/*
 * Copyright (c) 2019-2023 Beijing Hanwei Innovation Technology Ltd. Co. and
 * its subsidiaries and affiliates (collectly called MKSEMI).
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form, except as embedded into an MKSEMI
 *    integrated circuit in a product or a software update for such product,
 *    must reproduce the above copyright notice, this list of conditions and
 *    the following disclaimer in the documentation and/or other materials
 *    provided with the distribution.
 *
 * 3. Neither the name of MKSEMI nor the names of its contributors may be used
 *    to endorse or promote products derived from this software without
 *    specific prior written permission.
 *
 * 4. This software, with or without modification, must only be used with a
 *    MKSEMI integrated circuit.
 *
 * 5. Any software provided in binary form under this license must not be
 *    reverse engineered, decompiled, modified and/or disassembled.
 *
 * THIS SOFTWARE IS PROVIDED BY MKSEMI "AS IS" AND ANY EXPRESS OR IMPLIED
 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 * MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL MKSEMI OR CONTRIBUTORS BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
 * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#include "mk_trace.h"
#include "mk_wdt.h"
#include "mk_calib.h"
#include "mk_misc.h"
#include "mk_flash.h"
#include "libc_rom.h"
#include <serial_at_cmd_app.h>
#include <global_param.h>
#include "board.h"
#include "wsf_nvm.h"
#include "mk_power.h"
#include "Usart.h"
#include "mk_adc.h"
#include "mk_sleep_timer.h"
#include "lis3dh_driver.h"
#include "sn74hc595.h"
#include "mk_4G.h"
#include "UART.h"
#include "AIR780EDriver.h"
#include "Internet.h"
#include "HIDO_ATLite.h"
#include "HIDO_Timer.h"
#include "TCPClient.h"
#include "PCA9555.h"
#include "WS2812.h"
#include "dw_app_anchor.h"
#include "ymodem.h"
#include "mk_phy.h"
#include "mk_pwm.h"

//#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
void uart_change_check(uint16_t gpio_state);
#define TEST_UART_POLL_MODE 0
#define TEST_UART_INTERUPT_MODE 1
#define TEST_UART_DMA_MODE 2
#define TEST_UART_MODE TEST_UART_DMA_MODE

#define NUM_SAMPLES 1
#define BIND_TRIGGER_TIME 60000
#define MOTOR_COUNT_TIME 1
#define WARING_LIMIT_TIME 10
#define UPDATE_TIME 10


extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
extern int distance;
extern uint8_t anchordata_num;
uint32_t dev_id;
uint8_t group_id;
uint8_t tag_frequency;
uint16_t disoffset;
uint16_t warning_distance,prewarning_distance;
int16_t fVoltage_mv,first_search_flag;
uint8_t bat_percent,g_start_send_flag=1;
uint8_t link_success_flag,motor_count;
uint16_t gps_wait_count,gps_wait_count2;
uint8_t state5v = 1;
uint8_t motor_power_state=1,uwb_state,air780_power_state,gps_success_state,red_charge_state,green_charge_state,air780_success_state,first_motor_in_flag;
uint16_t nomove_count=0;
static uint32_t sample[NUM_SAMPLES] = {0};
uint8_t recev_error_num,send_messgae_count,send_flag,control_state,power_low_flag;
uint8_t flag_4g_usart_rx_state = 1;  //4G ´®¿ÚRXµ±Ç°ÊÇ RX״̬£¬²»ÊÇGPIO״̬
int input_5v_flag,air780e_flag1,air780e_flag2,air780e_flag3,air780e_flag4;
extern uint8_t pca9555writedata_config[10];//ÔÝ´æ¼Ä´æÆ÷ËùÓÐÅäÖõÄÊý×é
extern uint8_t pca9555writedata_output[10];//ÔÝ´æÊä³ö¸ßµÍµçƽÅäÖõÄÊý×é
extern uint8_t pca9555writedata_input[10];//ÔÝ´æÊäÈë¼Ä´æÆ÷ËùÓÐÅäÖõÄÊý×é
extern uint8_t pca9555writedata_polarity[10];//ÔÝ´æÊäÈ뼫ÐÔ·´×ª¼Ä´æÆ÷ËùÓÐÅäÖõÄÊý×é
uint8_t temp_pca9555writedata_input[10];//ÔÝ´æÉÏÒ»´ÎÊäÈë¼Ä´æÆ÷ËùÓÐÅäÖõÄÊý×é
Operation_step UWB_work_state;
struct PWM_CH_CFG_T usr_pwm_ch0_cfg = {
    .prescale = 2,
    .waveform = PWM_SEQUENTIAL,
    .ratio = 50,
    .phase = 0,
    .pol_inv = 0,
    .int_en = 0,
};

Commend_SendDate send_struct;
struct ADC_CFG_T usr_adc_cfg = {
    .mode = ADC_MODE_CONTINUE,    /* Selected single conversion mode  */
    .clk_sel = ADC_CLK_HIGH,      /* Selected 62.4M high speed clock */
    .vref_sel = ADC_SEL_VREF_INT, /* Using internal reference voltage (1.2V)*/
    .rate = 500000,               /* ADC works at high frequency system clock, the maximum sampling rate is 2M */
    .channel_p = ADC_IN_EXTPIN0,  /* ADC positive channel --> GPIO0 */
    .channel_n = ADC_IN_VREF,     /* ADC negative channel --> Vref */
    .int_en = false,
    .dma_en = false, /* DMA support only in continue mode */
    .acc_num = 0,
    .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_9600,
#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
    .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,
#elif (TEST_UART_MODE == TEST_UART_DMA_MODE)
    .dma_en = true,
    .int_rx = false,
    .int_tx = false,
#endif
};
static void pwm_callback(void *dev, uint32_t status)
{
//    uint8_t id = *(uint8_t *)dev;
//    LOG_INFO(TRACE_MODULE_APP, "PWM %x interrupt callback\r\n", id);

//    gpio_pin_toggle(IO_PIN_7);
}
struct PWM_CFG_T usr_pwm_cfg = {
        .general_prescale = 15,
        .int_en = 1,
        .callback = pwm_callback,
    };
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);
}
void mcu_deep_sleep(void)
{
            uint32_t lock;
            trace_flush();
            lock = int_lock();
//						LOG_INFO(TRACE_MODULE_APP, "½øÈëÉî¶ÈÐÝÃß\r\n");
//						gps_air780_power_change(0,0);//¹Ø±Õgps£¬4G 
							sleep_timer_stop();	
						//adc_close();
            power_enter_power_down_mode(1);
						//LOG_INFO(TRACE_MODULE_APP, "½øÈëÉî¶ÈÐÝÃß\r\n");
						sys_reset(0);
            int_unlock(lock);
}
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",
//        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;
        if(fVoltage_mv < 3300)
        {
            bat_percent = 0;
        }
        else if(fVoltage_mv > 4100)
        {
            bat_percent = 100;
        }
        else
        {
            bat_percent = ((fVoltage_mv - 3300) /8);
        }
    }
				if(fVoltage_mv<3300)
				{
					power_low_flag=1;
					gps_air780_power_change(gps_power_state,0);//gpsÔ­Ñù£¬¹Ø±Õ4G 
					//LOG_INFO(TRACE_MODULE_APP, "µç³ØµçѹµÍÓÚ3.3V£¬4G£¬GPSÍ£Ö¹¹¤×÷\r\n");
				}else{
					power_low_flag=0;
					gps_air780_power_change(gps_power_state,1);//gpsÔ­Ñù,¿ªÆô4G
					//LOG_INFO(TRACE_MODULE_APP, "µç³ØµçѹÕý³£,4G£¬GPS,Õý³£¹¤×÷\r\n");
				}
		PCA9555_Set_One_Value_Output(ADC_MINIUS,1);//À­¸ß
  //  LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
}
extern uint8_t gps_uwb_flag,gps_need_data_flag;
uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0,userkey_state;
uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag,flag_fenli_alarm = 0,fenli_alarm_count,delaysleep_count,enbale_blink_flag;
int need_open_gps_count;
uint32_t keystarttime,keystarttime2,keystarttime3;
extern uint32_t get_in_num,get_out_num;
void IMUTask(void)
{
	if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)
	{power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)ACCLERATE_DETECT_Pin, POWER_WAKEUP_LEVEL_HIGH);
		mcu_deep_sleep();
	}
}
void UserKeyTask(void)
{
if(!read_userkey_input_pca())
     {
        if(HIDO_TimerGetTick() - keystarttime3>2)
        {
            userkey_state = 1;
            keystarttime3 =  HIDO_TimerGetTick();
						//UDPClient_UploadGPS();
        }
//        if(HIDO_TimerGetTick() - keystarttime2>10)
//        {
//						
//            g_com_map[CNT_RESTART] = 1;
//        }
     }else
     {
       keystarttime3 =  HIDO_TimerGetTick(); 
     }
} 
void PowerTask(void)
{
     if(read_powerkey_input_pca())
     {
        if(HIDO_TimerGetTick() - keystarttime>2)
        {
            keystarttime =  HIDO_TimerGetTick();
						PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//µÍµçƽ¹Ø±Õ
						PCA9555_Set_One_Value_Output(GPS_LED,0);//Êä³öµÍµçƽ¹Ø±ÕLED
        }
//        if(HIDO_TimerGetTick() - keystarttime2>10)
//        {
//						
//            g_com_map[CNT_RESTART] = 1;
//        }
     }else
     {
       keystarttime =  HIDO_TimerGetTick(); 
       keystarttime2 =  HIDO_TimerGetTick(); 
     }
}
void MinuteTask(void)
{		
//		PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//À­µÍ
    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc²ÉÑù
}
extern uint8_t motor_state;
extern  int8_t motor_keeptime;
void SecondTask(void)
{static uint8_t second_count;
    if(second_count++>60)
    {
        second_count = 0;
        MinuteTask();
    }
		search_in_motor_list();//ÿÃëÅжÏÒ»´Î¸ù¾Ý¾àÀë×î½üµÄÅжϸò»¸ÃÕð¶¯
if(g_com_map[MOTOR_ENABLE])
    {
            if(motor_keeptime-->0)
            {
                motor_state = 2;
            }else{
                motor_state = 0;
            }
        switch(motor_state)
            {case 0:
                pwm_ch_disable(PWM_ID3);
                break;
            case 1:       
                break;
            case 2:
                pwm_ch_enable(PWM_ID3, &usr_pwm_ch0_cfg);
                break;
            case 3:
                break;	
						}
    }
    HIDO_TimerTick();
		if(motor_keeptime<0)
		{
		motor_keeptime=-1;//·ÀÖ¹Òç³ö
		}
		if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//·ÀÖ¹Òç³ö
    nomove_count++;
		else{
		nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
		}
}
//uint8_t tt=1;
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
uint8_t uwb_enable_flag=0;

void PwtagTimeTask(void)
{
    for(uint8_t i=0; i<PWTAG_MAXGROUPNUM; i++)
    {
        if(pwtag.remain_time[i]>0)
        {
            pwtag.remain_time[i]--;
        }
    }
}
void check_input_change(void)
{
	uint16_t gpio_state;
	gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];
	if(WAKE_UP_POSITION&gpio_state)
	{
		nomove_count=0;
	}
	//uart_change_check(gpio_state);
}
uint8_t Get_anchor_appdata_flag;
uint8_t Get_anchor_appdata_num;
extern uint8_t update_tag_time;
uint8_t sleep_limit_time=1;
uint8_t enable_sleep_count,sleep_flag;
static void sleep_timer_callback(void *dev, uint32_t time)
{
 
    flag_secondtask = 1;
    enable_sleep_count++;
    if(enable_sleep_count==sleep_limit_time)
    {
    enable_sleep_count=0;
    sleep_flag=1;
    }
    
    
    g_start_send_flag=1;
//    if(delaysleep_count>0)
//    delaysleep_count--;
    //GPS¹¤×÷Âß¼­
}

static void move_handler(enum IO_PIN_T pin)
{
    nomove_count=0;
    Motion_Detection_callback();
}
static void pca_handler(enum IO_PIN_T pin)
{
	PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//¶ÁÊäÈë¼Ä´æÆ÷µÄÖµ
	check_input_change();
}
uint8_t flag_4G_recdata;
void _4gUsart_handler(enum IO_PIN_T pin)
{
     //LOG_INFO(TRACE_MODULE_APP, "4G RX »½ÐÑ\r\n");
        flag_4G_recdata = 1;
        delaysleep_count = 3;
}
extern uint16_t ip0,ip1,ip2,ip3,port;
extern uint8_t gps_4g_flag;
extern uint8_t gps_need_data_flag,gps_open_flag;
uint8_t uwb_ch;
void Program_Init(void)
{
    Usart1ParseDataCallback = UsartParseDataHandler;//Ðè¸ÄΪĬÈÏΪgps´¦Àí£¬UsartParseDataHandlerΪÉý¼¶´¦Àíµ±µ÷ÊÔʱºò¸ÄΪ
    parameter_init_anchor();//g_com_map±í³õʼ»¯½ÇɫĬÈÏΪ»ùÕ¾
    dev_id=g_com_map[DEV_ID];//ÕâÀﲻ̫¶Ô
    group_id=g_com_map[GROUP_ID];//×éID
//    tag_frequency = 1000/g_com_map[COM_INTERVAL];//²â¾àƵÂÊÕâ¸ö´æµÄÊDzâ¾àʱ¼ä
    memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
//    g_com_map[ALARM_DISTANCE1] = 40;
//    g_com_map[ALARM_DISTANCE2] = 40;
    warning_distance=g_com_map[ALARM_DISTANCE1];
    prewarning_distance=g_com_map[ALARM_DISTANCE2];
    send_struct.warnDistence=warning_distance;
    send_struct.alarmDistence=prewarning_distance;//¸üб¨¾¯¾àÀë
    memcpy(&send_struct.gunLableId,&g_com_map[BIND_DEV_ID],2);//¸üаó¶¨ID
    send_struct.tagId=dev_id;//¸üÐÂÉ豸ID
//    uwb_ch=g_com_map[NEARBASE_ID1];
//    if(g_com_map[BIND_DEV_ID]==0)
//    {
//        UWB_work_state = UN_BIND;
//    }else{
//        UWB_work_state = SEARCH_DEV;
//    }
		//g_com_map[SEND_4G_SECOND]
    if(g_com_map[SEND_4G_SECOND]<30)
		{
		gps_open_flag=0;
		}else{
		gps_open_flag=1;
		}
    g_com_map[MODBUS_MODE] = 0;
		log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
    ip0 = (g_com_map[TCP_IP_0]>>12&0xf)*1000+(g_com_map[TCP_IP_0]>>8&0xf)*100+(g_com_map[TCP_IP_0]>>4&0xf)*10+(g_com_map[TCP_IP_0]&0xf);
    ip1 = (g_com_map[TCP_IP_1]>>12&0xf)*1000+(g_com_map[TCP_IP_1]>>8&0xf)*100+(g_com_map[TCP_IP_1]>>4&0xf)*10+(g_com_map[TCP_IP_1]&0xf);
    ip2 = (g_com_map[TCP_IP_2]>>12&0xf)*1000+(g_com_map[TCP_IP_2]>>8&0xf)*100+(g_com_map[TCP_IP_2]>>4&0xf)*10+(g_com_map[TCP_IP_2]&0xf);
    ip3 = (g_com_map[TCP_IP_3]>>12&0xf)*1000+(g_com_map[TCP_IP_3]>>8&0xf)*100+(g_com_map[TCP_IP_3]>>4&0xf)*10+(g_com_map[TCP_IP_3]&0xf);
    port = g_com_map[TCP_PORT];
    g_com_map[VERSION] = (1<<8)|0;
    LOG_INFO(TRACE_MODULE_APP,"É豸ID: %x .\r\n",dev_id);
    LOG_INFO(TRACE_MODULE_APP,"¹Ì¼þ°æ±¾:·À¶ªÆ÷±êÇ© V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
    LOG_INFO(TRACE_MODULE_APP,"·þÎñÆ÷µØÖ·: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port);
} 

uint8_t test1;
void IdleTask(void)
{
    
        UART0_CheckReceive();
        test1=gpio_pin_get_val(INPUT_5V_Pin);
        if(gpio_pin_get_val(INPUT_5V_Pin))
        {
        if(state5v==0)
        {
        state5v=1;
        sleep_flag=0;
        sleep_limit_time=30;//ÐÂÔö²åÈë´®¿Úºó30s²»ÐÝÃß
        enable_sleep_count=0;//ÖØвå°Î¿ÉÒÔÖØÖÃʱ¼ä
        }	
        }else{
        if(state5v==1)
        {
        state5v=0;
        sleep_limit_time=1;//ÐÂÔö²åÈë´®¿Úºó30s²»ÐÝÃß
        enable_sleep_count=0;//ÖØвå°Î¿ÉÒÔÖØÖÃʱ¼ä
        }

        }
}
int bind_check(void)
{
    if(g_com_map[BIND_DEV_ID]!=0x00)
    {
        return 1;
//°ó¶¨ÐÅϢΪ1˵Ã÷É豸ÒѾ­±»Ï·¢°ó¶¨
    } else {
        return 0;
//°ó¶¨ÐÅϢΪ0˵Ã÷É豸δ±»°ó¶¨
    }
}
//void check_if_in_search(void)
//{
//    if(link_success_flag==1) { //Èç¹ûµÚÒ»´Î²â¾àÊÕ°ü³É¹¦ÄÇôÔò½øÈëÁ¬½Ó²â¾àģʽ
//        UWB_work_state=LINK_SUCCESS;
//    } else { //·ñÔò½øÈëËÑË÷ģʽ
//        UWB_work_state=SEARCH_DEV;
//        if(first_search_flag==0)
//            first_search_flag=1;
//    }
//}
void boot_deinit(void)
{
	//½«bootÖд®¿Ú·µ»ØÆÕͨgpio
// UART0 TX/RX
    io_pin_mux_set(IO_PIN_5, IO_FUNC0);
    io_pin_mux_set(IO_PIN_6, IO_FUNC0);
    // UART1 RX/TX
    io_pin_mux_set(IO_PIN_10, IO_FUNC0);
    io_pin_mux_set(IO_PIN_9, IO_FUNC0);
	 uart_close(UART_ID1);//½â°óÔ­À´´®¿Ú1
	 uart_close(UART_ID0);//½â°óÔ­À´´®¿Ú0
}
uint8_t flag_4guart_needinit=0;
uint8_t index1,index2,index3;
int16_t Voltage_input;
int tt2;
uint32_t test4;
void Chuanshuwenjian_Poll()
{
    if(g_com_map[YAOGEIANC_UPWENJIAN_FLAG]==1)
    {
        calib_chip();
        wdt_close(WDT_ID0);
        Get_anchor_appdata_flag=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,
        .dma_en = true,
        .int_rx = false,
        .int_tx = false,

		};
		 flash_open(FLASH_ID0, NULL);
		 //uart_open(UART_ID1, &test_uart_cfg);
	     uart_open(UART_ID0, &test_uart_cfg);
		 //uart_receive(UART_ID1, trx_buf, 1, uart_receive_callback);
		 Serial0PutString("MK8000-Îļþ´«ÊäÆô¶¯\r\n");
//        Get_anchor_appdata_flag=1;
//        HAL_TIM_Base_Start_IT(&htim4);
        while(1)
        {
            if(SerialDownload()==0)
            {
//                Get_anchor_appdata_flag=0;
                g_com_map[YAOGEIANC_UPWENJIAN_FLAG]=0;
                save_com_map_to_flash();  
                delay_ms(300);              
//                Get_anchor_appdata_flag=0;                
                SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader 
						}
//						else{
//						SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader 
//						}
        }
    }
}
uint16_t final_bag_num;
extern uint8_t Lora_qingqiu_flag;
uint8_t send_lora_data[250];
uint16_t mubiao_anchor_ID;
uint16_t Lora_qingqiu_bao;
uint8_t jindu;
uint8_t shengji_changdu;
uint8_t Dtu_shengji_jindu[20]= {0x55,0xAA,0x34,0x05};
extern uint32_t tempflag;
    uint32_t tx_en_start_u32;
    uint32_t tx_en_start_u321;
uint8_t baifenbi=5;

static void voltage_input_handler()
{

}
extern uint8_t shengji_flag;
int main(void)
{
    board_clock_run();
    boot_deinit();
    board_pins_config();
    board_debug_console_open_baud(TRACE_PORT_UART0,BAUD_115200);
    // Reset reason
    reset_cause_get();
    reset_cause_clear();
    Program_Init();
    uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
    uint32_t external_flash = (REG_READ(0x40010030) >> 28) & 0x3;
    if (internal_flash || external_flash == 1)
    {
        WsfNvmInit();
        board_calibration_params_load();
        flash_close(FLASH_ID0);
    }
    else
    {
        board_calibration_params_default();
    }
    // Chip calibration
    calib_chip();
    // Disable watchdog timer
    wdt_close(WDT_ID0);
    LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
    
    
    pwm_open(&usr_pwm_cfg);
//    pwm_ch_enable(PWM_ID0, &usr_pwm_ch0_cfg);
    gpio_open();
    LED_output_init();//ÅäÖÃadcGNDÒý½Å
    adc_open(&usr_adc_cfg);
		
    IIC2_Init();
    SC7A22H_Motion_Detection_Init();
    gpio_pin_clr(ADC_GND_ENABLE);
    //Program_Init();
    uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
    power_init();
    sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
    
    #ifdef _UWB_1HZ
    sleep_timer_start(__MS_TO_32K_CNT(1000));//²âÊÔ
    #else
    sleep_timer_start(__MS_TO_32K_CNT(5000));//²âÊÔ
    #endif
    board_5V_input_init(voltage_input_handler);
    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc²ÉÑù
    board_acceleration_detection_init(move_handler);
   Tag_uwb_init();
//    Dw1000_App_Init();
    while (1)
    { 
        if(flag_secondtask)
        {
            flag_secondtask = 0;
            SecondTask();
        }
        if(g_start_send_flag)
        {
            g_start_send_flag = 0;
            gpio_pin_set(IO_PIN_7);//ÁÁ	
							TagRange();
            gpio_pin_clr(IO_PIN_7);//Ãð
        }
//				PowerTask();
				//IMUTask();
//				UserKeyTask();
        IdleTask();
        LoraUp_Poll();
#ifndef DEBUG_MODE
        
			if(sleep_flag&&state5v==0&&!motor_state){//¿ªÊ¼Ò»¶Îʱ¼äÎÞÐÝÃß
						trace_flush();
            uint32_t lock = int_lock();
						//LOG_INFO(TRACE_MODULE_APP, "½øÈëµÍ¹¦ºÄ");
						//»½ÐÑÔ´ÉèÖÃMK8000ÐÞ¸Ä
						//board_5V_input_init(voltage_input_handler);
						//sleep_timer_start(g_com_map[COM_INTERVAL]);
            power_enter_power_down_mode(0);
						uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
					//LOG_INFO(TRACE_MODULE_APP, "½øÈëµÍ¹¦ºÄ");
            int_unlock(lock);
			}
#endif
    }
}