INTERVAL_SLEEP 60

			extern uint8_t mUsartReceivePack[100];
			extern uint8_t mUsart2ReceivePack[150];
			extern uint8_t state5V_prase_flag,gps_prase_flag;
			@@ -71,8 +75,20 @@
			LINK_SUCCESS,
			SEARCH_DEV,
			} Operation_step;
			Operation_step UWB_work_state;

			Operation_step UWB_work_state;
			// å®ä¹ç¶æ
			typedef enum {
			STATE_NORMAL, // æ£å¸¸ç¶æï¼3ç§æµè·ä¸ä¼ ä¸æ¬¡
			STATE_SLEEP // ä¼ç ç¶æï¼1åéæµè·ä¸ä¼ ä¸æ¬¡
			} CountState_t;

			uint32_t uwb_time_count = 0; // å®æ¶å¨è®¡æ°å¼
			//uint32_t step_count = 0; // æ¥æ°è®¡æ°
			//uint32_t last_step_count = 0; // ä¸ä¸æ¬¡æ¥æ°

			CountState_t current_state = STATE_NORMAL; // å½åç¶æ
			uint32_t state_start_time = 0; // ç¶æå¼å§æ¶é´

			Commend_SendDate send_struct;
			struct ADC_CFG_T usr_adc_cfg = {
			@@ -571,6 +587,49 @@
			uart_close(UART_ID0);//è§£ç»åæ¥ä¸²å£0
			}

			extern uint32_t uwb_time_count;
			void upload_apppoll()
			{
			uint32_t elapsed_time_jibu;

			switch (current_state)
			{
			case STATE_NORMAL:
			elapsed_time_jibu = uwb_time_count - state_start_time;
			switch(elapsed_time_jibu)
			{
			case UWB_OPEN_COUNT:

			CloseUWB();
			break;

			case UWB_MEASUREMENT_INTERVAL:
			OpenUWB();
			state_start_time = uwb_time_count;
			break;
			}
			break;

			case STATE_SLEEP:
			elapsed_time_jibu = uwb_time_count - state_start_time;
			switch(elapsed_time_jibu)
			{
			case UWB_OPEN_COUNT:

			CloseUWB();
			break;

			case UWB_MEASUREMENT_INTERVAL_SLEEP:

			OpenUWB();
			state_start_time = uwb_time_count;
			break;
			}
			break;
			}

			}

			uint8_t flag_4guart_needinit=0;
			uint8_t index1,index2,index3;
			int16_t Voltage_input;
			@@ -580,6 +639,7 @@
			extern uint8_t receive_flag;
			int main(void)
			{
			__enable_irq();
			board_clock_run();
			boot_deinit();
			board_pins_config();

			@@ -141,7 +141,7 @@
			.phy_cfg.code_index = 9, /* TRX preamble code */
			.phy_cfg.mean_prf = MEAN_PRF_64M, /* Mean prf 64/128/256M */
			.phy_cfg.data_bit_rate = DATA_BR_6M8, /* Data rate 6.8M */
			.phy_cfg.sync_sym = PREAM_LEN_128, /* Preamble duration, length of preamble 128 */
			.phy_cfg.sync_sym = PREAM_LEN_64, /* Preamble duration, length of preamble 128 */
			.phy_cfg.sfd_sym = NON_STD_NSFD5_8, /* Identifier for SFD sequence */
			.phy_cfg.ranging_bit = 1, /* ranging bit set 1 */
			.phy_cfg.trx_mode = TRX_MODE_15_4A, /* IEEE802.15.4z - BPRF mode */