ChinaUWBProject.git

chen

2024-11-15 76dfec4622c64f983570f33588e81e63187fd809

增加了uwb_app配置

已修改10个文件

	keil/JLinkLog.txt	11460 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/Listings/uwb_simple_example.map	6519 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/Objects/uwb_simple_example.build_log.htm	8 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/Objects/uwb_simple_example.hex	9643 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/Objects/uwb_simple_example.htm	4847 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/Objects/uwb_simple_example_MK8000 Release.dep	6 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/include/main/main.c	167 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/uwb_app.c	63 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	keil/uwb_simple_example.uvguix.xookk	118 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	user_config.h	1 ●●●●● 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

@@ -27,14 +27,8 @@
<h2>Output:</h2>
*** Using Compiler 'V6.14', folder: 'd:\Keil_v5\ARM\ARMCLANG\Bin'
Build target 'MK8000 Release'
compiling uwb_app.c...
linking...
.\include\devices\MK800X\Source\ARM\MK800X_ac6_copy.sct(25): warning: L6314W: No section matches pattern *(.XIP_SECTION).
Program Size: Code=56066 RO-data=6318 RW-data=1248 ZI-data=28812  
Finished: 0 information, 1 warning and 0 error messages.
FromELF: creating hex file...
After Build - User command #1: fromelf.exe --bincombined -o "Output\uwb_simple_example.bin" "D:\project chen\ChinaUWBProject_URT no UWB\ChinaUWBProject\keil\Objects\uwb_simple_example.axf"
".\Objects\uwb_simple_example.axf" - 0 Error(s), 1 Warning(s).
".\Objects\uwb_simple_example.axf" - 0 Error(s), 0 Warning(s).

<h2>Software Packages used:</h2>


 keil/Objects/uwb_simple_example.hex

ÎÄ¼þÌ«´ó

 keil/Objects/uwb_simple_example.htm

ÎÄ¼þÌ«´ó

 keil/Objects/uwb_simple_example_MK8000 Release.dep

@@ -612,7 +612,7 @@
I (..\user_config.h)(0x6735BC3D)

I (include\drivers\mk_dma.h)(0x66E4E464)

I (include\drivers\mk_misc.h)(0x66E4E464)

F (.\include\drivers\serial_at_cmd_app.c)(0x67341E27)(-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/drivers -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 -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:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-Id:/Keil_v5/ARM/CMSIS/Include

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

-o ./objects/serial_at_cmd_app.o -MD)

F (.\include\drivers\serial_at_cmd_app.c)(0x6736ACDD)(-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/drivers -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 -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:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-Id:/Keil_v5/ARM/CMSIS/Include

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

-o ./objects/serial_at_cmd_app.o -MD)

I (include\drivers\serial_at_cmd_app.h)(0x66E4E464)

I (d:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x5DDFFD72)

I (include\drivers\global_param.h)(0x6721DF55)

@@ -692,7 +692,7 @@
I (d:\Keil_v5\ARM\ARMCLANG\include\stdarg.h)(0x5DDFFD72)

I (include\drivers\mk_gpio.h)(0x66E4E464)

I (include\drivers\Usart.h)(0x66E4E464)

F (.\include\main\main.c)(0x6735BB6E)(-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 -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:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-Id:/Keil_v5/ARM/CMSIS/Include

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

-o ./objects/main.o -MD)

F (.\include\main\main.c)(0x6736BC27)(-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 -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:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-Id:/Keil_v5/ARM/CMSIS/Include

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

-o ./objects/main.o -MD)

I (include\drivers\mk_trace.h)(0x66E4E464)

I (include\drivers\mk_common.h)(0x66E4E464)

I (d:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72)

@@ -806,7 +806,7 @@
I (include\components\hido\Include\HIDO_Util.h)(0x66E4E464)

I (include\components\hido\Include\HIDO_TypeDef.h)(0x66E4E464)

I (include\drivers\global_param.h)(0x6721DF55)

F (.\uwb_app.c)(0x6735CCAE)(-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 -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:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-Id:/Keil_v5/ARM/CMSIS/Include

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

-o ./objects/uwb_app.o -MD)

F (.\uwb_app.c)(0x6736BB89)(-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 -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:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-Id:/Keil_v5/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)(0x66E4E464)

I (include\drivers\mk_common.h)(0x66E4E464)

I (d:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72)


 keil/include/main/main.c

@@ -321,37 +321,37 @@
        second_count = 0;
        MinuteTask();
    }
        if(!power_low_flag)
        Gps_change();
        else{
        gps_power_state=0;//å³éGPS
        update_led_power_state();
        //åå§åGPSè®¡æ°æ°æ®
        gps_need_data_flag=1;
        gps_wait_count2=0;
        gps_wait_count=0;
        }
    //UWBç¶ææ£æµ
if(!power_low_flag)//ä½ä¾çµä¸ä¸éè¦æ£æµéè¿
    {
    if(IfTCPConnected())
    {
        TCP_reconnect_timer =0;
        flag_TCP_reconnectting = 0;
    } else {
        if(TCP_reconnect_timer<30)//å¦æTCPæ²¡æè¿æ¥ï¼æ¯é10åéå°è¯è¿æ¥30ç§
        {
            flag_TCP_reconnectting = 1;
        } else {
            flag_TCP_reconnectting = 0;
        }
        if(TCP_reconnect_timer++>600)
        {
            TCP_reconnect_timer = 0;
        }
//        if(!power_low_flag)
//        Gps_change();
//        else{
//        gps_power_state=0;//å³éGPS
//        update_led_power_state();
//        //åå§åGPSè®¡æ°æ°æ®
//        gps_need_data_flag=1;
//        gps_wait_count2=0;
//        gps_wait_count=0;
//        }
//    //UWBç¶ææ£æµ
//if(!power_low_flag)//ä½ä¾çµä¸ä¸éè¦æ£æµéè¿
//    {
//    if(IfTCPConnected())
//    {
//        TCP_reconnect_timer =0;
//        flag_TCP_reconnectting = 0;
//    } else {
//        if(TCP_reconnect_timer<30)//å¦æTCPæ²¡æè¿æ¥ï¼æ¯é10åéå°è¯è¿æ¥30ç§
//        {
//            flag_TCP_reconnectting = 1;
//        } else {
//            flag_TCP_reconnectting = 0;
//        }
//        if(TCP_reconnect_timer++>600)
//        {
//            TCP_reconnect_timer = 0;
//        }

    }
    }
//    }
//    }
    HIDO_TimerTick();
        if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//é²æ¢æº¢åº
    nomove_count++;
@@ -370,6 +370,7 @@
    green_charge_state=0;
    charge_red_on();
    }
     UWBPoll();
    charge_state_change();//åçµç¶æå¤æ
if(secondtask_count++%2==0)
    {
@@ -453,32 +454,32 @@

void IdleTask(void)
{
    if(gpio_pin_get_val(INPUT_5V_Pin))
    {
//    if(gpio_pin_get_val(INPUT_5V_Pin))
//    {

        if(state5v==0)
        {
            state5v=1;
            state5V_prase_flag=state5v;
            gps_prase_flag=0;//è§£é¤gpsè§£æ
            uart1_change_from_gps_to_debug();//æµè¯
         //   uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//å¼å¯dma
            //UartInit();
        }
//        if(state5v==0)
//        {
//            state5v=1;
//            state5V_prase_flag=state5v;
//            gps_prase_flag=0;//è§£é¤gpsè§£æ
//            uart1_change_from_gps_to_debug();//æµè¯
//         //   uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//å¼å¯dma
//            //UartInit();
//        }

        //UART_CheckSend();
    } else {
        if(state5v==1)
        {
            g_com_map[MODBUS_MODE] = 0;
            state5v=0;
            state5V_prase_flag=state5v;
            gps_prase_flag=1;//æ¢å¤gpsè§£æ
            uart1_change_from_debug_to_gps();//æµè¯
          //  uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//å¼å¯dma
            //UartDeinit();
        }
    }
//        //UART_CheckSend();
//    } else {
//        if(state5v==1)
//        {
//            g_com_map[MODBUS_MODE] = 0;
//            state5v=0;
//            state5V_prase_flag=state5v;
//            gps_prase_flag=1;//æ¢å¤gpsè§£æ
//            uart1_change_from_debug_to_gps();//æµè¯
//          //  uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//å¼å¯dma
//            //UartDeinit();
//        }
//    }
        UART_CheckReceive();
}
int bind_check(void)
@@ -557,8 +558,8 @@

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

    gpio_open();
        board_output_init();//éç½®adcGNDå¼è
@@ -598,40 +599,40 @@
    while (1)
    { test4=gpio_pin_get_val(SCL_PIN);
        
            if(!power_low_flag)//ç¡®è®¤æ¯å¦ä¼ç ä¸æå¼å¯åè½
            {
        if(flag_TCP_reconnectting||IfTCPConnected())
        {
        //    LOG_INFO(TRACE_MODULE_APP, "å¤ç4Gä»»å¡\r\n");
           
//            if(flag_4guart_needinit)
//            if(!power_low_flag)//ç¡®è®¤æ¯å¦ä¼ç ä¸æå¼å¯åè½
//            {
//        if(flag_TCP_reconnectting||IfTCPConnected())
//        {
//        //    LOG_INFO(TRACE_MODULE_APP, "å¤ç4Gä»»å¡\r\n");
//           
////            if(flag_4guart_needinit)
////            {
////                flag_4guart_needinit = 0;
////                AIR780EUartInit();
////            }//yuan
//                      if(flag_4G_recdata==1)
//            {
//                flag_4guart_needinit = 0;
//                AIR780EUartInit();
//            }//yuan
                      if(flag_4G_recdata==1)
            {
                flag_4G_recdata = 2;
               
                //LOG_INFO(TRACE_MODULE_APP, "è¿è¡Socket_RecvAll tt2 %d\r\n",tt2);
                Socket_RecvAll();
            }
//                        air780_led_on();
            Internet_Poll();
            HIDO_ATLitePoll();
            HIDO_TimerPoll();
            TCPClient_Poll();
//            air780_led_off();
        }
        }
//                flag_4G_recdata = 2;
//               
//                //LOG_INFO(TRACE_MODULE_APP, "è¿è¡Socket_RecvAll tt2 %d\r\n",tt2);
//                Socket_RecvAll();
//            }
////                        air780_led_on();
//            Internet_Poll();
//            HIDO_ATLitePoll();
//            HIDO_TimerPoll();
//            TCPClient_Poll();
////            air780_led_off();
//        }
//        }
        if(flag_secondtask)
        {
            flag_secondtask = 0;
            SecondTask();
                    
        }
                UserKeyTask();
                IMUTask();
//                UserKeyTask();
//                IMUTask();
        IdleTask();
#ifndef DEBUG_MODE
//if(flag_sleeptimer)

 keil/uwb_app.c

@@ -13,6 +13,7 @@

extern int simple_main(void);
extern int temp_main(void);
void Calibration_Time(void);
void TagListUpdate(void);
extern void IO_LED_control_change(uint8_t data);
extern void IO_control_init(void);
@@ -51,8 +52,12 @@
uint32_t temp_count2=0;
uint32_t temp_count3=0;
uint32_t temp_internal=0;
int16_t elevation = 0;
int16_t azimuth = 0;
uint8_t fom = 0;
int32_t distance;
uint8_t taglist_num;
float *sts_rssi=NULL;
extern uint8_t recev_error_num;

extern Operation_step UWB_work_state;
@@ -241,7 +246,7 @@
/* RX done process handler. */
int8_t rssi;
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{
{        uint8_t valid_sts=0;
    // Power off radio
    power_off_radio();

@@ -259,7 +264,19 @@
        poll_rx_num++;
        rssi = rx_report->rssi;
        receive_flag=1;
        
                valid_sts= sts_valid_check();
      if (valid_sts)
      {
                aoa_calculate(&elevation, &azimuth);
                aoa_fom_get(NULL, &fom);
//                float pdoa[3];
//                pdoa[0] = pdoa_select_get(0, 3);
//                pdoa[1] = pdoa_select_get(1, 3);
//                pdoa[2] = pdoa_select_get(2, 3);
//                LOG_INFO(TRACE_MODULE_APP, "PDOA: %f %f %f\r\n", pdoa[0], pdoa[1], pdoa[2]);

                    sts_rssi = sts_rssi_output_get();
            }
    }
    else
    {
@@ -405,11 +422,40 @@
uint16_t uwb_searchcount;
uint8_t flag_recsuccess;
uint8_t flag_temp2,flag_temp1;
 uint8_t valid_sts = 0;
int16_t elevation = 0;
int16_t azimuth = 0;
uint8_t fom = 0;
uint32_t start_receive_count_calibration;
uint32_t current_count_calibration;
uint8_t secondtask_search_count,secondtask_search_flag;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag,flag_secondtask;
void Calibration_Time(void)
{	
    current_count_calibration=phy_timer_count_get();
    if((current_count_calibration-start_receive_count_calibration>=MS_TO_PHY_TIMER_COUNT(500)||current_count_calibration+(UINT32_MAX-start_receive_count_calibration)>=MS_TO_PHY_TIMER_COUNT(500))
        &&!((end_receive_count-current_count_calibration<=MS_TO_PHY_TIMER_COUNT(200))||(end_receive_count+(UINT32_MAX-current_count_calibration)<=MS_TO_PHY_TIMER_COUNT(200))))
    {
        start_receive_count_calibration=current_count_calibration;//æ´æ°å¼å§æ¶é´
//        MotorPoll();
		
        if(secondtask_search_count++%2==0)
    {
        secondtask_search_flag = 1;
    }else{
        secondtask_search_flag = 0;
    }
        if(secondtask_search_flag)//æ´æ°Sæ¶é´TICK
        {
        HIDO_TimerTick();
        TagListUpdate();
//    GPS_Poll();
//        if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//é²æ¢æº¢åº
//    nomove_count++;
//        else{
//        nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
//        }
        }
//        update_led_power_state();//æ´æ°çç¶æé²æ¢éå¨å¡æ»å¨æç´¢
    }
}

int UwbRange(void)
{
    uint8_t i;
@@ -457,6 +503,7 @@
            current_count=phy_timer_count_get();
            while(mac_is_busy())
        {
                        Calibration_Time();
            IdleTask();
            current_count=phy_timer_count_get();
            if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)
@@ -505,7 +552,7 @@
            }
                        recev_error_num=0;
               range_timeout_us=5000;//æ¢å¤ä¸º5000è¿å¥rangeå
            LOG_INFO(TRACE_MODULE_APP,"æ ç¾IDï¼%X,è·ç¦»: %d ä¿¡å·å¼ºåº¦ï¼%d.\r\n",g_com_map[BIND_DEV_ID],distance,rssi);
           LOG_INFO(TRACE_MODULE_APP,"æ ç¾IDï¼%X,è·ç¦»: %d ä¿¡å·å¼ºåº¦ANT0:%d,ä¿¡å·å¼ºåº¦ANT2:%d\r\n",g_com_map[BIND_DEV_ID],distance,sts_rssi[0],sts_rssi[2]);
                        gpio_pin_clr(SCL_PIN);
        break;
                }
@@ -641,7 +688,7 @@
                }
                
                gpio_pin_clr(SCL_PIN);//æµè¯
                                LOG_INFO(TRACE_MODULE_APP,"æ ç¾IDï¼%X,è·ç¦»: %d ä¿¡å·å¼ºåº¦ï¼%d.\r\n",g_com_map[BIND_DEV_ID],distance,rssi);
                                LOG_INFO(TRACE_MODULE_APP,"æ ç¾IDï¼%X,è·ç¦»: %d ä¿¡å·å¼ºåº¦ANT0:%d,ä¿¡å·å¼ºåº¦ANT2:%d\r\n",g_com_map[BIND_DEV_ID],distance,sts_rssi[0],sts_rssi[2]);
                return 1;//è¿ååéæåæ å¿
            }


 keil/uwb_simple_example.uvguix.xookk

@@ -93,25 +93,25 @@
      <flags>0</flags>
      <showCmd>1</showCmd>
      <MinPosition>
        <xPos>-1</xPos>
        <yPos>-1</yPos>
        <xPos>-32000</xPos>
        <yPos>-32000</yPos>
      </MinPosition>
      <MaxPosition>
        <xPos>-1</xPos>
        <yPos>-1</yPos>
      </MaxPosition>
      <NormalPosition>
        <Top>307</Top>
        <Left>297</Left>
        <Right>1593</Right>
        <Bottom>1258</Bottom>
        <Top>358</Top>
        <Left>1969</Left>
        <Right>3265</Right>
        <Bottom>1309</Bottom>
      </NormalPosition>
    </WindowPosition>
    <MDIClientArea>
      <RegID>0</RegID>
      <MDITabState>
        <Len>9609</Len>
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        <CurrentLine>378</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
@@ -4039,7 +4039,7 @@
      <Doc>
        <Name>.\mk_4G.c</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>17</TopLine>
        <TopLine>13</TopLine>
        <CurrentLine>46</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
@@ -4048,7 +4048,7 @@
      <Doc>
        <Name>.\mk_4G.h</Name>
        <ColumnNumber>9</ColumnNumber>
        <TopLine>14</TopLine>
        <TopLine>13</TopLine>
        <CurrentLine>43</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
@@ -4137,16 +4137,16 @@
      </Doc>
      <Doc>
        <Name>.\uwb_app.c</Name>
        <ColumnNumber>6</ColumnNumber>
        <TopLine>540</TopLine>
        <CurrentLine>560</CurrentLine>
        <ColumnNumber>53</ColumnNumber>
        <TopLine>517</TopLine>
        <CurrentLine>534</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>.\include\src\gps.c</Name>
        <ColumnNumber>15</ColumnNumber>
        <ColumnNumber>22</ColumnNumber>
        <TopLine>55</TopLine>
        <CurrentLine>84</CurrentLine>
        <Folding>1</Folding>
@@ -4183,7 +4183,7 @@
      <Doc>
        <Name>.\dw_tag.c</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>101</TopLine>
        <TopLine>98</TopLine>
        <CurrentLine>130</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
@@ -4255,7 +4255,7 @@
      <Doc>
        <Name>include\components\hido\Include\HIDO_ATLite.h</Name>
        <ColumnNumber>10</ColumnNumber>
        <TopLine>73</TopLine>
        <TopLine>71</TopLine>
        <CurrentLine>102</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
@@ -4391,10 +4391,10 @@
    <ListItem>.\include\drivers\global_param.c 92</ListItem>
    <ListItem>.\include\drivers\global_param.c 93</ListItem>
    <ListItem>.\include\drivers\global_param.c 95</ListItem>
    <ListItem>.\uwb_app.c 486</ListItem>
    <ListItem>.\uwb_app.c 622</ListItem>
    <ListItem>.\uwb_app.c 41</ListItem>
    <ListItem>.\uwb_app.c 303</ListItem>
    <ListItem>.\uwb_app.c 533</ListItem>
    <ListItem>.\uwb_app.c 669</ListItem>
    <ListItem>.\uwb_app.c 42</ListItem>
    <ListItem>.\uwb_app.c 320</ListItem>
  </Bookmarks>

</ProjectGui>

 user_config.h

@@ -187,6 +187,7 @@
#define RCLK_PIN IO_PIN_7
#define ADC_GND_ENABLE  IO_PIN_12
#define GET_USERKEY  gpio_pin_get_val(SCL_PIN)
#define STS_MODE
/* =========================================================================================================================== */
/* ================                                           End                                             ================ */
/* =========================================================================================================================== */

			@@ -27,14 +27,8 @@
			<h2>Output:</h2>
			*** Using Compiler 'V6.14', folder: 'd:\Keil_v5\ARM\ARMCLANG\Bin'
			Build target 'MK8000 Release'
			compiling uwb_app.c...
			linking...
			.\include\devices\MK800X\Source\ARM\MK800X_ac6_copy.sct(25): warning: L6314W: No section matches pattern *(.XIP_SECTION).
			Program Size: Code=56066 RO-data=6318 RW-data=1248 ZI-data=28812
			Finished: 0 information, 1 warning and 0 error messages.
			FromELF: creating hex file...
			After Build - User command #1: fromelf.exe --bincombined -o "Output\uwb_simple_example.bin" "D:\project chen\ChinaUWBProject_URT no UWB\ChinaUWBProject\keil\Objects\uwb_simple_example.axf"
			".\Objects\uwb_simple_example.axf" - 0 Error(s), 1 Warning(s).
			".\Objects\uwb_simple_example.axf" - 0 Error(s), 0 Warning(s).

			<h2>Software Packages used:</h2>

			@@ -612,7 +612,7 @@
			I (..\user_config.h)(0x6735BC3D)
			I (include\drivers\mk_dma.h)(0x66E4E464)
			I (include\drivers\mk_misc.h)(0x66E4E464)
			F (.\include\drivers\serial_at_cmd_app.c)(0x67341E27)(-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/drivers -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 -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:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include -Id:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/serial_at_cmd_app.o -MD)
			F (.\include\drivers\serial_at_cmd_app.c)(0x6736ACDD)(-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/drivers -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 -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:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include -Id:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/serial_at_cmd_app.o -MD)
			I (include\drivers\serial_at_cmd_app.h)(0x66E4E464)
			I (d:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x5DDFFD72)
			I (include\drivers\global_param.h)(0x6721DF55)
			@@ -692,7 +692,7 @@
			I (d:\Keil_v5\ARM\ARMCLANG\include\stdarg.h)(0x5DDFFD72)
			I (include\drivers\mk_gpio.h)(0x66E4E464)
			I (include\drivers\Usart.h)(0x66E4E464)
			F (.\include\main\main.c)(0x6735BB6E)(-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 -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:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include -Id:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/main.o -MD)
			F (.\include\main\main.c)(0x6736BC27)(-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 -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:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include -Id:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/main.o -MD)
			I (include\drivers\mk_trace.h)(0x66E4E464)
			I (include\drivers\mk_common.h)(0x66E4E464)
			I (d:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72)
			@@ -806,7 +806,7 @@
			I (include\components\hido\Include\HIDO_Util.h)(0x66E4E464)
			I (include\components\hido\Include\HIDO_TypeDef.h)(0x66E4E464)
			I (include\drivers\global_param.h)(0x6721DF55)
			F (.\uwb_app.c)(0x6735CCAE)(-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 -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:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include -Id:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/uwb_app.o -MD)
			F (.\uwb_app.c)(0x6736BB89)(-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 -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:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include -Id:/Keil_v5/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)(0x66E4E464)
			I (include\drivers\mk_common.h)(0x66E4E464)
			I (d:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72)

			@@ -321,37 +321,37 @@
			second_count = 0;
			MinuteTask();
			}
			if(!power_low_flag)
			Gps_change();
			else{
			gps_power_state=0;//å³éGPS
			update_led_power_state();
			//åå§åGPSè®¡æ°æ°æ®
			gps_need_data_flag=1;
			gps_wait_count2=0;
			gps_wait_count=0;
			}
			//UWBç¶ææ£æµ
			if(!power_low_flag)//ä½ä¾çµä¸ä¸éè¦æ£æµéè¿
			{
			if(IfTCPConnected())
			{
			TCP_reconnect_timer =0;
			flag_TCP_reconnectting = 0;
			} else {
			if(TCP_reconnect_timer<30)//å¦æTCPæ²¡æè¿æ¥ï¼æ¯é10åéå°è¯è¿æ¥30ç§
			{
			flag_TCP_reconnectting = 1;
			} else {
			flag_TCP_reconnectting = 0;
			}
			if(TCP_reconnect_timer++>600)
			{
			TCP_reconnect_timer = 0;
			}
			// if(!power_low_flag)
			// Gps_change();
			// else{
			// gps_power_state=0;//å³éGPS
			// update_led_power_state();
			// //åå§åGPSè®¡æ°æ°æ®
			// gps_need_data_flag=1;
			// gps_wait_count2=0;
			// gps_wait_count=0;
			// }
			// //UWBç¶ææ£æµ
			//if(!power_low_flag)//ä½ä¾çµä¸ä¸éè¦æ£æµéè¿
			// {
			// if(IfTCPConnected())
			// {
			// TCP_reconnect_timer =0;
			// flag_TCP_reconnectting = 0;
			// } else {
			// if(TCP_reconnect_timer<30)//å¦æTCPæ²¡æè¿æ¥ï¼æ¯é10åéå°è¯è¿æ¥30ç§
			// {
			// flag_TCP_reconnectting = 1;
			// } else {
			// flag_TCP_reconnectting = 0;
			// }
			// if(TCP_reconnect_timer++>600)
			// {
			// TCP_reconnect_timer = 0;
			// }

			}
			}
			// }
			// }
			HIDO_TimerTick();
			if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//é²æ¢æº¢åº
			nomove_count++;
			@@ -370,6 +370,7 @@
			green_charge_state=0;
			charge_red_on();
			}
			UWBPoll();
			charge_state_change();//åçµç¶æå¤æ
			if(secondtask_count++%2==0)
			{
			@@ -453,32 +454,32 @@

			void IdleTask(void)
			{
			if(gpio_pin_get_val(INPUT_5V_Pin))
			{
			// if(gpio_pin_get_val(INPUT_5V_Pin))
			// {

			if(state5v==0)
			{
			state5v=1;
			state5V_prase_flag=state5v;
			gps_prase_flag=0;//è§£é¤gpsè§£æ
			uart1_change_from_gps_to_debug();//æµè¯
			// uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//å¼å¯dma
			//UartInit();
			}
			// if(state5v==0)
			// {
			// state5v=1;
			// state5V_prase_flag=state5v;
			// gps_prase_flag=0;//è§£é¤gpsè§£æ
			// uart1_change_from_gps_to_debug();//æµè¯
			// // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//å¼å¯dma
			// //UartInit();
			// }

			//UART_CheckSend();
			} else {
			if(state5v==1)
			{
			g_com_map[MODBUS_MODE] = 0;
			state5v=0;
			state5V_prase_flag=state5v;
			gps_prase_flag=1;//æ¢å¤gpsè§£æ
			uart1_change_from_debug_to_gps();//æµè¯
			// uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//å¼å¯dma
			//UartDeinit();
			}
			}
			// //UART_CheckSend();
			// } else {
			// if(state5v==1)
			// {
			// g_com_map[MODBUS_MODE] = 0;
			// state5v=0;
			// state5V_prase_flag=state5v;
			// gps_prase_flag=1;//æ¢å¤gpsè§£æ
			// uart1_change_from_debug_to_gps();//æµè¯
			// // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//å¼å¯dma
			// //UartDeinit();
			// }
			// }
			UART_CheckReceive();
			}
			int bind_check(void)
			@@ -557,8 +558,8 @@

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

			gpio_open();
			board_output_init();//éç½®adcGNDå¼è
			@@ -598,40 +599,40 @@
			while (1)
			{ test4=gpio_pin_get_val(SCL_PIN);

			if(!power_low_flag)//ç¡®è®¤æ¯å¦ä¼ç ä¸æå¼å¯åè½
			{
			if(flag_TCP_reconnectting\|\|IfTCPConnected())
			{
			// LOG_INFO(TRACE_MODULE_APP, "å¤ç4Gä»»å¡\r\n");

			// if(flag_4guart_needinit)
			// if(!power_low_flag)//ç¡®è®¤æ¯å¦ä¼ç ä¸æå¼å¯åè½
			// {
			// if(flag_TCP_reconnectting\|\|IfTCPConnected())
			// {
			// // LOG_INFO(TRACE_MODULE_APP, "å¤ç4Gä»»å¡\r\n");
			//
			//// if(flag_4guart_needinit)
			//// {
			//// flag_4guart_needinit = 0;
			//// AIR780EUartInit();
			//// }//yuan
			// if(flag_4G_recdata==1)
			// {
			// flag_4guart_needinit = 0;
			// AIR780EUartInit();
			// }//yuan
			if(flag_4G_recdata==1)
			{
			flag_4G_recdata = 2;

			//LOG_INFO(TRACE_MODULE_APP, "è¿è¡Socket_RecvAll tt2 %d\r\n",tt2);
			Socket_RecvAll();
			}
			// air780_led_on();
			Internet_Poll();
			HIDO_ATLitePoll();
			HIDO_TimerPoll();
			TCPClient_Poll();
			// air780_led_off();
			}
			}
			// flag_4G_recdata = 2;
			//
			// //LOG_INFO(TRACE_MODULE_APP, "è¿è¡Socket_RecvAll tt2 %d\r\n",tt2);
			// Socket_RecvAll();
			// }
			//// air780_led_on();
			// Internet_Poll();
			// HIDO_ATLitePoll();
			// HIDO_TimerPoll();
			// TCPClient_Poll();
			//// air780_led_off();
			// }
			// }
			if(flag_secondtask)
			{
			flag_secondtask = 0;
			SecondTask();

			}
			UserKeyTask();
			IMUTask();
			// UserKeyTask();
			// IMUTask();
			IdleTask();
			#ifndef DEBUG_MODE
			//if(flag_sleeptimer)

			@@ -13,6 +13,7 @@

			extern int simple_main(void);
			extern int temp_main(void);
			void Calibration_Time(void);
			void TagListUpdate(void);
			extern void IO_LED_control_change(uint8_t data);
			extern void IO_control_init(void);
			@@ -51,8 +52,12 @@
			uint32_t temp_count2=0;
			uint32_t temp_count3=0;
			uint32_t temp_internal=0;
			int16_t elevation = 0;
			int16_t azimuth = 0;
			uint8_t fom = 0;
			int32_t distance;
			uint8_t taglist_num;
			float *sts_rssi=NULL;
			extern uint8_t recev_error_num;

			extern Operation_step UWB_work_state;
			@@ -241,7 +246,7 @@
			/* RX done process handler. */
			int8_t rssi;
			static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
			{
			{ uint8_t valid_sts=0;
			// Power off radio
			power_off_radio();

			@@ -259,7 +264,19 @@
			poll_rx_num++;
			rssi = rx_report->rssi;
			receive_flag=1;

			valid_sts= sts_valid_check();
			if (valid_sts)
			{
			aoa_calculate(&elevation, &azimuth);
			aoa_fom_get(NULL, &fom);
			// float pdoa[3];
			// pdoa[0] = pdoa_select_get(0, 3);
			// pdoa[1] = pdoa_select_get(1, 3);
			// pdoa[2] = pdoa_select_get(2, 3);
			// LOG_INFO(TRACE_MODULE_APP, "PDOA: %f %f %f\r\n", pdoa[0], pdoa[1], pdoa[2]);

			sts_rssi = sts_rssi_output_get();
			}
			}
			else
			{
			@@ -405,11 +422,40 @@
			uint16_t uwb_searchcount;
			uint8_t flag_recsuccess;
			uint8_t flag_temp2,flag_temp1;
			uint8_t valid_sts = 0;
			int16_t elevation = 0;
			int16_t azimuth = 0;
			uint8_t fom = 0;
			uint32_t start_receive_count_calibration;
			uint32_t current_count_calibration;
			uint8_t secondtask_search_count,secondtask_search_flag;
			extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag,flag_secondtask;
			void Calibration_Time(void)
			{
			current_count_calibration=phy_timer_count_get();
			if((current_count_calibration-start_receive_count_calibration>=MS_TO_PHY_TIMER_COUNT(500)\|\|current_count_calibration+(UINT32_MAX-start_receive_count_calibration)>=MS_TO_PHY_TIMER_COUNT(500))
			&&!((end_receive_count-current_count_calibration<=MS_TO_PHY_TIMER_COUNT(200))\|\|(end_receive_count+(UINT32_MAX-current_count_calibration)<=MS_TO_PHY_TIMER_COUNT(200))))
			{
			start_receive_count_calibration=current_count_calibration;//æ´æ°å¼å§æ¶é´
			// MotorPoll();

			if(secondtask_search_count++%2==0)
			{
			secondtask_search_flag = 1;
			}else{
			secondtask_search_flag = 0;
			}
			if(secondtask_search_flag)//æ´æ°Sæ¶é´TICK
			{
			HIDO_TimerTick();
			TagListUpdate();
			// GPS_Poll();
			// if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//é²æ¢æº¢åº
			// nomove_count++;
			// else{
			// nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
			// }
			}
			// update_led_power_state();//æ´æ°çç¶æé²æ¢éå¨å¡æ»å¨æç´¢
			}
			}

			int UwbRange(void)
			{
			uint8_t i;
			@@ -457,6 +503,7 @@
			current_count=phy_timer_count_get();
			while(mac_is_busy())
			{
			Calibration_Time();
			IdleTask();
			current_count=phy_timer_count_get();
			if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)
			@@ -505,7 +552,7 @@
			}
			recev_error_num=0;
			range_timeout_us=5000;//æ¢å¤ä¸º5000è¿å¥rangeå
			LOG_INFO(TRACE_MODULE_APP,"æ ç¾IDï¼%X,è·ç¦»: %d ä¿¡å·å¼ºåº¦ï¼%d.\r\n",g_com_map[BIND_DEV_ID],distance,rssi);
			LOG_INFO(TRACE_MODULE_APP,"æ ç¾IDï¼%X,è·ç¦»: %d ä¿¡å·å¼ºåº¦ANT0:%d,ä¿¡å·å¼ºåº¦ANT2:%d\r\n",g_com_map[BIND_DEV_ID],distance,sts_rssi[0],sts_rssi[2]);
			gpio_pin_clr(SCL_PIN);
			break;
			}
			@@ -641,7 +688,7 @@
			}

			gpio_pin_clr(SCL_PIN);//æµè¯
			LOG_INFO(TRACE_MODULE_APP,"æ ç¾IDï¼%X,è·ç¦»: %d ä¿¡å·å¼ºåº¦ï¼%d.\r\n",g_com_map[BIND_DEV_ID],distance,rssi);
			LOG_INFO(TRACE_MODULE_APP,"æ ç¾IDï¼%X,è·ç¦»: %d ä¿¡å·å¼ºåº¦ANT0:%d,ä¿¡å·å¼ºåº¦ANT2:%d\r\n",g_com_map[BIND_DEV_ID],distance,sts_rssi[0],sts_rssi[2]);
			return 1;//è¿ååéæåæ å¿
			}

			@@ -187,6 +187,7 @@
			#define RCLK_PIN IO_PIN_7
			#define ADC_GND_ENABLE IO_PIN_12
			#define GET_USERKEY gpio_pin_get_val(SCL_PIN)
			#define STS_MODE
			/* =========================================================================================================================== */
			/* ================ End ================ */
			/* =========================================================================================================================== */