4G 打印调通，能正常联网

yincheng.zhong

2024-08-21 903a245a364052d5ba612e3e53b685fca26a09d4

4G 打印调通，能正常联网

 MK8000ADC.rar

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 iar/settings/uwb_simple_example_MK8000 Release.jlink

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 iar/uwb_simple_example.ewd

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 iar/uwb_simple_example.ewp

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 iar/uwb_simple_example.eww

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 keil/JLinkLog.txt

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 keil/Listings/uwb_simple_example.map

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 keil/Objects/ExtDll.iex

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 keil/Objects/uwb_simple_example.build_log.htm

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 keil/Objects/uwb_simple_example.hex

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 keil/Objects/uwb_simple_example.htm

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 keil/Objects/uwb_simple_example.lnp

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 keil/Objects/uwb_simple_example_MK8000 Release.dep

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 keil/dw_app_anchor.c

@@ -24,31 +24,31 @@
    memcpy(&anc_distoffset[i],distoffset,2);
    anc_clockoffset[i] = anc_clockoffset_from_MK;//MK8000修改
}
void CalculateDists(int64_t poll_tx_ts) 
void CalculateDists(int64_t poll_tx_ts)
{
for(int i=0;i<MAX_NEARBASE_NUM;i++)
    for(int i=0; i<MAX_NEARBASE_NUM; i++)
    {
        //rec_anc_signalpower[i] = exsistbase_list[i];
      if(exsistbase_list[i]==KEEP_TIMES)
      {
         // exsistbase_list[i]--;
        if(exsistbase_list[i]==KEEP_TIMES)
        {
            // exsistbase_list[i]--;
#ifdef _UWB_4G
            clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
#else
            clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;//MK8000修改
#endif
          rtd_init = tag_resprx[i] - (uint32_t)poll_tx_ts;
          rtd_resp = anc_resptx[i] - anc_pollrx[i];
          tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
          distance = tof * SPEED_OF_LIGHT;
          if(distance>-10&&distance<1000)
          {
            nearbase_distlist[i]  = distance*100+anc_distoffset[i];
          }
      }else{
         // nearbase_distlist[i] = 0x1ffff;
      }
    
            rtd_init = tag_resprx[i] - (uint32_t)poll_tx_ts;
            rtd_resp = anc_resptx[i] - anc_pollrx[i];
            tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
            distance = tof * SPEED_OF_LIGHT;
            if(distance>-10&&distance<1000)
            {
                nearbase_distlist[i]  = distance*100+anc_distoffset[i];
            }
        } else {
            // nearbase_distlist[i] = 0x1ffff;
        }

    }

}

 keil/include/components/hal/UART.c

@@ -146,7 +146,7 @@
    l_astUartInfo[_eUartID].m_mutexLock =  osMutexCreate(HIDO_NULL);
#endif
    
struct UART_CFG_T uart_cfg =
    struct UART_CFG_T uart_cfg =
    {
        .parity = UART_PARITY_NONE,
        .stop = UART_STOP_BITS_1,
@@ -337,25 +337,14 @@
 *******************************************************************************/
static void uart_receive_callback(void *dev, uint32_t err_code)
{
    E_UartID eUartID = (E_UartID) 0;
    E_UartID eUartID = UART_ID_4G;
    
    HIDO_UINT8 u8RecvByte = l_astUartInfo[eUartID].m_u8RxValue;

    for (eUartID = (E_UartID) 0; eUartID < UART_ID_LAST; eUartID++)
    {
        if (l_astUartInfo[eUartID].m_eUartPort == *(enum UART_DEV_T *)dev)
        {
            if(UART_RX_MODE_INT == l_astUartInfo[eUartID].m_eRxMode)
            {
                HIDO_UINT8 u8RecvByte = l_astUartInfo[eUartID].m_u8RxValue;
    HIDO_ArraryQueueIn(&l_astUartInfo[eUartID].m_stRxArraryQueue, &u8RecvByte);

                HIDO_ArraryQueueIn(&l_astUartInfo[eUartID].m_stRxArraryQueue, &u8RecvByte);

                /* å¯åŠ¨INT接收 */
                uart_receive(l_astUartInfo[eUartID].m_eUartPort, &l_astUartInfo[eUartID].m_u8RxValue, 1, uart_receive_callback);
            }

            break;
        }
    }
    /* å¯åŠ¨INT接收 */
    uart_receive(l_astUartInfo[eUartID].m_eUartPort, &l_astUartInfo[eUartID].m_u8RxValue, 1, uart_receive_callback);
}

/*******************************************************************************

 keil/include/components/hido/Include/HIDO_Timer.h

@@ -14,8 +14,8 @@
    HIDO_TimerFunc m_fnTimerProc;
}HIDO_TimerStruct;

#define HIDO_TIMER_TICK_S(s)     ((s) * 2)
#define HIDO_TIMER_TICK_MS(ms)   ((ms) / 500)
#define HIDO_TIMER_TICK_S(s)     ((s) * 1)
#define HIDO_TIMER_TICK_MS(ms)   ((ms) / 1000)
#define HIDO_TIMER_TYPE_ONCE      0
#define HIDO_TIMER_TYPE_LOOP      1


 keil/include/components/internet/inc/AIR780EDriver.h

@@ -12,6 +12,7 @@
 *******************************************************************************/
#include "Socket.h"
#include "HIDO_TypeDef.h"
#include "sn74hc595.h"

/*******************************************************************************
 *                                  Macro                                      *

 keil/include/components/internet/src/AIR780EDriver.c

@@ -333,11 +333,13 @@
    {
        if((_pstATDevice->m_u32LineLen > 0) && (_pstATDevice->m_pcLineBuf[_pstATDevice->m_u32LineLen - 1] == '\n'))
        {
            HIDO_Debug( "[AT Recv] %s", _pstATDevice->m_pcLineBuf);
            LOG_INFO(TRACE_MODULE_APP, "[AT Recv] %s", _pstATDevice->m_pcLineBuf);
            //HIDO_Debug( "[AT Recv] %s", _pstATDevice->m_pcLineBuf);
        }
        else
        {
            HIDO_Debug("[AT Recv] %s\r\n", _pstATDevice->m_pcLineBuf);
            LOG_INFO(TRACE_MODULE_APP, "[AT Recv] %s\r\n", _pstATDevice->m_pcLineBuf);
            //HIDO_Debug("[AT Recv] %s\r\n", _pstATDevice->m_pcLineBuf);
        }
    }

@@ -364,11 +366,13 @@
        {
            if((_u32Len > 0) && (_pu8Data[_u32Len - 1] == '\n'))
            {
                HIDO_Debug("[AT Send] %s", _pu8Data);
                // HIDO_Debug("[AT Send] %s", _pu8Data);
                LOG_INFO(TRACE_MODULE_APP, "[AT Send] %s", _pu8Data);
            }
            else
            {
                HIDO_Debug("[AT Send] %s\r\n", _pu8Data);
                // HIDO_Debug("[AT Send] %s\r\n", _pu8Data);
                LOG_INFO(TRACE_MODULE_APP, "[AT Send] %s", _pu8Data);
            }
        }
    }
@@ -407,7 +411,7 @@
 *******************************************************************************/
HIDO_INT32 AIR780EDriver_PowerOn(void)
{
    gpio_pin_set(l_stAIR780EPin[AIR780E_PIN_3V8_EN]);
    air780_power_state = 1;

    return HIDO_OK;
}
@@ -423,7 +427,7 @@
 *******************************************************************************/
HIDO_INT32 AIR780EDriver_PowerOff(void)
{
    gpio_pin_clr(l_stAIR780EPin[AIR780E_PIN_3V8_EN]);
    air780_power_state = 0;

    return HIDO_OK;
}
@@ -524,7 +528,8 @@
    vsnprintf(acBuff, sizeof(acBuff), _pcFmt, _ap);
    
  //  HIDO_Log(HIDO_LOG_LEVEL_DEBUG, "%s", acBuff);
    HIDO_Debug(acBuff);
    //HIDO_Debug(acBuff);
    LOG_INFO(TRACE_MODULE_APP, acBuff);

    return HIDO_OK;
}
@@ -546,21 +551,6 @@
}

/*******************************************************************************
 * Function Name     : AIR780EDriver_TimerPoll
 * Description       :
 * Input             :
 * Output            :
 * Return            :
 * Author            : æœé”®
 * Modified Date:    : 2018å¹´5月22日
 *******************************************************************************/
void AIR780EDriver_TimerPoll(void)
{
    //HIDO_TimerPollByID(l_stDriverData.m_u32FSMTimerID);
    //HIDO_TimerPollByID(l_stAIR780EDevice.m_u32TimerID);
}

/*******************************************************************************
 * Function Name     : AIR780EDriver_Init
 * Description       :
 * Input             :
@@ -574,13 +564,14 @@
    ST_UartInit stUartInit;

    /* ä¸²å£åˆå§‹åŒ– */
    stUartInit.m_eRxMode = UART_RX_MODE_DMA;
    stUartInit.m_eRxMode = UART_RX_MODE_INT;
    stUartInit.m_eTxMode = UART_TX_MODE_POLL;
    stUartInit.m_pu8RxBuf = l_au8AIR780EUartRxBuf;
    stUartInit.m_u32RxBufSize = AIR780E_UART_RX_BUF_SIZE;
    stUartInit.m_pu8TxBuf = l_au8AIR780EUartTxBuf;
    stUartInit.m_u32TxBufSize = AIR780E_UART_TX_BUF_SIZE;
    stUartInit.m_u32TxQueueMemberCnt = AIR780E_UART_TX_QUEUE_MEMBER_CNT;
    stUartInit.m_u32BaudRate = 115200;
    if(Uart_Init(UART_ID_4G, &stUartInit) != HIDO_OK)
    {
        return HIDO_ERR;

 keil/include/components/internet/src/AIR780EFSM.c

@@ -106,52 +106,6 @@
            Socket_OnRecv(u32ID);
            break;
        }
#ifdef TTS
        case AIR780E_EVENT_QTTS:
        {
            HIDO_DataStruct *pstData = (HIDO_DataStruct *) _pArg;

            if (strcmp((HIDO_CHAR *) pstData->m_pData, "+CTTS:0\r\n") != 0)
            {
                break;
            }

            AIR780EAudio_TTSOver();

            break;
        }
        case AIR780E_EVENT_QLTONE:
        {
            HIDO_DataStruct *pstData = (HIDO_DataStruct *) _pArg;

            if (strcmp((HIDO_CHAR *) pstData->m_pData, "+QLTONE: 0\r\n") != 0)
            {
                break;
            }

            AIR780EAudio_TONEOver();

            break;
        }
 #endif
#ifdef __AIR780E_MQTT__
        case AIR780E_EVENT_QMTRECV:
        {
            HIDO_UINT32 u32ClientID = 0;
            HIDO_UINT32 u32MsgID = 0;
            HIDO_DataStruct *pstData = (HIDO_DataStruct *) _pArg;

            if (HIDO_UtilParseFormat((HIDO_UINT8 *) pstData->m_pData, pstData->m_u32Len, "+QMTRECV: %d,%d\r\n",
                    &u32ClientID, &u32MsgID) != 2)
            {
                break;
            }

            MQTT_HaveRecvData(u32ClientID);

            break;
        }
#endif
        default:
        {
            return HIDO_EVENT_NO_PROC;
@@ -253,8 +207,6 @@
    {
        AIR780E_SUB_STATE_POWER_OFF,
        AIR780E_SUB_STATE_POWER_ON,
        AIR780E_SUB_STATE_PWRKEY_RESET,
        AIR780E_SUB_STATE_PWRKEY_SET,
    } l_eAIR780ESubState;

    HIDO_ATLiteDeviceStruct *pstATDevice = (HIDO_ATLiteDeviceStruct *) _pstFSM->m_pPrivateData;
@@ -273,7 +225,7 @@

            l_eAIR780ESubState = AIR780E_SUB_STATE_POWER_OFF;
            AIR780EDriver_PowerOff();
            HIDO_FSMStartTimer(u32FSMTimerID, HIDO_TIMER_TYPE_ONCE, HIDO_TIMER_TICK_S(3), _pstFSM, AIR780E_EVENT_DELAY);
            HIDO_FSMStartTimer(u32FSMTimerID, HIDO_TIMER_TYPE_ONCE, HIDO_TIMER_TICK_S(1), _pstFSM, AIR780E_EVENT_DELAY);
            break;
        }
        case HIDO_EVENT_EXIT:
@@ -291,25 +243,10 @@
                {
                    l_eAIR780ESubState = AIR780E_SUB_STATE_POWER_ON;
                    AIR780EDriver_PowerOn();
                    HIDO_FSMStartTimer(u32FSMTimerID, HIDO_TIMER_TYPE_ONCE, HIDO_TIMER_TICK_S(1), _pstFSM, AIR780E_EVENT_DELAY);
                    HIDO_FSMStartTimer(u32FSMTimerID, HIDO_TIMER_TYPE_ONCE, HIDO_TIMER_TICK_S(10), _pstFSM, AIR780E_EVENT_DELAY);
                    break;
                }
                case AIR780E_SUB_STATE_POWER_ON:
                {
                    l_eAIR780ESubState = AIR780E_SUB_STATE_PWRKEY_RESET;
                    AIR780EDriver_PWRKEYReset();
                    //Uart_ReConfigBaudRate(UART_ID_4G, 921600);
                    HIDO_FSMStartTimer(u32FSMTimerID, HIDO_TIMER_TYPE_ONCE, HIDO_TIMER_TICK_S(1), _pstFSM, AIR780E_EVENT_DELAY);
                    break;
                }
                case AIR780E_SUB_STATE_PWRKEY_RESET:
                {
                    l_eAIR780ESubState = AIR780E_SUB_STATE_PWRKEY_SET;
                    AIR780EDriver_PWRKEYSet();
                    HIDO_FSMStartTimer(u32FSMTimerID, HIDO_TIMER_TYPE_ONCE, HIDO_TIMER_TICK_MS(800), _pstFSM, AIR780E_EVENT_DELAY);
                    break;
                }
                case AIR780E_SUB_STATE_PWRKEY_SET:
                {
                    HIDO_FSMStateChange(_pstFSM, HIDO_FSM_STATE(AIR780EATCmdTest), HIDO_NULL);
                    break;
@@ -319,108 +256,6 @@
            break;
        }
        case AIR780E_EVENT_RDY:
        {
#if 0
            HIDO_UINT32 Power_r = 0,Open_PJ,dev_id;
            HIDO_CHAR TTS_Open[60];
            
            if(Power_GetBatteryPercentage() < 5.0)      //低电量自动关机
            {
                GPIOD->BSRR = 0x0004;      //打开TTS电源
                HAL_Delay(800);               //必要延时,延时是为了避免说不出来第一个字
                
                HIDO_ATLiteCmdSend(pstATDevice, AT_GENERAL_TIMEOUT_TIME, "AT+CTTS=2,\"%s\"\r\n", "电量过低");
                HAL_Delay(2000);
                
                // è°ƒç”¨å…³æœºæŽ¥å£
                while(1)
                {
                    GPIOA->BSRR = 0X0100 << 16;
                }
            }
#endif
#if 0
//            HIDO_ATLiteCmdSend(pstATDevice, AT_GENERAL_TIMEOUT_TIME, "AT+QTTS=2,\"开机\"\r\n");
            Power_r = Power_GetBatteryPercentage();
            
            dev_id = ((g_com_map[DEV_ID]>>12)&0xf)*1000+((g_com_map[DEV_ID]>>8)&0xf)*100+((g_com_map[DEV_ID]>>4)&0xf)*10+(g_com_map[DEV_ID]&0xf);
            Open_PJ = sprintf(TTS_Open, "设备编号%d剩余电量百分之%d",dev_id, Power_r); 
            TTS_Play((HIDO_UINT8 *)TTS_Open, strlen(TTS_Open));
#endif
            break;
        }
        default:
        {
            return HIDO_EVENT_NO_PROC;
        }
    }

    return HIDO_EVENT_OK;
}

/*******************************************************************************
 * State Name        : AIR780EWaitReady
 * Parent State      : AIR780EInit
 * Description       : 
 * Author            : www.hido-studio.com
 * Modified Date:    : 2018-05-01
 *******************************************************************************/
extern int Last4G;

HIDO_FSM_STATE_IMPLEMENT(AIR780EWaitReady, HIDO_FSM_STATE(AIR780EInit), HIDO_NULL)
{
    static HIDO_BOOL bReady = HIDO_FALSE;
    static HIDO_UINT32 u32RetryCnt = 0,Power_r = 0,Open_PJ,dev_id;
    HIDO_ATLiteDeviceStruct *pstATDevice = (HIDO_ATLiteDeviceStruct *) _pstFSM->m_pPrivateData;
    HIDO_UINT32 u32FSMTimerID = ((ST_AIR780EDriverData *)pstATDevice->m_pUserData)->m_u32FSMTimerID;
    
    HIDO_CHAR TTS_Open[60];
    

    switch (_u32Event)
    {
        case HIDO_EVENT_ENTRY:
        {
            HIDO_FSMStartTimer(u32FSMTimerID, HIDO_TIMER_TYPE_ONCE, HIDO_TIMER_TICK_S(10),
                    _pstFSM, AIR780E_EVENT_DELAY);
            break;
        }
        case HIDO_EVENT_EXIT:
        {
            HIDO_ATLiteCmdSendOver(pstATDevice);
            HIDO_TimerCancel(u32FSMTimerID);
            break;
        }
        case AIR780E_EVENT_RDY:
        {
#if 0
            if(Power_GetBatteryPercentage() < 5.0)      //低电量自动关机
            {
                GPIOD->BSRR = 0x0004;      //打开TTS电源
                HAL_Delay(800);               //必要延时,延时是为了避免说不出来第一个字
                
                HIDO_ATLiteCmdSend(pstATDevice, AT_GENERAL_TIMEOUT_TIME, "AT+CTTS=2,\"%s\"\r\n", "电量过低");
                HAL_Delay(2000);
                
                // è°ƒç”¨å…³æœºæŽ¥å£
                while(1)
                {
                    GPIOA->BSRR = 0X0100 << 16;
                }
            }
            
//            HIDO_ATLiteCmdSend(pstATDevice, AT_GENERAL_TIMEOUT_TIME, "AT+QTTS=2,\"开机\"\r\n");
            Power_r = Power_GetBatteryPercentage();
            
            dev_id = ((g_com_map[DEV_ID]>>12)&0xf)*1000+((g_com_map[DEV_ID]>>8)&0xf)*100+((g_com_map[DEV_ID]>>4)&0xf)*10+(g_com_map[DEV_ID]&0xf);
            Open_PJ = sprintf(TTS_Open, "设备编号%d剩余电量百分之%d",dev_id, Power_r); 
            TTS_Play((HIDO_UINT8 *)TTS_Open, strlen(TTS_Open));
#endif
            break;
        }
        case HIDO_AT_EVENT_OK:
        case AIR780E_EVENT_DELAY:
        case HIDO_AT_EVENT_TIMEOUT:
        {
            HIDO_FSMStateChange(_pstFSM, HIDO_FSM_STATE(AIR780EATCmdTest), HIDO_NULL);
            break;
@@ -443,12 +278,8 @@
 *******************************************************************************/
HIDO_FSM_STATE_IMPLEMENT(AIR780EATCmdTest, HIDO_FSM_STATE(AIR780EInit), HIDO_NULL)
{
#define USE_115200
//#define USE_921600
    static HIDO_UINT32 l_u32ReadyCnt = 0;
    static HIDO_UINT32 l_u32TimeoutCnt = 0;
    static HIDO_UINT32 l_u32BaudRate = 0;
    static HIDO_BOOL l_bConfigBaudRate = HIDO_FALSE;
    HIDO_ATLiteDeviceStruct *pstATDevice = (HIDO_ATLiteDeviceStruct *) _pstFSM->m_pPrivateData;
    HIDO_UINT32 u32FSMTimerID = ((ST_AIR780EDriverData *)pstATDevice->m_pUserData)->m_u32FSMTimerID;

@@ -456,15 +287,6 @@
    {
        case HIDO_EVENT_ENTRY:
        {
#ifdef USE_115200
            l_u32BaudRate = 115200;
#else
            l_u32BaudRate = 921600;
#endif

            Uart_ReConfigBaudRate(UART_ID_4G, l_u32BaudRate);

            l_bConfigBaudRate = HIDO_FALSE;
            l_u32ReadyCnt = 0;
            l_u32TimeoutCnt = 0;
            HIDO_FSMStartTimer(u32FSMTimerID, HIDO_TIMER_TYPE_ONCE, HIDO_TIMER_TICK_S(1), _pstFSM, AIR780E_EVENT_DELAY);
@@ -478,43 +300,13 @@
        }
        case HIDO_AT_EVENT_OK:
        {
            if (HIDO_TRUE == l_bConfigBaudRate)
            {
#ifdef USE_115200
            l_u32BaudRate = 115200;
#else
            l_u32BaudRate = 921600;
#endif
                Uart_ReConfigBaudRate(UART_ID_4G, l_u32BaudRate);

                HIDO_FSMStartTimer(u32FSMTimerID, HIDO_TIMER_TYPE_ONCE, HIDO_TIMER_TICK_S(1), _pstFSM, AIR780E_EVENT_DELAY);
                break;
            }

            l_u32TimeoutCnt = 0;
            l_u32ReadyCnt++;
            if (l_u32ReadyCnt >= 1)
            {
#ifdef USE_115200
                if (921600 == l_u32BaudRate)
#else
                if (115200 == l_u32BaudRate)
#endif
                {
                    l_bConfigBaudRate = HIDO_TRUE;
#ifdef USE_115200
                    HIDO_ATLiteCmdSend(pstATDevice, AT_GENERAL_TIMEOUT_TIME, "AT+IPR=115200;&W\r\n");
#else
                    HIDO_ATLiteCmdSend(pstATDevice, AT_GENERAL_TIMEOUT_TIME, "AT+IPR=921600;&W\r\n");
#endif

                }
                else
                {
                    /* ä¸Šç”µæˆåŠŸ */
                    Module_PowerEvent(MODULE_MAIN, MODULE_STATE_POWER_ON);
                    HIDO_FSMStateChange(_pstFSM, HIDO_FSM_STATE(AIR780EWaitSimCardReady), HIDO_NULL);
                }
                /* ä¸Šç”µæˆåŠŸ */
                Module_PowerEvent(MODULE_MAIN, MODULE_STATE_POWER_ON);
                HIDO_FSMStateChange(_pstFSM, HIDO_FSM_STATE(AIR780EWaitSimCardReady), HIDO_NULL);
            }
            else
            {
@@ -535,18 +327,6 @@

            if (5 == l_u32TimeoutCnt)
            {
#ifdef USE_115200
                l_u32BaudRate = 921600;
#else
                l_u32BaudRate = 115200;
#endif
                Uart_ReConfigBaudRate(UART_ID_4G, l_u32BaudRate);

                HIDO_FSMStartTimer(u32FSMTimerID, HIDO_TIMER_TYPE_ONCE, HIDO_TIMER_TICK_S(1), _pstFSM,
                        AIR780E_EVENT_DELAY);
            }
            else if (l_u32TimeoutCnt > 10)
            {
                HIDO_FSMStateChange(_pstFSM, HIDO_FSM_STATE(AIR780EPowerOn), HIDO_NULL);
            }
            else
@@ -559,17 +339,7 @@
        }
        case AIR780E_EVENT_DELAY:
        {
            if (HIDO_TRUE == l_bConfigBaudRate)
            {
                /* ä¸Šç”µæˆåŠŸ */
                Module_PowerEvent(MODULE_MAIN, MODULE_STATE_POWER_ON);
                HIDO_FSMStateChange(_pstFSM, HIDO_FSM_STATE(AIR780EWaitSimCardReady), HIDO_NULL);
                break;
            }
            else
            {
                HIDO_ATLiteCmdSend(pstATDevice, AT_GENERAL_TIMEOUT_TIME, "ATE0\r\n");
            }
            HIDO_ATLiteCmdSend(pstATDevice, AT_GENERAL_TIMEOUT_TIME, "ATE0\r\n");
            break;
        }
        case AIR780E_EVENT_POLL:

 keil/include/drivers/lis3dh_driver.c

@@ -181,6 +181,7 @@
AxesRaw_t lis2dhdata;

//OLED初始化IIC
uint8_t t11;
void IIC2_Init(void)
{                         
//    GPIO_InitTypeDef GPIO_InitStructure= {0};
@@ -198,13 +199,11 @@
        
        gpio_pin_set_dir(SDA_PIN , GPIO_DIR_OUT, 1);
        io_open_drain_set(SDA_PIN, 1);
    io_pull_set(SDA_PIN , IO_PULL_UP, IO_PULL_UP_NONE);//输出高阻态
        io_pull_set(SDA_PIN , IO_HIGH_Z, IO_PULL_UP_NONE);//输出高阻态
        
        gpio_pin_set_dir(SCL_PIN , GPIO_DIR_OUT, 1);
        io_open_drain_set(SCL_PIN, 1);//设置开漏输出
    io_pull_set(SCL_PIN , IO_PULL_UP, IO_PULL_UP_NONE);
		
		
        io_pull_set(SCL_PIN , IO_HIGH_Z, IO_PULL_UP_NONE);
}

uint8_t lisid;
@@ -284,7 +283,7 @@
    LIS3DH_WriteReg(LIS3DH_INT1_CFG, 0xaa);  /* INT1_CFG(30h): ??,6D X/Y/Z???????? */
    g_com_map[IMU_THRES]=2;
    LIS3DH_WriteReg(LIS3DH_INT1_THS, (uint8_t)g_com_map[IMU_THRES]);      /* INT1_THS(32h): ?????? 0x10: 16*2(FS)  0x20: 32*16(FS) */
 LIS3DH_WriteReg(LIS3DH_INT1_DURATION, 0x01);      /* INT1_DURATION(33h): 1LSB=1/ODR  ??ODR=100HZ  ??1LSB=10ms ???? 1s,??100->0x64 */
    LIS3DH_WriteReg(LIS3DH_INT1_DURATION, 0x01);      /* INT1_DURATION(33h): 1LSB=1/ODR  ??ODR=100HZ  ??1LSB=10ms ???? 1s,??100->0x64 */
    /* Start sensor */
    LIS3DH_WriteReg(0x20, 0x5f);  /* CTRL_REG1(20h): Start sensor at ODR 100Hz Low-power mode */
    
@@ -516,15 +515,17 @@
//等待应答信号到来
//返回值：1，接收应答失败
//        0，接收应答成功

uint8_t IIC2_Wait_Ack(void)
{
    uint8_t ucErrTime=0;
//  IIC2_SDA_IN();      //SDA设置为输入
 gpio_pin_set_dir(SDA_PIN , GPIO_DIR_IN, 1);
     SDA_1;
    delay_us(6);       
    SCL_1;
    delay_us(6);    

    
    while(IIC2_READ_SDA)
    {
        ucErrTime++;
@@ -534,6 +535,7 @@
            return 1;
        }
    }
    gpio_pin_set_dir(SDA_PIN , GPIO_DIR_OUT, 1);
    SCL_0;//时钟输出0
    return 0;  
} 

 keil/include/drivers/mk_trace.c

@@ -50,7 +50,7 @@
#if TRACE_EN

#ifndef BACKTRACE_EN
#define BACKTRACE_EN (0)
#define BACKTRACE_EN (1)
#endif

#ifndef TRACE_BUF_SIZE

 keil/include/main/main.c

@@ -69,7 +69,7 @@
#define TEST_UART_MODE TEST_UART_DMA_MODE

#define NUM_SAMPLES 1
#define BIND_TRIGGER_TIME 60000 
#define BIND_TRIGGER_TIME 60000
extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
@@ -89,9 +89,9 @@

typedef enum
{        UN_BIND=0,
        LINK_SUCCESS,
        SEARCH_DEV,
}Operation_step;
        LINK_SUCCESS,
        SEARCH_DEV,
} Operation_step;
Operation_step Operation_state;


@@ -109,39 +109,39 @@
    .high_pulse_time = 4,
    .settle_time = 1,
};
 struct UART_CFG_T test_uart_cfg =
    {
        .parity = UART_PARITY_NONE,
        .stop = UART_STOP_BITS_1,
        .data = UART_DATA_BITS_8,
        .flow = UART_FLOW_CONTROL_NONE,
        .rx_level = UART_RXFIFO_CHAR_1,
        .tx_level = UART_TXFIFO_EMPTY,
        .baud = BAUD_115200,
struct UART_CFG_T test_uart_cfg =
{
    .parity = UART_PARITY_NONE,
    .stop = UART_STOP_BITS_1,
    .data = UART_DATA_BITS_8,
    .flow = UART_FLOW_CONTROL_NONE,
    .rx_level = UART_RXFIFO_CHAR_1,
    .tx_level = UART_TXFIFO_EMPTY,
    .baud = BAUD_115200,
#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
        .dma_en = false,
        .int_rx = false,
        .int_tx = false,
    .dma_en = false,
    .int_rx = false,
    .int_tx = false,
#elif (TEST_UART_MODE == TEST_UART_INTERUPT_MODE)
        .dma_en = false,
        .int_rx = true,
        .int_tx = true,
    .dma_en = false,
    .int_rx = true,
    .int_tx = true,
#elif (TEST_UART_MODE == TEST_UART_DMA_MODE)
        .dma_en = true,
        .int_rx = false,
        .int_tx = false,
    .dma_en = true,
    .int_rx = false,
    .int_tx = false,
#endif
        };
};
static void uart_receive_callback(void *dev, uint32_t err_code)
{		
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
{
    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}
static void adc_callback(void *data, uint32_t number)
{
    uint32_t *result = (uint32_t *)data;
    for (uint16_t i = 0; i < number; i++)
    {
//        LOG_INFO(TRACE_MODULE_APP, "The voltage measured %d mv\r\n", 
//        LOG_INFO(TRACE_MODULE_APP, "The voltage measured %d mv\r\n",
//        ADC_INTERNAL_VREF_MV + adc_code_to_mv((int16_t)*result, ADC_INTERNAL_VREF_MV));
        fVoltage_mv=ADC_INTERNAL_VREF_MV + adc_code_to_mv((int16_t)*result, ADC_INTERNAL_VREF_MV);
        fVoltage_mv=fVoltage_mv*2;
@@ -158,7 +158,7 @@
            bat_percent = ((fVoltage_mv - 3300) /8);
        }
    }
         LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
    LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
}
//void UartInit(void)
//{
@@ -169,107 +169,107 @@
//}
static void sleep_timer_callback(void *dev, uint32_t time)
{
		
        nomove_count++;
        send_messgae_count+=g_com_map[COM_INTERVAL];
        //if(send_messgae_count>=g_com_map[4G_INTERNAL]){
        //send_message_count=0;
        //send_flag=1;
    //}
	
        if(Operation_state==LINK_SUCCESS){//成功时清0错误计数
        link_error_count=0;
        g_start_send_flag=1;
        }
        if(Operation_state==SEARCH_DEV){

    nomove_count++;
    send_messgae_count+=g_com_map[COM_INTERVAL];
    //if(send_messgae_count>=g_com_map[4G_INTERNAL]){
    //send_message_count=0;
    //send_flag=1;
    //}

    if(Operation_state==LINK_SUCCESS) { //成功时清0错误计数
        link_error_count=0;
        g_start_send_flag=1;
    }
    if(Operation_state==SEARCH_DEV) {
//        if(first_search_flag){//当第一次连接断开产生时才开始计数
            //link_error_count=0;
        //link_error_count=0;
//        }
        link_error_count++;
        if(link_error_count==60)
        link_error_count=0;
        //link_error_count+=g_com_map[COM_INTERVAL];
            //if(link_error_count>=g_com_map[4G_INTERNAL])
            //link_error_count=0;
        updata_led_power_state();//更新灯状态
    }
        link_error_count++;
        if(link_error_count==60)
            link_error_count=0;
        //link_error_count+=g_com_map[COM_INTERVAL];
        //if(link_error_count>=g_com_map[4G_INTERNAL])
        //link_error_count=0;
        update_led_power_state();//更新灯状态
    }
    HIDO_TimerTick();
}
static void voltage_input_handler(enum IO_PIN_T pin)
{
	

}
static void move_handler(enum IO_PIN_T pin)
{
nomove_count=0;
    nomove_count=0;
}
void Program_Init(void)
{	
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
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
memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
warning_distance=g_com_map[STATIONARY_TIME];
prewarning_distance=g_com_map[ALARM_DISTANCE2];
send_struct.warnDistence=warning_distance;
send_struct.alarmDistence=prewarning_distance;//更新报警距离
memcpy(&send_struct.gunLableId,&g_com_map[BIND_DEV_ID],2);//更新绑定ID
send_struct.tagId=dev_id;//更新设备ID
{
    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
    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
    memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
    warning_distance=g_com_map[STATIONARY_TIME];
    prewarning_distance=g_com_map[ALARM_DISTANCE2];
    send_struct.warnDistence=warning_distance;
    send_struct.alarmDistence=prewarning_distance;//更新报警距离
    memcpy(&send_struct.gunLableId,&g_com_map[BIND_DEV_ID],2);//更新绑定ID
    send_struct.tagId=dev_id;//更新设备ID
}



void IdleTask(void)
{
    if(gpio_pin_get_val(INPUT_5V_Pin))
    {    	
  
        if(state5v==0)
        {
            state5v=1;
            state5V_prase_flag=state5v;
            gps_prase_flag=0;//解除gps解析
            uart1_change_from_gps_to_debug();
            uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
            //UartInit();
        }
		  
        //UART_CheckSend();
    }else{
    if(gpio_pin_get_val(INPUT_5V_Pin))
    {

        if(state5v==0)
        {
            state5v=1;
            state5V_prase_flag=state5v;
            gps_prase_flag=0;//解除gps解析
            uart1_change_from_gps_to_debug();
            uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
            //UartInit();
        }

        //UART_CheckSend();
    } else {
        if(state5v==1)
        {
          state5v=0;
                    state5V_prase_flag=state5v;
                    gps_prase_flag=1;//恢复gps解析
                    uart1_change_from_debug_to_gps();
                    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
                    //UartDeinit();
            state5v=0;
            state5V_prase_flag=state5v;
            gps_prase_flag=1;//恢复gps解析
            uart1_change_from_debug_to_gps();
            uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
            //UartDeinit();
        }
                UART_CheckReceive();
}
        UART_CheckReceive();
    }
}
int bind_check(void)
{
if(g_com_map[BIND_DEV_ID]!=0x00)
{
    return 1;
    if(g_com_map[BIND_DEV_ID]!=0x00)
    {
        return 1;
//绑定信息为1说明设备已经被下发绑定
}else{
    return 0;
    } else {
        return 0;
//绑定信息为0说明设备未被绑定
}
    }
}
void check_if_in_search(void)
{
if(link_success_flag==1){//如果第一次测距收包成功那么则进入连接测距模式
        Operation_state=LINK_SUCCESS;
            }else{//否则进入搜索模式
        Operation_state=SEARCH_DEV;
        if(first_search_flag==0)
        first_search_flag=1;
    }
    if(link_success_flag==1) { //如果第一次测距收包成功那么则进入连接测距模式
        Operation_state=LINK_SUCCESS;
    } else { //否则进入搜索模式
        Operation_state=SEARCH_DEV;
        if(first_search_flag==0)
            first_search_flag=1;
    }
}


@@ -277,12 +277,11 @@
{
    board_clock_run();
    board_pins_config();
        IIC2_Init();
    board_debug_console_open(TRACE_PORT_UART0);
        // Reset reason
    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;
@@ -302,101 +301,101 @@

    // 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_ID1);
    AIR780EDriver_PinRegister(AIR780E_PIN_3V8_EN, IO_PIN_5);
    AIR780EDriver_PinRegister(AIR780E_PIN_PWRKEY, IO_PIN_6);
    Uart_Register(UART_ID_4G, UART_ID0);
    Internet_Init();
		

    gpio_open();
    //board_led_init();
		

//        adc_open(&usr_adc_cfg);
        IIC2_Init();
        Accelerometer_Init(); //加速度计初始化必须在IO_control_init之前因为复用SDA引脚 
        IO_control_init();
        //adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
        uart_open(UART_ID1, &test_uart_cfg);
        gps_air780_power_change(1,1);//开启gps，4G
        Program_Init();
         uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
    IIC2_Init();
    Accelerometer_Init();
    IO_control_init();
//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);
    gps_air780_power_change(1,1);//开启gps，4G
    Program_Init();
    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
// Initialize low power mode
    power_init();
LOG_INFO(TRACE_MODULE_APP, "测试数据");
//            g_com_map[BIND_DEV_ID]=0x1122;//测试
        if(bind_check())//绑定后才提前开启测距
        {link_success_flag=temp_main();//上机开启接收2s绑定成功则进行下面轮询测距流程,不成功则1分后再次开启2s接收
            check_if_in_search();
        }else{
        send_struct.bindState=false;
        Operation_state=UN_BIND;
        }
        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(1000));//测试
        board_5V_input_init(voltage_input_handler);
        board_acceleration_detection_init(move_handler);
    if(bind_check())//绑定后才提前开启测距
    {   link_success_flag=temp_main();//上机开启接收2s绑定成功则进行下面轮询测距流程,不成功则1分后再次开启2s接收
        check_if_in_search();
    } else {
        send_struct.bindState=false;
        Operation_state=UN_BIND;
    }
    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(1000));//测试
    board_5V_input_init(voltage_input_handler);
    board_acceleration_detection_init(move_handler);
    while (1)
    {
        // TODO
        Internet_Poll();
        HIDO_ATLitePoll();
         HIDO_ATLitePoll();
        HIDO_TimerPoll();
        
    switch(Operation_state){
        case LINK_SUCCESS:
        {//连接成功进行轮询测距
            if(g_start_send_flag){
            g_start_send_flag = 0;
            uwb_led_on();
            simple_main();
            uwb_led_off();
            IdleTask();	
            }else{
            IdleTask();	
            } 
        }
        break;
        case SEARCH_DEV:
        {//接包不成功或者通讯失败进入搜索模式
            if(link_error_count==0||first_search_flag){
            first_search_flag=0;
            uwb_led_on();
            link_success_flag=temp_main();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
            uwb_led_off();
            if(link_success_flag)
            Operation_state=LINK_SUCCESS;
        }
            IdleTask();
        }
        break;
        case UN_BIND:
        {uwb_led_off();//关闭uwb指示灯
            IdleTask();
        }
    break;
    }
		
        //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;
        //}

        switch(Operation_state) {
        case LINK_SUCCESS:
        {   //连接成功进行轮询测距
            if(g_start_send_flag) {
                g_start_send_flag = 0;
                uwb_led_on();
                simple_main();
                uwb_led_off();
                IdleTask();
            } else {
                IdleTask();
            }
        }
        break;
        case SEARCH_DEV:
        {   //接包不成功或者通讯失败进入搜索模式
            if(link_error_count==0||first_search_flag) {
                first_search_flag=0;
                uwb_led_on();
                link_success_flag=temp_main();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
                uwb_led_off();
                if(link_success_flag)
                    Operation_state=LINK_SUCCESS;
            }
            IdleTask();
        }
        break;
        case UN_BIND:
        {   uwb_led_off();//关闭uwb指示灯
            IdleTask();
        }
        break;
        }

        //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;
        //}
#ifdef DEBUG_MODE
            if(!gpio_pin_get_val(INPUT_5V_Pin)){
                        trace_flush();
        if(!gpio_pin_get_val(INPUT_5V_Pin)) {
            trace_flush();
            uint32_t lock = int_lock();
                        //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
            //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
            power_enter_power_down_mode(0);
            int_unlock(lock);
            }
        }
#endif
    }
}

 keil/mk_4G.c

@@ -3,50 +3,50 @@
#include "sn74hc595.h"
void bind_reset(void)
{
g_com_map[BIND_DEV_ID]=0x00;//重置默认下发ID保存
save_com_map_to_flash();
    g_com_map[BIND_DEV_ID]=0x00;//重置默认下发ID保存
    save_com_map_to_flash();
}
void message_construct()
{
//sprintf(send_buf,"$message,%d,%d,%d,%d,%d,%d,%%f,%lf,%lf,%lf,%lf,%d,%d",Commend_SendDate.messgetype,Commend_SendDate.tagId,Commend_SendDate.bindState,
    //Commend_SendDate.gunLableId,Commend_SendDate.alarmType,Commend_SendDate.power,Commend_SendDate.warnDistance,Commend_SendDate.alarmDistance,Commend_SendDate.lng,Commend_SendDate.lat
    //Commend_SendDate.applyId,Commend_SendDate.result);
	
    //send 4G
    //Commend_SendDate.gunLableId,Commend_SendDate.alarmType,Commend_SendDate.power,Commend_SendDate.warnDistance,Commend_SendDate.alarmDistance,Commend_SendDate.lng,Commend_SendDate.lat
    //Commend_SendDate.applyId,Commend_SendDate.result);

    //send 4G
}
void message_from_4G_Handler(void)
{


//sscanf(4G_api_buf,"$%*[^,],%d,%d,%d,%d,%lf,%lf,%d",Commend_Datestruct.type,Commend_Datestruct.applyID,Commend_Datestruct.tagId,
    //Commend_Datestruct.gunLableId,Commend_Datestruct.warnDistance,Commend_Datestruct.alarmDistance,Commend_Datestruct.frequency);
/*根据指令去执行
    switch(Commend_Datestruct.type)
    case BIND_SUCCESS:
    {
     g_com_map[DEV_ID]=Commend_Datestruct.tagId;
     g_com_map[BIND_DEV_ID]=Commend_Datestruct.gunLableId;
     g_com_map[STATIONARY_TIME]=Commend_Datestruct.warnDistance;
     g_com_map[ALARM_DISTANCE2]=Commend_Datestruct.alarmDistance;//这个距离double和uint格式不符
     g_com_map[SEND_4G_FREQUENCY]=1000/Commend_Datestruct.frequency;
    }
    break;
    case UNBIND:
    bind_resetbreak();
    case OPEN_GNSS:
     gnss_forceopen();
    case CLOSE_VIBRATION:
     vibration_close();
    case QUARY_INFORMATION:
    //??
    case CHANGE_POLL_FREQUENCY:
    g_com_map[SEND_4G_FREQUENCY]=Commend_Datestruct.frequency;
    break;
	
    save_com_map_to_flash();
    */
    //Commend_Datestruct.gunLableId,Commend_Datestruct.warnDistance,Commend_Datestruct.alarmDistance,Commend_Datestruct.frequency);
    /*根据指令去执行
        switch(Commend_Datestruct.type)
        case BIND_SUCCESS:
        {
         g_com_map[DEV_ID]=Commend_Datestruct.tagId;
         g_com_map[BIND_DEV_ID]=Commend_Datestruct.gunLableId;
         g_com_map[STATIONARY_TIME]=Commend_Datestruct.warnDistance;
         g_com_map[ALARM_DISTANCE2]=Commend_Datestruct.alarmDistance;//这个距离double和uint格式不符
         g_com_map[SEND_4G_FREQUENCY]=1000/Commend_Datestruct.frequency;
        }
        break;
        case UNBIND:
        bind_resetbreak();
        case OPEN_GNSS:
         gnss_forceopen();
        case CLOSE_VIBRATION:
         vibration_close();
        case QUARY_INFORMATION:
        //??
        case CHANGE_POLL_FREQUENCY:
        g_com_map[SEND_4G_FREQUENCY]=Commend_Datestruct.frequency;
        break;

        save_com_map_to_flash();
        */
}
void gnss_forceopen(void)
{
gps_air780_power_change(1, air780_power_state);
    gps_air780_power_change(1, air780_power_state);
}

 keil/simple_ss_twr_dw_init.c

@@ -161,7 +161,7 @@
        memcpy(rx_buf, rx_report->pkt_data, rx_length);
        /* Calculate rx timestamp */
        resp_rx_ts_i64 = ranging_rx_time_correct(rx_report);
                receive_flag=1;
        receive_flag=1;
    }
    else
    {
@@ -172,9 +172,9 @@
        /* UWB_TO_ERR      Receive timeout           */
        /* UWB_STS_ERR     STS error                 */
        rx_length = 0;
                receive_flag=2;
        receive_flag=2;
    }
		

}

/* TX done process handler. */
@@ -201,102 +201,102 @@

//注意：因为新注册的标签并不知道基站已经收到了，所以要在下一包立刻将新的标签ID发出，否则标签会一直抢占基站的poll包。
//方法是将新注册的标签添加到下次发送的标签列表头部，其他标签依次向后挪动。
uint16_t AddNewTagIntoList(uint16_t tagid)  
{                                       
     uint16_t newindex_cal = taglist_current_index+25;//当前索引+25，为下次索引要发出的值的最大值，如果总数小于这个值，即可放到最后面。
      if(newindex_cal>=taglist_total_num) //如果当前索引是最后一包，那么就加到总索引的后面，如果不是就加到下一次起始索引位置。
      {
uint16_t AddNewTagIntoList(uint16_t tagid)
{
    uint16_t newindex_cal = taglist_current_index+25;//当前索引+25，为下次索引要发出的值的最大值，如果总数小于这个值，即可放到最后面。
    if(newindex_cal>=taglist_total_num) //如果当前索引是最后一包，那么就加到总索引的后面，如果不是就加到下一次起始索引位置。
    {
        newindex_cal = taglist_total_num;
          
      }else{           
         for(uint16_t i=taglist_total_num;i>newindex_cal;i--)  //从后往前挪地方??就是插入
            {
                taglist_id[i]=taglist_id[i-1];
                taglist_dist[i]=taglist_dist[i-1];
                taglist_keeptime[i]=taglist_keeptime[i-1];
            }          
      }
      taglist_total_num++;
      taglist_id[newindex_cal] = tagid;
      taglist_dist[newindex_cal] = 0;
      taglist_keeptime[newindex_cal] = TAG_KEEPTIMES;
      return newindex_cal;

    } else {
        for(uint16_t i=taglist_total_num; i>newindex_cal; i--) //从后往前挪地方??就是插入
        {
            taglist_id[i]=taglist_id[i-1];
            taglist_dist[i]=taglist_dist[i-1];
            taglist_keeptime[i]=taglist_keeptime[i-1];
        }
    }
    taglist_total_num++;
    taglist_id[newindex_cal] = tagid;
    taglist_dist[newindex_cal] = 0;
    taglist_keeptime[newindex_cal] = TAG_KEEPTIMES;
    return newindex_cal;
}
uint8_t FindNearBasePos(uint16_t baseid)//寻找当前列表中的基站返回索引
{
    uint8_t i;
    for(i=0;i<nearbase_num;i++)
    {
        if(baseid==nearbaseid_list[i])
            return i;
    }
    if(i==nearbase_num)
        return nearbase_num;
    uint8_t i;
    for(i=0; i<nearbase_num; i++)
    {
        if(baseid==nearbaseid_list[i])
            return i;
    }
    if(i==nearbase_num)
        return nearbase_num;
}

void AnchorListUpdate(void)
{
    next_nearbase_num = 0;
            int j=0;
            for(int i=0;i<nearbase_num;i++)
            {
                if(exsistbase_list[i]>0)
                {	
          exsistbase_list[i]--;	
                    next_nearbase_num++;
                    true_exsistbase_list[j]=exsistbase_list[i];
                    true_nearbase_idlist[j]=nearbaseid_list[i];			
                    true_nearbase_distlist[j++]=nearbase_distlist[i];
					
                }
                nearbase_num = next_nearbase_num;//更新现存基站数
                last_nearbase_num = next_nearbase_num;//更新当前基站数
            }
    next_nearbase_num = 0;
    int j=0;
    for(int i=0; i<nearbase_num; i++)
    {
        if(exsistbase_list[i]>0)
        {
            exsistbase_list[i]--;
            next_nearbase_num++;
            true_exsistbase_list[j]=exsistbase_list[i];
            true_nearbase_idlist[j]=nearbaseid_list[i];
            true_nearbase_distlist[j++]=nearbase_distlist[i];

        }
        nearbase_num = next_nearbase_num;//更新现存基站数
        last_nearbase_num = next_nearbase_num;//更新当前基站数
    }
}

void Rank_ANchor_list_by_dis(void)//按照目前的基站距离进行冒泡排序用临时数组方式将最近的放到最前面，最远的放到最后面
{
for(int i=0;i<last_nearbase_num-1;i++)
            {
                for(int j=0;j<last_nearbase_num-1;j++)
                {
                    if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
                    {
                        uint32_t temp_dist,temp_id,temp_exsis;
                        temp_dist=true_nearbase_distlist[j];
                        temp_id = true_nearbase_idlist[j];
                        temp_exsis=true_exsistbase_list[j];
                        true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
                        true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
                        true_exsistbase_list[j]=true_exsistbase_list[j+1];
						
                        true_nearbase_distlist[j+1]=temp_dist;
                        true_nearbase_idlist[j+1]=temp_id;
                        true_exsistbase_list[j+1]=temp_exsis;
                    }			
                }
            }
            for (int i=0;i<last_nearbase_num;i++)
            {
                nearbaseid_list[i]=true_nearbase_idlist[i];
                nearbase_distlist[i]=true_nearbase_distlist[i];
                exsistbase_list[i] = true_exsistbase_list[i];
            }
    for(int i=0; i<last_nearbase_num-1; i++)
    {
        for(int j=0; j<last_nearbase_num-1; j++)
        {
            if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
            {
                uint32_t temp_dist,temp_id,temp_exsis;
                temp_dist=true_nearbase_distlist[j];
                temp_id = true_nearbase_idlist[j];
                temp_exsis=true_exsistbase_list[j];
                true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
                true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
                true_exsistbase_list[j]=true_exsistbase_list[j+1];

                true_nearbase_distlist[j+1]=temp_dist;
                true_nearbase_idlist[j+1]=temp_id;
                true_exsistbase_list[j+1]=temp_exsis;
            }
        }
    }
    for (int i=0; i<last_nearbase_num; i++)
    {
        nearbaseid_list[i]=true_nearbase_idlist[i];
        nearbase_distlist[i]=true_nearbase_distlist[i];
        exsistbase_list[i] = true_exsistbase_list[i];
    }
}
uint16_t CmpTagInList(uint16_t tagid)//找这个新一包的基站在不在现存的taglist中在的话对应位置更新存活时间，不在就增加（确保有效数量小于最大设置数）
{
    uint16_t temp;
    for(uint8_t i=0;i<taglist_total_num;i++)
    {
        if(memcmp(&tagid,&taglist_id[i],2)==0)
    for(uint8_t i=0; i<taglist_total_num; i++)
    {
        if(memcmp(&tagid,&taglist_id[i],2)==0)
        {
            taglist_keeptime[i] = TAG_KEEPTIMES;
            return i;
            return i;
        }
    }
    }
    if(taglist_total_num<MAX_TAG_LIST_NUM)
    temp = AddNewTagIntoList(tagid);
    return temp;
        temp = AddNewTagIntoList(tagid);
    return temp;
}
int simple_main(void)
{
@@ -330,70 +330,72 @@
//    // Enable sleep timer
//    sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, NULL);
//#endif
        uwb_poll_buffer_construct();
        temp_tag_num=0;//临时数量为0
        poll_tx_en_start_u32 = phy_timer_count_get();
        uwb_tx(uwb_sendbuffer,sizeof(uwb_sendbuffer),0,0);//立即发送
        poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_start_time_gap());//修正时间戳
        while(mac_is_busy());//等待发送完成
		
        resp_rx_en_start_u32 = poll_tx_en_start_u32 + US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);//设置发送多少s后接收按target独立时间起点算+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US为发送后要多久开启接收时间
        start_receive_count=phy_timer_count_get();
        poll_timeout=tag_num_tosend*50000+50000;//多一个多0.4ms默认0.4ms计算为0.125*4*100000
        end_receive_count=start_receive_count+poll_timeout;
        if(end_receive_count>=124800000)
    {end_receive_count-=124800000;}
    current_count=phy_timer_count_get();
    uwb_rx(1, resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);//开启接受并设置接收超时
        while(current_count<end_receive_count||current_count>end_receive_count+62400000)//循环接受包体,若为124.8K则是+62400000
        {
        current_count=phy_timer_count_get();//不断刷新当前计数器值
        if(receive_flag==1)//成功接收数据
        {
            receive_flag=0;
            //获取发射端时钟偏差
            test2=phy_freq_offset_get();
            //接收成功则判断是否为同一组
            if (rx_buf[MESSAGE_TYPE_IDX] == MBX_RESPONSE&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2)&&rx_buf[GROUP_ID_IDX]==group_id) //判断接收到的数据是否是response数据
                            {	
                                                                memcpy(&rec_nearbaseid,&rx_buf[ANCHOR_ID_IDX],2);
                                                                if(last_nearbase_num==0)
                                                                {
                                                                    nearbaseid_list[0]=rec_nearbaseid;
                                                                    nearbase_num=1;
                                                                    exsistbase_list[0]=KEEP_TIMES;
                                  SetANCTimestap(0,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2);//这个是改过的参数
                                                                }
    uwb_poll_buffer_construct();
    temp_tag_num=0;//临时数量为0
    poll_tx_en_start_u32 = phy_timer_count_get();
    uwb_tx(uwb_sendbuffer,sizeof(uwb_sendbuffer),0,0);//立即发送
    poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_start_time_gap());//修正时间戳
    while(mac_is_busy());//等待发送完成

    resp_rx_en_start_u32 = poll_tx_en_start_u32 + US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);//设置发送多少s后接收按target独立时间起点算+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US为发送后要多久开启接收时间
    start_receive_count=phy_timer_count_get();
    poll_timeout=tag_num_tosend*50000+50000;//多一个多0.4ms默认0.4ms计算为0.125*4*100000
    end_receive_count=start_receive_count+poll_timeout;
    if(end_receive_count>=124800000)
    {
        end_receive_count-=124800000;
    }
    current_count=phy_timer_count_get();
    uwb_rx(1, resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);//开启接受并设置接收超时
    while(current_count<end_receive_count||current_count>end_receive_count+62400000)//循环接受包体,若为124.8K则是+62400000
    {
        current_count=phy_timer_count_get();//不断刷新当前计数器值
        if(receive_flag==1)//成功接收数据
        {
            receive_flag=0;
            //获取发射端时钟偏差
            test2=phy_freq_offset_get();
            //接收成功则判断是否为同一组
            if (rx_buf[MESSAGE_TYPE_IDX] == MBX_RESPONSE&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2)&&rx_buf[GROUP_ID_IDX]==group_id) //判断接收到的数据是否是response数据
            {
                memcpy(&rec_nearbaseid,&rx_buf[ANCHOR_ID_IDX],2);
                if(last_nearbase_num==0)
                {
                    nearbaseid_list[0]=rec_nearbaseid;
                    nearbase_num=1;
                    exsistbase_list[0]=KEEP_TIMES;
                    SetANCTimestap(0,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2);//这个是改过的参数
                }
//                                                                if(rec_nearbaseid==nearbaseid_list[0])
//                                                                    {
//                                     exsistbase_list[0]=KEEP_TIMES;
//                                   SetANCTimestap(0,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2);//这个是改过的参数
//                                                                    }
                                                                else
                                {
                                    rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                                    SetANCTimestap(rec_nearbasepos,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2);
                                    if(rec_nearbasepos>=last_nearbase_num)          //发现新的基站
                                    {
                                        //get_newbase=1;
                                        nearbase_num++;
                                        nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
                                    }
                                    exsistbase_list[rec_nearbasepos]=KEEP_TIMES;//更新存活时间
              }
                             memset(rx_buf, 0, sizeof(rx_buf));//清空接收到的用完的数组
                                rx_length=0;//清0长度
                                uwb_rx(0, 0, 0);//立即开启接受并设置0超时
        }else if(receive_flag==2){//接收出错
        receive_flag=0;
        uwb_rx(0, 0, 0);//立即开启接受并设置0超时
        }
        }
        //关闭UWBapi
         uwb_close();
         CalculateDists(poll_tx_ts_i64); //计算距离
         AnchorListUpdate();//更新存活基站列表
         Rank_ANchor_list_by_dis();//冒泡排序重新按距离重新排列基站列表最小距离存货基站放到最前面
        }
                else
                {
                    rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                    SetANCTimestap(rec_nearbasepos,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2);
                    if(rec_nearbasepos>=last_nearbase_num)          //发现新的基站
                    {
                        //get_newbase=1;
                        nearbase_num++;
                        nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
                    }
                    exsistbase_list[rec_nearbasepos]=KEEP_TIMES;//更新存活时间
                }
                memset(rx_buf, 0, sizeof(rx_buf));//清空接收到的用完的数组
                rx_length=0;//清0长度
                uwb_rx(0, 0, 0);//立即开启接受并设置0超时
            } else if(receive_flag==2) { //接收出错
                receive_flag=0;
                uwb_rx(0, 0, 0);//立即开启接受并设置0超时
            }
        }
        //关闭UWBapi
        uwb_close();
        CalculateDists(poll_tx_ts_i64); //计算距离
        AnchorListUpdate();//更新存活基站列表
        Rank_ANchor_list_by_dis();//冒泡排序重新按距离重新排列基站列表最小距离存货基站放到最前面
    }
}
#endif

 keil/simple_ss_twr_dw_resp.c

@@ -15,7 +15,7 @@
extern int temp_main(void);
extern void IO_LED_control_change(uint8_t data);
extern void IO_control_init(void);
extern void blink_led(uint8_t*state);

extern void updata_led_power_state(void);
/*receive buffer*/
static uint8_t rx_buf[150];
@@ -52,9 +52,9 @@
extern uint8_t recev_error_num;
typedef enum
{        UN_BIND=0,
        LINK_SUCCESS,
        SEARCH_DEV,
}Operation_step;
        LINK_SUCCESS,
        SEARCH_DEV,
} Operation_step;
extern Operation_step Operation_state;
extern int16_t first_search_flag;
/* Ranging period */
@@ -208,14 +208,14 @@
        /* Received data does not contain FCS */
        rx_length = rx_report->pkt_len;
        memcpy(rx_buf, rx_report->pkt_data, rx_length);
                memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
        memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
        /* Calculate rx timestamp */
                temp_count= phy_timer_count_get();
         poll_rx_en_start_u32 = rx_rpt.timestamp - phy_shr_duration();
         poll_rx_ts_i64 = ranging_rx_time_correct(&rx_rpt);
                 poll_rx_num++;
                receive_flag=1;
                recev_error_num=0;
        temp_count= phy_timer_count_get();
        poll_rx_en_start_u32 = rx_rpt.timestamp - phy_shr_duration();
        poll_rx_ts_i64 = ranging_rx_time_correct(&rx_rpt);
        poll_rx_num++;
        receive_flag=1;
        recev_error_num=0;
    }
    else
    {
@@ -226,14 +226,14 @@
        /* UWB_TO_ERR      Receive timeout           */
        /* UWB_STS_ERR     STS error                 */
        memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
              rx_length = 0;
                recev_error_num++;
                if(recev_error_num==20){
                recev_error_num=0;
                first_search_flag=1;//首次进入搜索标志
                Operation_state=SEARCH_DEV;
                }
                receive_flag=2;
        rx_length = 0;
        recev_error_num++;
        if(recev_error_num==20) {
            recev_error_num=0;
            first_search_flag=1;//首次进入搜索标志
            Operation_state=SEARCH_DEV;
        }
        receive_flag=2;
    }
}

@@ -246,10 +246,10 @@
    /** UWB TX success */
    if (tx_report->err_code == UWB_TX_OK)
    {
            temp_count= phy_timer_count_get();
            temp_internal=temp_count;
            resp_tx_num++;
            LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
        temp_count= phy_timer_count_get();
        temp_internal=temp_count;
        resp_tx_num++;
        LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
    }
}
uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
@@ -262,77 +262,77 @@
void PushAnchorDataArray(uint16_t ancid,uint16_t dist,uint8_t battary)
{
    uint8_t i;
    for(i=0;i<anchordata_num;i++)
    for(i=0; i<anchordata_num; i++)
    {
        if(anchordata_id[i] == ancid)//查询标签是否在自己已通讯列表中
        {
            

            break;
        }
    }
    if(i==anchordata_num)
    {
        if(anchordata_num<TAG_NUM_IN_SYS-1)
        anchordata_num++;
            anchordata_num++;
    }
    anchordata_id[i] = ancid;//与之通信的标签id存入当前表中
    anchordata_dist[i] = dist;
    anchordata_bat[i] = battary;  
    anchordata_bat[i] = battary;
}
uint16_t CmpTagInList(uint16_t tagid)
{uint16_t i;
    for(i=0;i<taglist_num;i++)
    {
        if(memcmp(&tagid,&anchordata_id[i],2)==0)
            break;
    }
    if(i==taglist_num)
        return taglist_num;
{   uint16_t i;
    for(i=0; i<taglist_num; i++)
    {
        if(memcmp(&tagid,&anchordata_id[i],2)==0)
            break;
    }
    if(i==taglist_num)
        return taglist_num;
    //tagofflinetime[i] = 0;
    return i;
    return i;
}
static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts)
{
    int i,ts2;
        ts2=(int32_t)ts;
    ts2=(int32_t)ts;
    for (i = 0; i < 4; i++)
    {
    ts_field[i] = (uint8_t)ts2;
    ts2 >>= 8;
        ts_field[i] = (uint8_t)ts2;
        ts2 >>= 8;
    }
}


uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos)//根据自己是否为新基站定制消息去发送，根据是否抢占判断
{
            temp_count2=poll_rx_en_start_u32;
			
            memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//组id
            memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);//自身id
            memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);//接受者id
            send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
			
    temp_count2=poll_rx_en_start_u32;

    memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//组id
    memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);//自身id
    memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);//接受者id
    send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;

    if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式自己为新基站
    {
        random_time = (phy_timer_count_get()%1000);//多基站抢占一个位置时避免一个也收不到的情况就每一个随机错开几十uS
        //resp_tx_time = (poll_rx_ts+((random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
            // (resp_tx_en_start_u32) is the moment when TX enable
       resp_tx_en_start_u32 = random_time+poll_rx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+rec_nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//后面的需要根据已有基站数量进行更改，如果是抢占自己最后一个回复，要有底数
    }else{
              //resp_tx_time = (poll_rx_ts + ((rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
             resp_tx_en_start_u32 = poll_rx_en_start_u32 + US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+(ancrec_nearbasepos+1)*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//后面的需要根据已有基站数量进行更改,自己非抢占
        // (resp_tx_en_start_u32) is the moment when TX enable
        resp_tx_en_start_u32 = random_time+poll_rx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+rec_nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//后面的需要根据已有基站数量进行更改，如果是抢占自己最后一个回复，要有底数
    } else {
        //resp_tx_time = (poll_rx_ts + ((rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
        resp_tx_en_start_u32 = poll_rx_en_start_u32 + US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+(ancrec_nearbasepos+1)*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//后面的需要根据已有基站数量进行更改,自己非抢占
    }//此处设置绝对时间将poll u32改为phy_timer_count_get()
			
        resp_tx_ts_i64 = ranging_tx_time_correct(resp_tx_en_start_u32 + phy_shr_duration());//修正时间戳
            /* Write all timestamps in the final message. See NOTE 8 below. */
     resp_msg_set_ts(&send_buffer[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts_i64);
         resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts_i64);//此处时间戳int64直接转换为uint64不知道会不会有错误
     memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&disoffset,2);//差个修正offset,修正有符号但是这个com表为无符号的,传过去直接赋给Int16_t相当于还原了
        temp_resp_i64=resp_tx_ts_i64;
        temp_count3= phy_timer_count_get();
        temp_flag=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
        temp_count1=phy_timer_count_get();
        while(mac_is_busy());

    resp_tx_ts_i64 = ranging_tx_time_correct(resp_tx_en_start_u32 + phy_shr_duration());//修正时间戳
    /* Write all timestamps in the final message. See NOTE 8 below. */
    resp_msg_set_ts(&send_buffer[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts_i64);
    resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts_i64);//此处时间戳int64直接转换为uint64不知道会不会有错误
    memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&disoffset,2);//差个修正offset,修正有符号但是这个com表为无符号的,传过去直接赋给Int16_t相当于还原了
    temp_resp_i64=resp_tx_ts_i64;
    temp_count3= phy_timer_count_get();
    temp_flag=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
    temp_count1=phy_timer_count_get();
    while(mac_is_busy());
}
int simple_main(void)
{
@@ -348,7 +348,7 @@
        .thres_fap_detect = 40,
        .nth_scale_factor = 4,
        .ranging_performance_mode = 0,
         .skip_weakest_port_en = 0,
        .skip_weakest_port_en = 0,
    };
    phy_adv_params_configure(&adv_config);

@@ -359,19 +359,19 @@

    // Register rx interrupt callback function
    mac_register_process_handler(tx_int_callback, rx_int_callback);
        //#if LOW_POWER_EN
    //#if LOW_POWER_EN
//    // Initialize low power mode
//    power_init();
//    // Enable sleep timer
//    sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, NULL);
//#endif
            uint8_t i;
            uint16_t tempid;
        temp_count3=phy_timer_count_get();
		
        uwb_rx(0, 0, RX_SYNC_WIN_US);//开启接收
        while(mac_is_busy());
        temp_count2=phy_timer_count_get();
    uint8_t i;
    uint16_t tempid;
    temp_count3=phy_timer_count_get();

    uwb_rx(0, 0, RX_SYNC_WIN_US);//开启接收
    while(mac_is_busy());
    temp_count2=phy_timer_count_get();
//        start_receive_count=phy_timer_count_get();
//    poll_timeout=rec_nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(DELAY_DEFAULT);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
//    end_receive_count=start_receive_count+poll_timeout;
@@ -380,49 +380,49 @@
//    current_count=phy_timer_count_get();
//        while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//循环接受包体,若为124.8K则是+62400000
//        {
        if(receive_flag==1)//成功接收
        {	
            if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//判断是否是和自己是同一组通讯的且为poll包
            {      temp_count2=phy_timer_count_get();
                frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
                battary = rx_buf[BATTARY_IDX];
                rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX];  //标签传过来的他与基站交互的基站id数目              
                                memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
                memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
                memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
                memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
                for(i=0;i<rec_nearbase_num;i++)
    if(receive_flag==1)//成功接收
    {
        if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//判断是否是和自己是同一组通讯的且为poll包
        {   temp_count2=phy_timer_count_get();
            frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
            battary = rx_buf[BATTARY_IDX];
            rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX];  //标签传过来的他与基站交互的基站id数目
            memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
            memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
            memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
            memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
            for(i=0; i<rec_nearbase_num; i++)
            {
                if(rec_ancidlist[i] == dev_id)
                {
                    if(rec_ancidlist[i] == dev_id)
                    {
                        PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);  
                    }
                    PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
                }
                for(i=0;i<rec_nearbase_num;i++)
                {
                     memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
                    if(tempid==dev_id)//也是比id如果有就更新没有就抢占
                    {
                        seize_anchor=0;  //非抢占。已存在列表中
                        Anchor_RecNearPoll(i);	
                        break;
                    }						
                }
			
                    if(i==rec_nearbase_num)
                    {
                        seize_anchor=1;   //抢占anchor
                        Anchor_RecNearPoll(i);	
                    }
				
            }
            }else if (receive_flag==2)//接受失败
        {
            }
            for(i=0; i<rec_nearbase_num; i++)
            {
                memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
                if(tempid==dev_id)//也是比id如果有就更新没有就抢占
                {
                    seize_anchor=0;  //非抢占。已存在列表中
                    Anchor_RecNearPoll(i);
                    break;
                }
            }

            if(i==rec_nearbase_num)
            {
                seize_anchor=1;   //抢占anchor
                Anchor_RecNearPoll(i);
            }

        }
    } else if (receive_flag==2)//接受失败
    {
//        //清除错误标志位重新开启接收进行同步
//        uwb_rx(0, 0, RX_SYNC_WIN_US);//开启接收
//        while(mac_is_busy());
        }
        //receive_flag=0;
    }
    //receive_flag=0;
}


@@ -441,7 +441,7 @@
        .thres_fap_detect = 40,
        .nth_scale_factor = 4,
        .ranging_performance_mode = 0,
         .skip_weakest_port_en = 0,
        .skip_weakest_port_en = 0,
    };
    phy_adv_params_configure(&adv_config);

@@ -452,61 +452,61 @@

    // Register rx interrupt callback function
    mac_register_process_handler(tx_int_callback, rx_int_callback);
        //#if LOW_POWER_EN
    //#if LOW_POWER_EN
//    // Initialize low power mode
//    power_init();
//    // Enable sleep timer
//    sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, NULL);
//#endif
            uint8_t i;
            uint16_t tempid;
        temp_count3=phy_timer_count_get();
        uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收
        while(mac_is_busy());
		
        temp_count2=phy_timer_count_get();
        if(receive_flag==1)//成功接收
        {	
            if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//判断是否是和自己是同一组通讯的且为poll包
            {      temp_count2=phy_timer_count_get();
                frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
                battary = rx_buf[BATTARY_IDX];
                rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX];  //标签传过来的他与基站交互的基站id数目              
                                memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
                memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
                memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
                memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
                for(i=0;i<rec_nearbase_num;i++)
    uint8_t i;
    uint16_t tempid;
    temp_count3=phy_timer_count_get();
    uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收
    while(mac_is_busy());

    temp_count2=phy_timer_count_get();
    if(receive_flag==1)//成功接收
    {
        if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//判断是否是和自己是同一组通讯的且为poll包
        {   temp_count2=phy_timer_count_get();
            frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
            battary = rx_buf[BATTARY_IDX];
            rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX];  //标签传过来的他与基站交互的基站id数目
            memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
            memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
            memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
            memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
            for(i=0; i<rec_nearbase_num; i++)
            {
                if(rec_ancidlist[i] == dev_id)
                {
                    if(rec_ancidlist[i] == dev_id)
                    {
                        PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);  
                    }
                    PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
                }
                for(i=0;i<rec_nearbase_num;i++)
                {
                     memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
                    if(tempid==dev_id)//也是比id如果有就更新没有就抢占
                    {
                        seize_anchor=0;  //非抢占。已存在列表中
                        Anchor_RecNearPoll(i);	
                        break;
                    }						
                }
			
                    if(i==rec_nearbase_num)
                    {
                        seize_anchor=1;   //抢占anchor
                        Anchor_RecNearPoll(i);	
                    }
				
            }
            return 1;//返回发送成功标志
            }else if (receive_flag==2)//接受失败
        {
        return 0;//返回绑定失败标志
        }
        //receive_flag=0;
            }
            for(i=0; i<rec_nearbase_num; i++)
            {
                memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
                if(tempid==dev_id)//也是比id如果有就更新没有就抢占
                {
                    seize_anchor=0;  //非抢占。已存在列表中
                    Anchor_RecNearPoll(i);
                    break;
                }
            }

            if(i==rec_nearbase_num)
            {
                seize_anchor=1;   //抢占anchor
                Anchor_RecNearPoll(i);
            }

        }
        return 1;//返回发送成功标志
    } else if (receive_flag==2)//接受失败
    {
        return 0;//返回绑定失败标志
    }
    //receive_flag=0;
}
//}
#endif

 keil/sn74hc595.c

@@ -3,61 +3,61 @@
void IO_control_init(void)
{
//SDA->SER
io_open_drain_set(SER_PIN, 0);
io_pin_mux_set(SER_PIN,IO_FUNC0);//把原先io SDA变为普通GPIO
gpio_pin_set_dir(SER_PIN , GPIO_DIR_OUT, 0);//复用原先GPIO引脚为SER
io_pull_set(SER_PIN , IO_PULL_DOWN, IO_PULL_UP_LEVEL4);
    io_open_drain_set(SER_PIN, 0);
    io_pin_mux_set(SER_PIN,IO_FUNC0);//把原先io SDA变为普通GPIO
    gpio_pin_set_dir(SER_PIN , GPIO_DIR_OUT, 0);//复用原先GPIO引脚为SER
    io_pull_set(SER_PIN , IO_PULL_DOWN, IO_PULL_UP_LEVEL4);
//SRCLK
io_pin_mux_set(SRCLK_PIN,IO_FUNC0);
gpio_pin_set_dir(SRCLK_PIN , GPIO_DIR_OUT, 0);
io_pull_set(SRCLK_PIN , IO_PULL_DOWN, IO_PULL_UP_LEVEL4);	
    io_pin_mux_set(SRCLK_PIN,IO_FUNC0);
    gpio_pin_set_dir(SRCLK_PIN , GPIO_DIR_OUT, 0);
    io_pull_set(SRCLK_PIN , IO_PULL_DOWN, IO_PULL_UP_LEVEL4);
//RCLK
io_pin_mux_set(RCLK_PIN,IO_FUNC0);
gpio_pin_set_dir(RCLK_PIN , GPIO_DIR_OUT, 0);
io_pull_set(RCLK_PIN , IO_PULL_DOWN, IO_PULL_UP_LEVEL4);	
    io_pin_mux_set(RCLK_PIN,IO_FUNC0);
    gpio_pin_set_dir(RCLK_PIN , GPIO_DIR_OUT, 0);
    io_pull_set(RCLK_PIN , IO_PULL_DOWN, IO_PULL_UP_LEVEL4);
}

void IO_LED_control_change(uint8_t data)
{
for(int i=0;i<8;i++){
    uint8_t temp=data&1;
    if(temp)//写入低位数据
        SER_1;
    else
        SER_0;
    SRCLK_1;//将数据放入移位寄存器
    SRCLK_0;
    data>>=1;
}
RCLK_1;//将数据存入存储器并输出
RCLK_0;
    for(int i=0; i<8; i++) {
        uint8_t temp=data&1;
        if(temp)//写入低位数据
            SER_1;
        else
            SER_0;
        SRCLK_1;//将数据放入移位寄存器
        SRCLK_0;
        data>>=1;
    }
    RCLK_1;//将数据存入存储器并输出
    RCLK_0;
}
//高电平开启power，低电平关闭power
void gps_air780_power_change(uint8_t gps_state,uint8_t air_state)
{
gps_power_state=gps_state;
air780_power_state=air_state;
updata_led_power_state();//更新控制引脚
    gps_power_state=gps_state;
    air780_power_state=air_state;
    update_led_power_state();//更新控制引脚
}
void updata_led_power_state(void)
void update_led_power_state(void)
{
uint8_t control_state=air780_power_state<<7|gps_power_state<<6|motor_power_state<<5|uwb_state<<4|gps_success_state<<3|air780_success_state<<2|chaging_state<<1|changed_state;
IO_LED_control_change(control_state);
    uint8_t control_state=air780_power_state<<7|gps_power_state<<6|motor_power_state<<5|uwb_state<<4|gps_success_state<<3|air780_success_state<<2|chaging_state<<1|changed_state;
    IO_LED_control_change(control_state);
}
void blink_led(uint8_t*state)
{*state=~*state;
updata_led_power_state();
delay_us(100);
*state=~*state;
updata_led_power_state();
{   *state=~*state;
    update_led_power_state();
    delay_us(100);
    *state=~*state;
    update_led_power_state();
}
void uwb_led_on(void)
{
        uwb_state=1;//uwb亮起
        updata_led_power_state();
    uwb_state=1;//uwb亮起
    update_led_power_state();
}
void uwb_led_off(void)
{
        uwb_state=0;//uwb灭
        updata_led_power_state();
    uwb_state=0;//uwb灭
    update_led_power_state();
}

 keil/sn74hc595.h

@@ -9,8 +9,8 @@
void gps_air780_power_change(uint8_t gps_state,uint8_t air_state);
void IO_LED_control_change(uint8_t data);
void IO_control_init(void);
void updata_led_power_state(void);
void blink_led(uint8_t*state);
void update_led_power_state(void);

void uwb_led_off(void);
void uwb_led_on(void);
extern uint8_t gps_power_state,motor_power_state,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state;

 keil/uwb_simple_example.uvguix.zhyin

@@ -15,17 +15,17 @@
    <View>
      <WinId>38003</WinId>
      <ViewName>Registers</ViewName>
      <TableColWidths>140 100</TableColWidths>
      <TableColWidths>184 184</TableColWidths>
    </View>
    <View>
      <WinId>346</WinId>
      <ViewName>Code Coverage</ViewName>
      <TableColWidths>1010 656</TableColWidths>
      <TableColWidths>1010 164</TableColWidths>
    </View>
    <View>
      <WinId>204</WinId>
      <ViewName>Performance Analyzer</ViewName>
      <TableColWidths>1170 175 175 146</TableColWidths>
      <TableColWidths>1170 175 175 100</TableColWidths>
    </View>
  </SECTreeCtrl>

@@ -46,7 +46,7 @@
      <WinId>1936</WinId>
      <ViewName>Watch 1</ViewName>
      <UserString></UserString>
      <TableColWidths>200 133 133</TableColWidths>
      <TableColWidths>200 184 133</TableColWidths>
    </View>
    <View>
      <WinId>1937</WinId>
@@ -70,7 +70,7 @@
      <WinId>466</WinId>
      <ViewName>Source Browser</ViewName>
      <UserString>500</UserString>
      <TableColWidths>300</TableColWidths>
      <TableColWidths>166</TableColWidths>
    </View>
  </TreeListPane>

@@ -93,8 +93,8 @@
      <flags>2</flags>
      <showCmd>3</showCmd>
      <MinPosition>
        <xPos>-1</xPos>
        <yPos>-1</yPos>
        <xPos>-32000</xPos>
        <yPos>-32000</yPos>
      </MinPosition>
      <MaxPosition>
        <xPos>-1</xPos>
@@ -110,8 +110,8 @@
    <MDIClientArea>
      <RegID>0</RegID>
      <MDITabState>
        <Len>1325</Len>
        <Data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ata>
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        <Name>.\include\drivers\serial_at_cmd_app.c</Name>
        <ColumnNumber>14</ColumnNumber>
        <TopLine>43</TopLine>
        <CurrentLine>44</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>include\components\internet\inc\Internet.h</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>1</TopLine>
        <CurrentLine>1</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>include\components\internet\inc\AIR780EDriver.h</Name>
        <ColumnNumber>16</ColumnNumber>
        <TopLine>2</TopLine>
        <CurrentLine>15</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>.\sn74hc595.h</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>1</TopLine>
        <CurrentLine>16</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>include\components\hido\Include\HIDO_Timer.h</Name>
        <ColumnNumber>46</ColumnNumber>
        <TopLine>1</TopLine>
        <CurrentLine>18</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>include\components\hal\UART.h</Name>
        <ColumnNumber>14</ColumnNumber>
        <TopLine>15</TopLine>
        <CurrentLine>44</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\pin_config.c</Name>
        <ColumnNumber>39</ColumnNumber>
        <TopLine>38</TopLine>
        <CurrentLine>53</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>.\include\components\internet\src\Module.c</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>316</TopLine>
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      </Doc>
      <Doc>
        <Name>include\board\board.h</Name>
        <ColumnNumber>17</ColumnNumber>
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        <CurrentLine>44</CurrentLine>
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        <Name>include\drivers\mk_trace.h</Name>
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        <Name>include\drivers\mk_common.h</Name>
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        <TopLine>1</TopLine>
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    </MDIGroup>
  </MDIGroups>


 keil/uwb_simple_example.uvoptx

@@ -120,7 +120,7 @@
        <SetRegEntry>
          <Number>0</Number>
          <Key>DLGUARM</Key>
          <Name>d</Name>
          <Name></Name>
        </SetRegEntry>
        <SetRegEntry>
          <Number>0</Number>
@@ -445,12 +445,57 @@
          <WinNumber>1</WinNumber>
          <ItemText>lisid</ItemText>
        </Ww>
        <Ww>
          <count>59</count>
          <WinNumber>1</WinNumber>
          <ItemText>nomove_count</ItemText>
        </Ww>
        <Ww>
          <count>60</count>
          <WinNumber>1</WinNumber>
          <ItemText>AIR780EDriver_FSMDebug</ItemText>
        </Ww>
        <Ww>
          <count>61</count>
          <WinNumber>1</WinNumber>
          <ItemText>u32Baud,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>62</count>
          <WinNumber>1</WinNumber>
          <ItemText>uart_cfg</ItemText>
        </Ww>
        <Ww>
          <count>63</count>
          <WinNumber>1</WinNumber>
          <ItemText>l_astUartInfo</ItemText>
        </Ww>
        <Ww>
          <count>64</count>
          <WinNumber>1</WinNumber>
          <ItemText>_eUartID</ItemText>
        </Ww>
        <Ww>
          <count>65</count>
          <WinNumber>1</WinNumber>
          <ItemText>nomove_count</ItemText>
        </Ww>
        <Ww>
          <count>66</count>
          <WinNumber>1</WinNumber>
          <ItemText>l_astUartInfo[eUartID].m_u8RxValue</ItemText>
        </Ww>
        <Ww>
          <count>67</count>
          <WinNumber>1</WinNumber>
          <ItemText>l_astUartInfo</ItemText>
        </Ww>
      </WatchWindow1>
      <MemoryWindow1>
        <Mm>
          <WinNumber>1</WinNumber>
          <SubType>10</SubType>
          <ItemText>0x0402E000</ItemText>
          <ItemText>dev</ItemText>
          <AccSizeX>0</AccSizeX>
        </Mm>
      </MemoryWindow1>
@@ -460,7 +505,7 @@
      <DebugFlag>
        <trace>0</trace>
        <periodic>1</periodic>
        <aLwin>1</aLwin>
        <aLwin>0</aLwin>
        <aCover>0</aCover>
        <aSer1>0</aSer1>
        <aSer2>0</aSer2>
@@ -945,7 +990,7 @@

  <Group>
    <GroupName>Main</GroupName>
    <tvExp>1</tvExp>
    <tvExp>0</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
@@ -1161,7 +1206,7 @@

  <Group>
    <GroupName>Simple</GroupName>
    <tvExp>0</tvExp>
    <tvExp>1</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
@@ -1285,7 +1330,7 @@

  <Group>
    <GroupName>HidoLib</GroupName>
    <tvExp>1</tvExp>
    <tvExp>0</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>

 keil/uwb_simple_example.uvprojx

@@ -313,7 +313,7 @@
          </ArmAdsMisc>
          <Cads>
            <interw>1</interw>
            <Optim>3</Optim>
            <Optim>1</Optim>
            <oTime>0</oTime>
            <SplitLS>0</SplitLS>
            <OneElfS>1</OneElfS>
@@ -339,7 +339,7 @@
              <MiscControls>-Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter</MiscControls>
              <Define>UWB_EN,STD_LIBC</Define>
              <Undefine></Undefine>
              <IncludePath>..;.\include\board;.\include\CMSIS\Include;.\include\components\algo\inc;.\include\components\crc;.\include\components\libc;.\include\components\wsf\include;.\include\components\wsf\include\platform;.\include\devices\MK800X\Include;.\include\drivers;.\include\components\hido\Include;.\include\components\internet\inc;.\include\components\hal</IncludePath>
              <IncludePath>..;.\include\board;.\include\CMSIS\Include;.\include\components\algo\inc;.\include\components\crc;.\include\components\libc;.\include\components\wsf\include;.\include\components\wsf\include\platform;.\include\devices\MK800X\Include;.\include\drivers;.\include\components\hido\Include;.\include\components\internet\inc;.\include\components\hal;..\keil</IncludePath>
            </VariousControls>
          </Cads>
          <Aads>

 pin_config.c

@@ -49,25 +49,25 @@
    io_pin_mux_set(IO_PIN_6, IO_FUNC4);

//    // UART1 RX/TX已修改复用引脚为ADC留出空间调试串口
//    io_pin_mux_set(IO_PIN_10, IO_FUNC4);
//    io_pin_mux_set(IO_PIN_9, IO_FUNC4);
    io_pin_mux_set(IO_PIN_10, IO_FUNC4);
    io_pin_mux_set(IO_PIN_9, IO_FUNC4);
    
        // UART1 RX/TX GPS端口
        io_pin_mux_set(IO_PIN_14, IO_FUNC4);
    io_pin_mux_set(IO_PIN_13, IO_FUNC4);
//        io_pin_mux_set(IO_PIN_14, IO_FUNC4);
//    io_pin_mux_set(IO_PIN_13, IO_FUNC4);
    // Single ADC, If IO0 is set to negative input, the positive input is Vref, and vice versa
    io_pin_mux_set(IO_PIN_0, IO_FUNC1);
    io_pull_set(IO_PIN_0, IO_HIGH_Z, IO_PULL_UP_NONE);
}
void uart1_change_from_gps_to_debug(void)
{
io_pin_mux_set(IO_PIN_14, IO_FUNC0);//把原先uart变为普通GPIO
io_pin_mux_set(IO_PIN_13, IO_FUNC0);	
uart_close(UART_ID1);//解绑原来串口1
// UART1 RX/TX已修改复用引脚为ADC留出空间调试串口
io_pin_mux_set(IO_PIN_10,IO_FUNC4);
io_pin_mux_set(IO_PIN_9,IO_FUNC4);
uart_open(UART_ID1, &test_uart_cfg);
    io_pin_mux_set(IO_PIN_14, IO_FUNC0);//把原先uart变为普通GPIO
    io_pin_mux_set(IO_PIN_13, IO_FUNC0);	
    uart_close(UART_ID1);//解绑原来串口1
    // UART1 RX/TX已修改复用引脚为ADC留出空间调试串口
    io_pin_mux_set(IO_PIN_10,IO_FUNC4);
    io_pin_mux_set(IO_PIN_9,IO_FUNC4);
    uart_open(UART_ID1, &test_uart_cfg);

}
void uart1_change_from_debug_to_gps(void)

 user_config.h

@@ -57,7 +57,7 @@
/* =========================================================================================================================== */

/** Enable trace output */
#define TRACE_EN (0)
#define TRACE_EN (1)

/** Enable exception reboot */
#ifndef TRACE_REBOOT_EN