shoes_project/touch_floor_by_imu/ble_cfg/slave.c

#include "ble_comm.h"

#include "ble_advertising.h"
#include "ble_conn_params.h"
#include "nrf_ble_qwr.h"

#include "nrf_fstorage.h"
#include "nrf_soc.h"
#include "ble_nus.h"
// <<< Use Configuration Wizard in Context Menu >>>\r\n

#define APP_ADV_INTERVAL 320                                 /**< The advertising interval (in units of 0.625 ms). This value corresponds to 187.5 ms. */
#define APP_ADV_DURATION 18000                               /**< The advertising duration (180 seconds) in units of 10 milliseconds. */
#define FIRST_CONN_PARAMS_UPDATE_DELAY APP_TIMER_TICKS(1000) /**< Time from initiating event (connect or start of notification) to first time sd_ble_gap_conn_param_update is called (5 seconds). */
#define NEXT_CONN_PARAMS_UPDATE_DELAY APP_TIMER_TICKS(5000)  /**< Time between each call to sd_ble_gap_conn_param_update after the first call (30 seconds). */
#define MAX_CONN_PARAMS_UPDATE_COUNT 1
static char DEVICE_NAME[TARFET_LEN_MAX] = "SH";
#if USE_LADDR == 1
char BleReallyName[TARFET_LEN_MAX] = {0};
#endif
#define MIN_CONN_INTERVAL MSEC_TO_UNITS(7.5, UNIT_1_25_MS)         /**< Minimum acceptable connection interval (20 ms), Connection interval uses 1.25 ms units. */
#define MAX_CONN_INTERVAL MSEC_TO_UNITS(1.25 * 1599, UNIT_1_25_MS) /**< Maximum acceptable connection interval (75 ms), Connection interval uses 1.25 ms units. */
#define SLAVE_LATENCY 0                                            /**< Slave latency. */
#define CONN_SUP_TIMEOUT MSEC_TO_UNITS(4000, UNIT_10_MS)
#define NUS_SERVICE_UUID_TYPE BLE_UUID_TYPE_VENDOR_BEGIN
static ble_uuid_t m_adv_uuids[] =
    {
        {BLE_UUID_NUS_SERVICE, NUS_SERVICE_UUID_TYPE}};
static unsigned char connect_to_client = 0;
static Ble_receive_handler_t Rec_h = NULL;
BLE_NUS_DEF(m_nus, NRF_SDH_BLE_TOTAL_LINK_COUNT);
BLE_ADVERTISING_DEF(m_advertising);
NRF_BLE_QWRS_DEF(m_qwr, NRF_SDH_BLE_TOTAL_LINK_COUNT);
uint16_t m_conn_handle = BLE_CONN_HANDLE_INVALID;

ble_gap_conn_params_t slave_conn_params = {0};

static void nrf_qwr_error_handler(uint32_t nrf_error) //队列写错误操作
{
    APP_ERROR_HANDLER(nrf_error);
}
//从 BLE 接受数据
static void nus_data_handler(ble_nus_evt_t *p_evt)
{
    if (p_evt->type == BLE_NUS_EVT_RX_DATA)
    {
        Rec_h((unsigned char *)(p_evt->params.rx_data.p_data), p_evt->params.rx_data.length);
    }
}
static void services_init(void) //服务初始化
{
    uint32_t err_code;
    ble_nus_init_t nus_init;
    nrf_ble_qwr_init_t qwr_init = {0};

    // Initialize Queued Write Module.
    qwr_init.error_handler = nrf_qwr_error_handler;

    for (uint32_t i = 0; i < NRF_SDH_BLE_TOTAL_LINK_COUNT; i++)
    {
        err_code = nrf_ble_qwr_init(&m_qwr[i], &qwr_init);
        APP_ERROR_CHECK(err_code);
    }

    // Initialize NUS.
    memset(&nus_init, 0, sizeof(nus_init));

    nus_init.data_handler = nus_data_handler;

    err_code = ble_nus_init(&m_nus, &nus_init);
    APP_ERROR_CHECK(err_code);
}
static void on_adv_evt(ble_adv_evt_t ble_adv_evt) //广播事件
{
    switch (ble_adv_evt)
    {
    case BLE_ADV_EVT_FAST:
    {
        BLE_PRINT("Fast advertising.\r\n");
    }
    break;

    case BLE_ADV_EVT_IDLE:
    {
        BLE_PRINT("on_adv_evt->BLE_ADV_EVT_IDLE\r\n");
        ret_code_t err_code = ble_advertising_start(&m_advertising, BLE_ADV_MODE_FAST); //开始广播
        APP_ERROR_CHECK(err_code);
    }
    break;

    default:
        // No implementation needed.
        break;
    }
}
static void advertising_init(void)
{
    uint32_t err_code;
    ble_advertising_init_t init;
    int8_t txpower = 4;

    memset(&init, 0, sizeof(init));

    init.advdata.name_type = BLE_ADVDATA_FULL_NAME;
    init.advdata.include_appearance = false;
    init.advdata.flags = BLE_GAP_ADV_FLAGS_LE_ONLY_LIMITED_DISC_MODE;
    init.advdata.p_tx_power_level = &txpower;

    init.srdata.uuids_complete.uuid_cnt = sizeof(m_adv_uuids) / sizeof(m_adv_uuids[0]);
    init.srdata.uuids_complete.p_uuids = m_adv_uuids;

    init.config.ble_adv_fast_enabled = true;
    init.config.ble_adv_fast_interval = APP_ADV_INTERVAL;
    init.config.ble_adv_fast_timeout = APP_ADV_DURATION;
    init.evt_handler = on_adv_evt;

    err_code = ble_advertising_init(&m_advertising, &init);
    APP_ERROR_CHECK(err_code);

    ble_advertising_conn_cfg_tag_set(&m_advertising, APP_BLE_CONN_CFG_TAG);
}
static void conn_params_error_handler(uint32_t nrf_error)
{
    APP_ERROR_HANDLER(nrf_error);
}
static void conn_params_init(void)
{
    ret_code_t err_code;
    ble_conn_params_init_t cp_init;

    memset(&cp_init, 0, sizeof(cp_init));

    cp_init.p_conn_params = NULL;
    cp_init.first_conn_params_update_delay = FIRST_CONN_PARAMS_UPDATE_DELAY;
    cp_init.next_conn_params_update_delay = NEXT_CONN_PARAMS_UPDATE_DELAY;
    cp_init.max_conn_params_update_count = MAX_CONN_PARAMS_UPDATE_COUNT;
    cp_init.start_on_notify_cccd_handle = BLE_CONN_HANDLE_INVALID; // Start upon connection.
    cp_init.disconnect_on_fail = true;
    cp_init.evt_handler = NULL; // Ignore events.
    cp_init.error_handler = conn_params_error_handler;

    err_code = ble_conn_params_init(&cp_init);
    APP_ERROR_CHECK(err_code);
}
void advertising_start(void)
{
//    ret_code_t err_code;
//    err_code = ble_advertising_start(&m_advertising, BLE_ADV_MODE_FAST); //同时开始广播
//    APP_ERROR_CHECK(err_code);
	    ble_advertising_start(&m_advertising, BLE_ADV_MODE_FAST); //同时开始广播
}
void advertising_stop(void)
{
//    ret_code_t err_code;
//    err_code = sd_ble_gap_adv_stop(m_advertising.adv_handle); //停止广播
//    APP_ERROR_CHECK(err_code);
	    sd_ble_gap_adv_stop(m_advertising.adv_handle);//停止广播
}
bool ble_evt_is_advertising_timeout(ble_evt_t const *p_ble_evt)
{
    return (p_ble_evt->header.evt_id == BLE_GAP_EVT_ADV_SET_TERMINATED);
}
static void multi_qwr_conn_handle_assign(uint16_t conn_handle)
{
    for (uint32_t i = 0; i < NRF_SDH_BLE_TOTAL_LINK_COUNT; i++)
    {
        if (m_qwr[i].conn_handle == BLE_CONN_HANDLE_INVALID)
        {
            ret_code_t err_code = nrf_ble_qwr_conn_handle_assign(&m_qwr[i], conn_handle);
            APP_ERROR_CHECK(err_code);
            break;
        }
    }
}

#define slave_connected_evt_num_max 16
static uint8_t slave_connected_evt_num = 0;
static Ble_evt_cb ble_Slave_evt_cb[slave_connected_evt_num_max] = {0};
int Ble_Slave_Connectd_Evt_Regist(Ble_evt_cb cb)
{
    for (int i = 0; i < slave_connected_evt_num_max; i++)
    {
        if (ble_Slave_evt_cb[i] == cb)
            return -1;
        if (ble_Slave_evt_cb[i] == 0)
        {
            slave_connected_evt_num++;
            ble_Slave_evt_cb[i] = cb; //回调函数
            return 0;
        }
    }
    SEGGER_RTT_printf(0, "ble_evt_Regist -> too many!\n");
    return -2;
}

void ble_slave_connected_evt_pcs(void)
{
    for (int i = 0; i < slave_connected_evt_num; i++)
    { //SEGGER_RTT_printf(0,"time_cb[%d]=%d\n",i,time_cb[i]);
        if (ble_Slave_evt_cb[i])
        {
            ble_Slave_evt_cb[i](); //回调函数
        }
    }
}

#define slave_disconn_evt_num_max 16
static uint8_t slave_disconn_evt_num = 0;
static Ble_evt_cb ble_Slave_disconn_evt_cb[slave_disconn_evt_num_max] = {0};
int Ble_Slave_Disconn_Evt_Regist(Ble_evt_cb cb)
{
    for (int i = 0; i < slave_disconn_evt_num_max; i++)
    {
        if (ble_Slave_disconn_evt_cb[i] == cb)
            return -1;
        if (ble_Slave_disconn_evt_cb[i] == 0)
        {
            slave_disconn_evt_num++;
            ble_Slave_disconn_evt_cb[i] = cb; //回调函数
            return 0;
        }
    }
    SEGGER_RTT_printf(0, "Ble_Slave_Disconn_Evt_Regist -> too many!\r\n");
    return -2;
}

void ble_slave_dicconn_evt_pcs(void)
{
    for (int i = 0; i < slave_disconn_evt_num; i++)
    { //SEGGER_RTT_printf(0,"time_cb[%d]=%d\n",i,time_cb[i]);
        if (ble_Slave_disconn_evt_cb[i])
        {
            ble_Slave_disconn_evt_cb[i](); //回调函数
        }
    }
}
unsigned char slave_update_conn_interval_request_sta = 0;
static ble_gap_phys_t const phys =
{
		.rx_phys = BLE_GAP_PHY_1MBPS,
		.tx_phys = BLE_GAP_PHY_1MBPS,
};

static uint8_t _7_5ms_intervalFlag =0;
uint8_t Slave_Get7_5ms_interval(void){
	return _7_5ms_intervalFlag;
}

void on_ble_peripheral_evt(ble_evt_t const *p_ble_evt) //作为从设备的处理
{
    ret_code_t err_code;
    ble_gap_evt_t const *p_gap_evt = &p_ble_evt->evt.gap_evt;
    
    switch (p_ble_evt->header.evt_id)
    {
    case BLE_GAP_EVT_CONNECTED:{
        BLE_PRINT("on_ble_peripheral_evt -> BLE_GAP_EVT_CONNECTED\r\n");
        m_conn_handle = p_ble_evt->evt.gap_evt.conn_handle;
        multi_qwr_conn_handle_assign(p_ble_evt->evt.gap_evt.conn_handle); //QWR句柄分配
        connect_to_client = 1;
			  gpio_mt_run(500);
        ble_slave_connected_evt_pcs();
#if 1		
				BLE_PRINT("PHY update request.");
				err_code = sd_ble_gap_phy_update(p_gap_evt->conn_handle, &phys);
				APP_ERROR_CHECK(err_code);
#endif
		   
        BLE_PRINT("Connection 0x%x Received ble gap evt data length update request.", p_ble_evt->evt.gap_evt.conn_handle);
        ble_gap_data_length_params_t dlp =
				{
						.max_rx_time_us= BLE_GAP_DATA_LENGTH_AUTO,
						.max_tx_time_us= BLE_GAP_DATA_LENGTH_AUTO,
						.max_rx_octets = BLE_GAP_DATA_LENGTH_AUTO,
						.max_tx_octets = BLE_GAP_DATA_LENGTH_AUTO,
				};
        err_code = sd_ble_gap_data_length_update(p_ble_evt->evt.gap_evt.conn_handle, &dlp, NULL);
        APP_ERROR_CHECK(err_code);
				
				
        sd_ble_gap_rssi_start(m_conn_handle, BLE_GAP_RSSI_THRESHOLD_INVALID, 0);
			  }
        break;
    case BLE_GAP_EVT_DISCONNECTED:
        connect_to_client = 0;
        ble_slave_dicconn_evt_pcs();

        sd_ble_gap_rssi_stop(m_conn_handle);
		    _7_5ms_intervalFlag =0;
		    BLE_PRINT("on_ble_peripheral_evt -> BLE_GAP_EVT_DISCONNECTED,reason:%d\r\n",p_gap_evt->params.disconnected.reason);
        break;

    case BLE_GAP_EVT_PHY_UPDATE_REQUEST:
    {
        BLE_PRINT("on_ble_peripheral_evt -> BLE_GAP_EVT_PHY_UPDATE_REQUEST\r\n");
       
        err_code = sd_ble_gap_phy_update(p_ble_evt->evt.gap_evt.conn_handle, &phys);
        APP_ERROR_CHECK(err_code);
    }
    break;

    case BLE_GATTC_EVT_TIMEOUT:
        // Disconnect on GATT Client timeout event.
        BLE_PRINT("on_ble_peripheral_evt -> BLE_GATTC_EVT_TIMEOUT\r\n");
        err_code = sd_ble_gap_disconnect(p_ble_evt->evt.gattc_evt.conn_handle,
                                         BLE_HCI_REMOTE_USER_TERMINATED_CONNECTION);
        APP_ERROR_CHECK(err_code);
        break;

    case BLE_GATTS_EVT_TIMEOUT:
        // Disconnect on GATT Server timeout event.
        BLE_PRINT("on_ble_peripheral_evt -> BLE_GATTS_EVT_TIMEOUT\r\n");
        err_code = sd_ble_gap_disconnect(p_ble_evt->evt.gatts_evt.conn_handle,
                                         BLE_HCI_REMOTE_USER_TERMINATED_CONNECTION);
        APP_ERROR_CHECK(err_code);
        break;

    case BLE_GAP_EVT_CONN_PARAM_UPDATE:
		{
        BLE_PRINT("on_ble_peripheral_evt -> BLE_GAP_EVT_CONN_PARAM_UPDATE\r\n");
        slave_update_conn_interval_request_sta = 0;
        memcpy(&slave_conn_params, &p_gap_evt->params.conn_param_update_request.conn_params, sizeof(ble_gap_conn_params_t));
        BLE_PRINT("min_conn_interval : %d * 1.25 ms\r\n", p_gap_evt->params.conn_param_update_request.conn_params.min_conn_interval);
        BLE_PRINT("max_conn_interval : %d * 1.25 ms\r\n", p_gap_evt->params.conn_param_update_request.conn_params.max_conn_interval);
        BLE_PRINT("slave_latency     : %d\r\n", p_gap_evt->params.conn_param_update_request.conn_params.slave_latency);
        BLE_PRINT("conn_sup_timeout  : %d * 10   ms\r\n", p_gap_evt->params.conn_param_update_request.conn_params.conn_sup_timeout);
			  
			  if(6 == p_gap_evt->params.conn_param_update_request.conn_params.min_conn_interval && 6 == p_gap_evt->params.conn_param_update_request.conn_params.max_conn_interval)
						    _7_5ms_intervalFlag =1;
					else 	_7_5ms_intervalFlag =0;
        }BLE_PRINT("_7_5ms_intervalFlag  : %d\r\n", _7_5ms_intervalFlag);
		break;
				
	case BLE_GAP_EVT_CONN_PARAM_UPDATE_REQUEST:
        {
					BLE_PRINT("on_ble_peripheral_evt -> BLE_GAP_EVT_CONN_PARAM_UPDATE_REQUEST\r\n");
					ble_gap_conn_params_t params;
					params = p_gap_evt->params.conn_param_update_request.conn_params;
					err_code = sd_ble_gap_conn_param_update(p_gap_evt->conn_handle, &params);
					APP_ERROR_CHECK(err_code);

					
					memcpy(&slave_conn_params, &p_gap_evt->params.conn_param_update_request.conn_params, sizeof(ble_gap_conn_params_t));
					BLE_PRINT("min_conn_interval : %d * 1.25 ms\r\n", p_gap_evt->params.conn_param_update_request.conn_params.min_conn_interval);
					BLE_PRINT("max_conn_interval : %d * 1.25 ms\r\n", p_gap_evt->params.conn_param_update_request.conn_params.max_conn_interval);
					BLE_PRINT("slave_latency     : %d\r\n", p_gap_evt->params.conn_param_update_request.conn_params.slave_latency);
					BLE_PRINT("conn_sup_timeout  : %d * 10   ms\r\n", p_gap_evt->params.conn_param_update_request.conn_params.conn_sup_timeout);
          
        } break;

    case BLE_GAP_EVT_RSSI_CHANGED:
        BLE_PRINT("on_ble_peripheral_evt -> BLE_GAP_EVT_RSSI_CHANGED\r\n");
        break;
				
    case BLE_GAP_EVT_DATA_LENGTH_UPDATE_REQUEST:
    {
				BLE_PRINT("on_ble_peripheral_evt -> BLE_GAP_EVT_DATA_LENGTH_UPDATE_REQUEST\r\n");
        ble_gap_data_length_params_t const dlp =
				{
						.max_rx_octets = BLE_GAP_DATA_LENGTH_AUTO,
						.max_tx_octets = BLE_GAP_DATA_LENGTH_AUTO,
				};
        err_code = sd_ble_gap_data_length_update(p_ble_evt->evt.gap_evt.conn_handle, &dlp, NULL);
        APP_ERROR_CHECK(err_code);
    }
    break;

    case BLE_GAP_EVT_DATA_LENGTH_UPDATE:
    {
			  BLE_PRINT("on_ble_peripheral_evt -> BLE_GAP_EVT_DATA_LENGTH_UPDATE\r\n");
        BLE_PRINT("max_rx_octets   : %d \r\n", p_gap_evt->params.data_length_update.effective_params.max_rx_octets);
        BLE_PRINT("max_rx_time_us  : %d \r\n", p_gap_evt->params.data_length_update.effective_params.max_rx_time_us);
        BLE_PRINT("max_tx_octets   : %d \r\n", p_gap_evt->params.data_length_update.effective_params.max_tx_octets);
        BLE_PRINT("max_tx_time_us  : %d \r\n", p_gap_evt->params.data_length_update.effective_params.max_tx_time_us);
    }
    break;		
		
    case BLE_GAP_EVT_ADV_SET_TERMINATED:
        BLE_PRINT("on_ble_peripheral_evt -> BLE_GAP_EVT_ADV_SET_TERMINATED\r\n");
        break;
    case BLE_GATTS_EVT_HVN_TX_COMPLETE:
        //        BLE_PRINT("on_ble_peripheral_evt -> BLE_GATTS_EVT_HVN_TX_COMPLETE\r\n");
        break;
    case BLE_GATTS_EVT_WRITE: //写入操作已经完成
                              //        BLE_PRINT("on_ble_peripheral_evt -> BLE_GATTS_EVT_WRITE\r\n");
        break;
		
    case BLE_GATTC_EVT_EXCHANGE_MTU_RSP:				
//				err_code = sd_ble_gattc_exchange_mtu_request(p_ble_evt->evt.gattc_evt.conn_handle,247);		
//				APP_ERROR_CHECK(err_code);		
        BLE_PRINT("on_ble_peripheral_evt -> BLE_GATTC_EVT_EXCHANGE_MTU_RSP  -> server_rx_mtu = %d\r\n",p_ble_evt->evt.gattc_evt.params.exchange_mtu_rsp.server_rx_mtu);
        break;
		case BLE_GATTS_EVT_EXCHANGE_MTU_REQUEST://主机向从机申请mtu时的事件
	  {
	    sd_ble_gatts_exchange_mtu_reply(m_conn_handle, NRF_SDH_BLE_GATT_MAX_MTU_SIZE);
	    BLE_PRINT("on_ble_peripheral_evt -> BLE_GATTS_EVT_EXCHANGE_MTU_REQUEST -> client_rx_mtu=%d\r\n",p_ble_evt->evt.gatts_evt.params.exchange_mtu_request.client_rx_mtu);
	  }break;
		
    default:
        BLE_PRINT("on_ble_peripheral_evt -> default : 0x%2x\r\n", p_ble_evt->header.evt_id);
        // No implementation needed.
        break;
    }
}
#if USE_LADDR == 1
ble_gap_addr_t m_my_addr;
char set_adv_name = 0;
#endif
static void gap_params_init(void) //GAP初始化
{
    uint32_t err_code;
    ble_gap_conn_params_t gap_conn_params;
    ble_gap_conn_sec_mode_t sec_mode;

    BLE_GAP_CONN_SEC_MODE_SET_OPEN(&sec_mode);
#if USE_LADDR == 1
    err_code = sd_ble_gap_addr_get(&m_my_addr);
    APP_ERROR_CHECK(err_code);
    if (set_adv_name == 0)
    {
        BLE_PRINT("MAC [ %02X %02X %02X %02X %02X %02X ]\r\n", m_my_addr.addr[0], m_my_addr.addr[1], m_my_addr.addr[2], m_my_addr.addr[3], m_my_addr.addr[4], m_my_addr.addr[5]);

        sprintf(BleReallyName, "%s_%02X%02X", DEVICE_NAME, m_my_addr.addr[4], m_my_addr.addr[5]);
                err_code = sd_ble_gap_device_name_set(&sec_mode,
                                          (const uint8_t *)BleReallyName,
                                          strlen(DEVICE_NAME) + 5);         
		}
		else
		{
						err_code = sd_ble_gap_device_name_set(&sec_mode,
																			(const uint8_t *)BleReallyName,
																			strlen(BleReallyName));
		}
		BLE_PRINT(">>>>>>>name:%d,%s",set_adv_name,BleReallyName);	
#else

    err_code = sd_ble_gap_device_name_set(&sec_mode,
                                          (const uint8_t *)DEVICE_NAME,
                                          strlen(DEVICE_NAME));
#endif
    APP_ERROR_CHECK(err_code);

    memset(&gap_conn_params, 0, sizeof(gap_conn_params));

    gap_conn_params.min_conn_interval = MIN_CONN_INTERVAL;
    gap_conn_params.max_conn_interval = MAX_CONN_INTERVAL;
    gap_conn_params.slave_latency = SLAVE_LATENCY;
    gap_conn_params.conn_sup_timeout = CONN_SUP_TIMEOUT;

    err_code = sd_ble_gap_ppcp_set(&gap_conn_params);
    APP_ERROR_CHECK(err_code);
    //		err_code = sd_ble_gap_tx_power_set(BLE_GAP_TX_POWER_ROLE_CONN,m_conn_handle,0);
    //		APP_ERROR_CHECK(err_code);
}
unsigned int send_bytes_client(unsigned char *bytes, uint16_t len)
{
    unsigned short length = len;
    if (connect_to_client)
    {
			  static uint16_t tim =0;
	      static uint16_t number =0;
			  uint32_t flag = ble_nus_data_send(&m_nus, bytes, &length, m_conn_handle);
			  if(NRF_SUCCESS !=flag){
					//BLE_PRINT("send_bytes_client error.reson:%d\n",flag);
					number++;
					if(number > tim){
						BLE_PRINT("lost data max time:%d ms\r\n",tim*10);
						tim =number;
					}
				}
				else number =0;
        return flag;
    }
    else
    {
        BLE_PRINT("send_bytes_client error. connect_to_client=0\r\n");
        return 1;
    }
} //作为从机时发送数据给主机
extern void timer_init(void);
extern void power_management_init(void);
extern void ble_stack_init(void);
extern void gatt_init(void);
extern char ble_stack_init_sta;
extern uint8_t Get_isHost(void);
#if USEMACNAME && USE_LADDR != 1
ble_gap_addr_t mAddr;
#endif
void slave_init(Ble_receive_handler_t receive_handler)
{
    static unsigned char init = 1;
    if (init)
    {
        if (receive_handler == NULL)
        {
            BLE_PRINT("slave_init -> param err \r\n");
            return;
        }
        Rec_h = receive_handler;
        if (ble_stack_init_sta)
        {
            timer_init();            //
            power_management_init(); //
            ble_stack_init();        //
            gatt_init();             //
            ble_stack_init_sta = 0;
        }
#if USEMACNAME && USE_LADDR != 1
        if (!Get_isHost())
        {
            sd_ble_gap_addr_get(&mAddr);
            memset(DEVICE_NAME, 0, TARFET_LEN_MAX);
            sprintf(DEVICE_NAME, "%02X%02X%02X%02X%02X%02X", mAddr.addr[5], mAddr.addr[4], mAddr.addr[3], mAddr.addr[2], mAddr.addr[1], mAddr.addr[0]);
        }
#endif
		
        gap_params_init();

        services_init();
        advertising_init();
        conn_params_init();
        advertising_start();
        init = 0;
#if USE_LADDR
        BLE_PRINT("slave_init -> name [ %s ] \r\n", BleReallyName);
#else
        BLE_PRINT("slave_init -> name [ %s ] \r\n", DEVICE_NAME);
#endif
    }
    else
    {
        BLE_PRINT("slave_init -> err slave has init done \r\n");
    }
}
unsigned char slave_isconnect(void)
{
    return connect_to_client;
}

unsigned int slave_set_adv_name(char *name, int len)
{
#if USE_LADDR == 1
    if (len > TARFET_LEN_MAX)
        return APP_ERR_OVERLENGTH;
    set_adv_name = 1;
    memset(BleReallyName, 0, TARFET_LEN_MAX);
    memcpy(BleReallyName, name, len);
#else
    if (len > TARFET_LEN_MAX)
        return APP_ERR_OVERLENGTH;
    memset(DEVICE_NAME, 0, TARFET_LEN_MAX);
    memcpy(DEVICE_NAME, name, len);
#endif
    return APP_SUCCESS;
}

void slave_disconnect(void)
{
    if (connect_to_client)
        sd_ble_gap_disconnect(m_conn_handle, BLE_HCI_REMOTE_USER_TERMINATED_CONNECTION);
}

unsigned int slave_update_conn_interval_request(float min_conn_interval, float max_conn_interval)
{
    ret_code_t err_code;
    ble_gap_conn_params_t bgcp;
    if (slave_update_conn_interval_request_sta)
        return APP_ERR_BUSY;
    if (connect_to_client)
    {
        slave_update_conn_interval_request_sta = 1;
        if ((max_conn_interval > 1.25 * 1599) || (max_conn_interval < min_conn_interval))
            return APP_ERR_PARAMERR;
        if (min_conn_interval < 7.5f)
            return APP_ERR_PARAMERR;
        bgcp.max_conn_interval = MSEC_TO_UNITS(max_conn_interval, UNIT_1_25_MS);
        bgcp.min_conn_interval = MSEC_TO_UNITS(min_conn_interval, UNIT_1_25_MS);
        bgcp.conn_sup_timeout = MSEC_TO_UNITS(4000, UNIT_10_MS);
        bgcp.slave_latency = 0;
        BLE_PRINT("slave_update_conn_interval_request -> %d  \r\n", bgcp.max_conn_interval);
        err_code = sd_ble_gap_conn_param_update(m_conn_handle, &bgcp);
        APP_ERROR_CHECK(err_code);
        return err_code;
    }
    else
    {
        return APP_ERR_DISCONN;
    }
}
void slave_get_conn_params(ble_gap_conn_params_t *p)
{
    p->conn_sup_timeout = slave_conn_params.conn_sup_timeout;
    p->max_conn_interval = slave_conn_params.max_conn_interval;
    p->min_conn_interval = slave_conn_params.min_conn_interval;
    p->slave_latency = slave_conn_params.slave_latency;
}

void slave_adv_init(void)
{
    gap_params_init();  //添加的GAP初始化
    conn_params_init(); //添加的连接参数初始化
    advertising_init(); //添加广播初始化
}

static signed char rssi = 0;
signed char slave_get_rssi(void)
{
    unsigned char channel;
    if (connect_to_client == 0)
        return 1;
    sd_ble_gap_rssi_get(m_conn_handle, &rssi, &channel);
    //    BLE_PRINT("rssi= %d  channel=%d\r\n", rssi, channel);
    return rssi;
}

#if DEBUGBLE
#define led 13
#define tx 11 //1.1
#define rx 12
//#define LS -1611916254 //开发板
//#define RS -889050188
//#define LS 97376119  //31
//#define RS 627878688  //32
#define LS -1087551583 //1.1
#define RS -957332282  //1.1
#define PS -1372482754 //usb
unsigned char buff[255];
char start = 0;
void host_r(unsigned char *p, int len)
{
    BLE_PRINT("hr : %d,0x%x\r\n", len, p[0]);
    if (p[0] == 0xbb)
    {
        BLE_PRINT("hr -------------: 0xbb\r\n");
        SEGGER_RTT_Write(0, &p[1], len);
    }
    if (p[0] == 0xcc)
    {
        BLE_PRINT("hr -------------: 0xcc\r\n");
    }
}
#define TIMER_TICK 25
#define TCUN 1000
unsigned short cun = 0;
unsigned short ts = 0;
unsigned short rec[5] = {0};
unsigned short recrtc[5] = {0};
unsigned int rtc_cun = 0;
void slave_r(unsigned char *p, int len)
{
    if (p[0] == 0xaa)
    {
        cun++;
        ts = p[1];
        ts = ts << 8;
        ts += p[2];
        if (ts >= 1)
        {
            start = 1;
            rtc_cun = NRF_RTC2->COUNTER;
        }
        if (ts == TCUN)
            start = 0;

        if (start)
        {
            if (NRF_RTC2->COUNTER - rtc_cun < 1 * TIMER_TICK)
                recrtc[0]++;
            if ((NRF_RTC2->COUNTER - rtc_cun >= 1 * TIMER_TICK) && (NRF_RTC2->COUNTER - rtc_cun < 2 * TIMER_TICK))
                recrtc[1]++;
            if ((NRF_RTC2->COUNTER - rtc_cun >= 2 * TIMER_TICK) && (NRF_RTC2->COUNTER - rtc_cun < 3 * TIMER_TICK))
                recrtc[2]++;
            if ((NRF_RTC2->COUNTER - rtc_cun >= 3 * TIMER_TICK) && (NRF_RTC2->COUNTER - rtc_cun < 4 * TIMER_TICK))
                recrtc[3]++;
            if (NRF_RTC2->COUNTER - rtc_cun > 4 * TIMER_TICK)
                recrtc[4]++;
            rtc_cun = NRF_RTC2->COUNTER;
        }

        BLE_PRINT("sr : %d\r\n", ts);
    }
    if (p[0] == 0xbb)
    {
        buff[0] = 0xbb;
        int leng = sprintf(((char *)&buff[1]), "0 :%d,%d\r\n1 :%d,%d\r\n2 :%d,%d\r\n3 :%d,%d\r\n4 :%d,%d\r\n", rec[0], recrtc[0], rec[1], recrtc[1], rec[2], recrtc[2], rec[3], recrtc[3], rec[4], recrtc[4]);
        send_bytes_server(buff, leng);
    }

    if (p[0] == 0xcc)
    {
        BLE_PRINT("sr -------------: 0xcc\r\n");
        memset(rec, 0, 10);
        memset(recrtc, 0, 10);
        send_bytes_server(p, 3);
    }
}

#include "cli.h"
nrf_radio_request_t radio_request_p;
APP_TIMER_DEF(s_Timer);
#define TEST_PERIOD APP_TIMER_TICKS(TIMER_TICK)
unsigned short tims = 0;
unsigned short stp = 0;
void s_TimerCallback(void *arg)
{
    if ((tims > 0) && (tims <= TCUN))
    {
        buff[0] = 0xaa;
        buff[1] = tims >> 8;
        buff[2] = tims;
        send_bytes_client(buff, 100);
        BLE_PRINT("send : %d\r\n", tims);
        tims++;
    }
    if (start)
    {
        if (cun > 4)
            cun = 4;
        rec[cun]++;
        cun = 0;
    }
    //发数据给手机
    if (*NRF_FICR->DEVICEID == LS) //左边鞋
    {
        if (start)
        {
            buff[0] = 0xaa;
            buff[1] = stp >> 8;
            buff[2] = stp;
            send_bytes_client(buff, 100);
        }
        stp++;
    }
    //		nrf_gpio_pin_toggle(rx);
    //nrf_gpio_pin_write(rx, 0);
    //		 BLE_PRINT("error= %d\r\n", sd_radio_request(&radio_request_p));
}
void Radio_State(void)
{
    switch (NRF_RADIO->STATE)
    {
    case RADIO_STATE_STATE_Disabled:
        BLE_PRINT("RADIO_STATE_STATE_Disabled\r\n");
        break;
    case RADIO_STATE_STATE_RxRu:
        BLE_PRINT("RADIO_STATE_STATE_RxRu\r\n");
        break;
    case RADIO_STATE_STATE_RxIdle:
        BLE_PRINT("RADIO_STATE_STATE_RxIdle\r\n");
        break;
    case RADIO_STATE_STATE_Rx:
        BLE_PRINT("RADIO_STATE_STATE_Rx\r\n");
        break;
    case RADIO_STATE_STATE_RxDisable:
        BLE_PRINT("RADIO_STATE_STATE_RxDisable\r\n");
        break;
    case RADIO_STATE_STATE_TxRu:
        BLE_PRINT("RADIO_STATE_STATE_TxRu\r\n");
        break;
    case RADIO_STATE_STATE_TxIdle:
        BLE_PRINT("RADIO_STATE_STATE_TxIdle\r\n");
        break;
    case RADIO_STATE_STATE_Tx:
        BLE_PRINT("RADIO_STATE_STATE_Tx\r\n");
        break;
    case RADIO_STATE_STATE_TxDisable:
        BLE_PRINT("RADIO_STATE_STATE_TxDisable\r\n");
        break;
    }
}
void unoioo(void)
{
    Ble_update_conn_interval(7.5,7.5);
	
}

void unoioo_s(void)
{
    slave_update_conn_interval_request(30, 30);
	scan_start();
}

void unoioo_s_d(void)
{
host_disconnect();
	scan_start();
}

void rtc_config(void)
{
    NRF_RTC2->PRESCALER = 0; //每一毫秒计数器加1,1024us
    NRF_RTC2->TASKS_START = 1;
}
#include "nrf_drv_timer.h"
void radio_evt_conf(void);
const nrf_drv_timer_t TIMER_RADIO = NRF_DRV_TIMER_INSTANCE(2);
void timer_led_event_handler(nrf_timer_event_t event_type, void *p_context)
{
    if (*NRF_FICR->DEVICEID == LS) //左边鞋
    {
        switch (event_type)
        {
        case NRF_TIMER_EVENT_COMPARE0: //320
            sd_radio_request(&radio_request_p);
            NRF_PPI->CHEN &= (~(PPI_CHENCLR_CH0_Enabled << PPI_CHEN_CH0_Pos) | (PPI_CHENCLR_CH1_Enabled << PPI_CHEN_CH1_Pos));
            break;
        case NRF_TIMER_EVENT_COMPARE1: //324
            sd_radio_request(&radio_request_p);
            break;
        case NRF_TIMER_EVENT_COMPARE2: //328
            sd_radio_request(&radio_request_p);
            break;
        case NRF_TIMER_EVENT_COMPARE3: //332
            NRF_PPI->CHEN |= (PPI_CHENCLR_CH0_Enabled << PPI_CHEN_CH0_Pos) | (PPI_CHENCLR_CH1_Enabled << PPI_CHEN_CH1_Pos);
            break;

        default:
            //Do nothing.
            break;
        }
    }
    if (*NRF_FICR->DEVICEID == RS) //右边鞋
    {
        switch (event_type)
        {
        case NRF_TIMER_EVENT_COMPARE0: //320
            nrf_gpio_pin_write(tx, 1);
            break;
        case NRF_TIMER_EVENT_COMPARE1: //324
            nrf_gpio_pin_write(tx, 0);
            break;
        case NRF_TIMER_EVENT_COMPARE2: //328
            break;
        case NRF_TIMER_EVENT_COMPARE3: //332
            break;

        default:
            //Do nothing.
            break;
        }
    }
}
void timer_config(void)
{
    uint32_t time_us = 5000; //Time(in miliseconds) between consecutive compare events.
    uint32_t time_ticks;
    uint32_t err_code = NRF_SUCCESS;
    nrf_drv_timer_config_t timer_cfg = NRF_DRV_TIMER_DEFAULT_CONFIG;
    err_code = nrf_drv_timer_init(&TIMER_RADIO, &timer_cfg, timer_led_event_handler);
    APP_ERROR_CHECK(err_code);
    if (*NRF_FICR->DEVICEID == LS) //左边鞋
    {
        time_ticks = nrf_drv_timer_us_to_ticks(&TIMER_RADIO, time_us);
        nrf_drv_timer_extended_compare(&TIMER_RADIO, NRF_TIMER_CC_CHANNEL0, time_ticks, 0, true);

        time_ticks = nrf_drv_timer_us_to_ticks(&TIMER_RADIO, time_us + 10000);
        nrf_drv_timer_extended_compare(&TIMER_RADIO, NRF_TIMER_CC_CHANNEL1, time_ticks, 0, true);

        time_ticks = nrf_drv_timer_us_to_ticks(&TIMER_RADIO, time_us + 20000);
        nrf_drv_timer_extended_compare(&TIMER_RADIO, NRF_TIMER_CC_CHANNEL2, time_ticks, 0, true);

        time_ticks = nrf_drv_timer_us_to_ticks(&TIMER_RADIO, 29000);
        nrf_drv_timer_extended_compare(&TIMER_RADIO, NRF_TIMER_CC_CHANNEL3, time_ticks, NRF_TIMER_SHORT_COMPARE3_CLEAR_MASK, true);
    }
    if (*NRF_FICR->DEVICEID == RS) //右边鞋
    {
        time_us = 1000;
        time_ticks = nrf_drv_timer_us_to_ticks(&TIMER_RADIO, time_us);
        nrf_drv_timer_extended_compare(&TIMER_RADIO, NRF_TIMER_CC_CHANNEL0, time_ticks, 0, true);

        time_ticks = nrf_drv_timer_us_to_ticks(&TIMER_RADIO, time_us + 9000 + 1);
        nrf_drv_timer_extended_compare(&TIMER_RADIO, NRF_TIMER_CC_CHANNEL1, time_ticks, NRF_TIMER_SHORT_COMPARE1_CLEAR_MASK, true);

        nrf_drv_timer_enable(&TIMER_RADIO);
    }
    //	nrf_drv_timer_enable(&TIMER_RADIO);
}

void ppi_set(void)
{
    NRF_PPI->CH[0].EEP = (unsigned int)(&NRF_TIMER0->EVENTS_COMPARE[0]);
    NRF_PPI->CH[0].TEP = (unsigned int)(&NRF_TIMER2->TASKS_START);

    NRF_PPI->CH[1].EEP = (unsigned int)(&NRF_TIMER2->EVENTS_COMPARE[3]);
    NRF_PPI->CH[1].TEP = (unsigned int)(&NRF_TIMER2->TASKS_SHUTDOWN);

    NRF_PPI->CHEN |= (PPI_CHENCLR_CH0_Enabled << PPI_CHEN_CH0_Pos) |
                     (PPI_CHENCLR_CH1_Enabled << PPI_CHEN_CH1_Pos);
}

extern void USR_Init(void);
extern void USR_Process(void);
extern void TIME_Init(void);
extern char Target_scan[];

unsigned char txbuff[300] = {0x0a, 0x03, 0, 0, 2, 3, 4, 5, 6, 0, 8, 9};
unsigned char rxbuff[300] = {0};
void radio_init_R(void)
{
    NRF_RADIO->POWER = (RADIO_POWER_POWER_Enabled << RADIO_POWER_POWER_Pos);
    /* Start 16 MHz crystal oscillator */
    NRF_CLOCK->EVENTS_HFCLKSTARTED = 0;
    NRF_CLOCK->TASKS_HFCLKSTART = 1;

    /* Wait for the external oscillator to start up */
    while (NRF_CLOCK->EVENTS_HFCLKSTARTED == 0)
    {
        // Do nothing.
    }

    // Radio config
    NRF_RADIO->TXPOWER = (RADIO_TXPOWER_TXPOWER_0dBm << RADIO_TXPOWER_TXPOWER_Pos);
    NRF_RADIO->FREQUENCY = 7UL; // Frequency bin 7, 2407MHz
    NRF_RADIO->MODE = (RADIO_MODE_MODE_Nrf_1Mbit << RADIO_MODE_MODE_Pos);

    NRF_RADIO->PREFIX0 = 0xC3438303;
    NRF_RADIO->PREFIX1 = 0xE3630023;
    NRF_RADIO->BASE0 = 0x80C4A2E6;
    NRF_RADIO->BASE1 = 0x91D5B3F7;

    NRF_RADIO->TXADDRESS = 0x00UL;   // Set device address 0 to use when transmitting
    NRF_RADIO->RXADDRESSES = 0x01UL; // Enable device address 0 to use to select which addresses to receive

    NRF_RADIO->PCNF0 = 0X00030006;
    NRF_RADIO->PCNF1 = 0X01040020;

    NRF_RADIO->CRCCNF = (RADIO_CRCCNF_LEN_Two << RADIO_CRCCNF_LEN_Pos); // Number of checksum bits

    NRF_RADIO->CRCINIT = 0xFFFFUL;  // Initial value
    NRF_RADIO->CRCPOLY = 0x11021UL; // CRC poly: x^16 + x^12^x^5 + 1

    NRF_RADIO->PACKETPTR = (uint32_t)&txbuff[0];
}
#include "nrf_drv_rtc.h"
const nrf_drv_rtc_t rtc = NRF_DRV_RTC_INSTANCE(0); /**< Declaring an instance of nrf_drv_rtc for RTC2. */
unsigned int countevt = 0;
void radio_connect(void)
{
    NRF_RTC0->CC[2] = NRF_RTC0->COUNTER;
    countevt = 1;
    nrf_drv_rtc_cc_set(&rtc, 0, NRF_RTC0->CC[2] + countevt * 0.009 * 32768, true);
    countevt++;
}
void RADIO_IRQHandler(void)
{
    if (NRF_RADIO->EVENTS_READY && (NRF_RADIO->INTENSET & RADIO_INTENSET_READY_Msk))
    {
        NRF_RADIO->EVENTS_READY = 0U;
        BLE_PRINT("a");
    }
    if (NRF_RADIO->EVENTS_ADDRESS && (NRF_RADIO->INTENSET & RADIO_INTENSET_ADDRESS_Msk))
    {
        NRF_RADIO->EVENTS_ADDRESS = 0U;
        BLE_PRINT("b");
    }
    if (NRF_RADIO->EVENTS_PAYLOAD && (NRF_RADIO->INTENSET & RADIO_INTENSET_PAYLOAD_Msk))
    {
        NRF_RADIO->EVENTS_PAYLOAD = 0U;
        BLE_PRINT("c");
    }
    if (NRF_RADIO->EVENTS_END && (NRF_RADIO->INTENSET & RADIO_INTENSET_END_Msk))
    {
        NRF_RADIO->EVENTS_END = 0U;
        //		NRF_LOG_INFO("d");
        if (NRF_RADIO->STATE >= 5UL)
        {
            NRF_RADIO->EVENTS_DISABLED = 0U;
            NRF_RADIO->TASKS_DISABLE = 1U;
            nrf_gpio_pin_write(tx, 0);
            //			BLE_PRINT("Tx  end\r\n");
        }
        else
        {
            //收到数据后先切换为发送模式
            NRF_RTC0->CC[2] = NRF_RTC0->COUNTER;

            NRF_RADIO->PACKETPTR = (unsigned int)txbuff;
            NRF_RADIO->SHORTS = RADIO_SHORTS_READY_START_Msk;

            nrf_gpio_pin_write(tx, 0);

            NRF_RADIO->EVENTS_DISABLED = 0U;
            NRF_RADIO->TASKS_DISABLE = 1U;
            while (NRF_RADIO->EVENTS_DISABLED == 0)
                ;

            NRF_RADIO->TASKS_TXEN = 1;

            nrf_gpio_pin_write(tx, 1);

            nrf_drv_rtc_cc_set(&rtc, 0, NRF_RTC0->CC[2] + 0.010 * 32768, true);
            nrf_drv_rtc_cc_set(&rtc, 1, NRF_RTC0->CC[2] + 0.018 * 32768, true);

            for (int i = 0; i < 50; i++)
            {
                BLE_PRINT("%x", rxbuff[i]);
            }
            BLE_PRINT("Rx\r\n", rxbuff[1]);
        }
    }
    if (NRF_RADIO->EVENTS_DISABLED && (NRF_RADIO->INTENSET & RADIO_INTENSET_DISABLED_Msk))
    {
        NRF_RADIO->EVENTS_DISABLED = 0U;
        BLE_PRINT("e");
    }
    if (NRF_RADIO->EVENTS_DEVMATCH && (NRF_RADIO->INTENSET & RADIO_INTENSET_DEVMATCH_Msk))
    {
        NRF_RADIO->EVENTS_DEVMATCH = 0U;
        BLE_PRINT("f");
    }
    if (NRF_RADIO->EVENTS_DEVMISS && (NRF_RADIO->INTENSET & RADIO_INTENSET_DEVMISS_Msk))
    {
        NRF_RADIO->EVENTS_DEVMISS = 0U;
        BLE_PRINT("g");
    }
    if (NRF_RADIO->EVENTS_RSSIEND && (NRF_RADIO->INTENSET & RADIO_INTENSET_RSSIEND_Msk))
    {
        NRF_RADIO->EVENTS_RSSIEND = 0U;
        BLE_PRINT("h");
    }
    if (NRF_RADIO->EVENTS_BCMATCH && (NRF_RADIO->INTENSET & RADIO_INTENSET_BCMATCH_Msk))
    {
        NRF_RADIO->EVENTS_BCMATCH = 0U;
        BLE_PRINT("i");
    }
    if (NRF_RADIO->EVENTS_CRCOK && (NRF_RADIO->INTENSET & RADIO_INTENSET_CRCOK_Msk))
    {
        NRF_RADIO->EVENTS_CRCOK = 0U;
        BLE_PRINT("k");
    }
    if (NRF_RADIO->EVENTS_CRCERROR && (NRF_RADIO->INTENSET & RADIO_INTENSET_CRCERROR_Msk))
    {
        NRF_RADIO->EVENTS_CRCERROR = 0U;
        BLE_PRINT("l");
    }
    NVIC_ClearPendingIRQ(RADIO_IRQn);
}

void radio_scan_start(void)
{
    NRF_RADIO->SHORTS = 0;
    NRF_RADIO->SHORTS |= RADIO_SHORTS_DISABLED_RXEN_Msk;
    NRF_RADIO->SHORTS |= RADIO_SHORTS_READY_START_Msk;
    NRF_RADIO->SHORTS |= RADIO_SHORTS_END_START_Msk;

    NRF_RADIO->INTENSET |= RADIO_INTENSET_END_Msk;

    NRF_RADIO->TASKS_RXEN = 1;
    NRF_RADIO->EVENTS_READY = 0;
    while (NRF_RADIO->EVENTS_READY == 0)
    {
    }

    NRF_RADIO->TASKS_START = 1;
    NVIC_EnableIRQ(RADIO_IRQn);
    Radio_State();
}

static void rtc_handler(nrf_drv_rtc_int_type_t int_type)
{
    switch (int_type)
    {
    case NRFX_RTC_INT_COMPARE0:
        nrf_gpio_pin_write(tx, 1);
        NRF_RADIO->SHORTS = RADIO_SHORTS_READY_START_Msk;
        NRF_RADIO->PACKETPTR = (unsigned int)rxbuff;
        NRF_RADIO->TASKS_RXEN = 1U;
        break;
    case NRFX_RTC_INT_COMPARE1:
        Radio_State();
        BLE_PRINT("NRFX_RTC_INT_COMPARE1\r\n");
        break;
    case NRFX_RTC_INT_COMPARE2:
        break;
    case NRFX_RTC_INT_COMPARE3:
        break;
    case NRFX_RTC_INT_TICK:
        break;
    case NRFX_RTC_INT_OVERFLOW:
        nrf_drv_rtc_counter_clear(&rtc);
        break;
    }
}

/**********************************************************
 * 函数名字：rtc_config
 * 函数作用：rtc驱动初始化和设置
 * 函数参数：无
 * 函数返回值：无
 ***********************************************************/

void radio_rtc_config(void)
{
    uint32_t err_code;

    NRF_CLOCK->LFCLKSRC = (CLOCK_LFCLKSRC_SRC_RC << CLOCK_LFCLKSRC_SRC_Pos);
    NRF_CLOCK->EVENTS_LFCLKSTARTED = 0;
    NRF_CLOCK->TASKS_LFCLKSTART = 1;

    while (NRF_CLOCK->EVENTS_LFCLKSTARTED == 0)
    {
        // Do nothing.
    }

    //Initialize RTC instance
    nrf_drv_rtc_config_t config = NRF_DRV_RTC_DEFAULT_CONFIG;
    config.prescaler = 0; //4095;????????=32768/(config.prescaler+1)Hz;
    err_code = nrf_drv_rtc_init(&rtc, &config, rtc_handler);
    APP_ERROR_CHECK(err_code);

    //Enable tick event & interrupt
    //    nrf_drv_rtc_tick_enable(&rtc, true);

    //Set compare channel to trigger interrupt after COMPARE_COUNTERTIME seconds
    //    err_code = nrf_drv_rtc_cc_set(&rtc, 0, 8, true);
    //    APP_ERROR_CHECK(err_code);

    //Power on RTC instance
    nrf_drv_rtc_enable(&rtc);
}

int main(void)
{
    unsigned int error = 0;
    unsigned int rtctemp = 0;
    unsigned int start = 0;
    unsigned int radio_dis_cun = 0;
    unsigned int radio_dis_cun_rtc = 0;

    nrf_gpio_cfg_output(led);
    nrf_gpio_pin_write(led, 1);

    nrf_gpio_cfg_output(tx);
    nrf_gpio_pin_write(tx, 0);

    nrf_gpio_cfg_output(8);
    nrf_gpio_pin_write(8, 0);

    nrf_gpio_cfg_output(rx);
    nrf_gpio_pin_write(rx, 0);

    BLE_PRINT("NRF_FICR->DEVICEID : %d\r\n", *NRF_FICR->DEVICEID);

    if (*NRF_FICR->DEVICEID == RS) //右边鞋
    {
#if 1
        slave_init(host_r);
#else
        radio_init_R();
        radio_rtc_config();
        radio_scan_start();
#endif
        BLE_PRINT("you \r\n");
    }

    if (*NRF_FICR->DEVICEID == LS) //左边鞋
    {
#if 0			
			Target_scan[0]=0xe3;  //3132
			Target_scan[1]=0x3f;
			Target_scan[2]=0xd9;
			Target_scan[3]=0x0d;
			Target_scan[4]=0x0e;
			Target_scan[5]=0xc6;
			
			sscanf("A1 A3 9D 04 E9 F4","%hhx %hhx %hhx %hhx %hhx %hhx",&Target_scan[0],&Target_scan[1],&Target_scan[2],&Target_scan[3],&Target_scan[4],&Target_scan[5]);
			
//			Target_scan[0]=0x3C;  //开发板
//			Target_scan[1]=0x83;
//			Target_scan[2]=0xCF;
//			Target_scan[3]=0x49;
//			Target_scan[4]=0x50;
//			Target_scan[5]=0xE1;
//
#endif
        Ble_Host_Connectd_Evt_Regist(unoioo);
        Ble_Slave_Connectd_Evt_Regist(unoioo_s);
			Ble_Slave_Disconn_Evt_Regist(unoioo_s_d);
        //			extern void radio_request_earliest(void);
        //			Ble_Slave_Connectd_Evt_Regist(radio_request_earliest);
        slave_init(host_r);
        host_init(slave_r);
        

        //				timer_config();
        BLE_PRINT("zuo \r\n");
    }

    if (*NRF_FICR->DEVICEID == PS) //手机
    {
#if 0	
        Target_scan[0] = 0x21;
        Target_scan[1] = 0x8a;
        Target_scan[2] = 0x4f;
        Target_scan[3] = 0x61;
        Target_scan[4] = 0xcb;
        Target_scan[5] = 0xe8;
#endif
        host_set_scan_name("SH_13EC", 7);
        BLE_PRINT("shou \r\n");
        host_init(slave_r);
        scan_start();
    }
    rtc_config();
    for (int i = 1; i < 200; i++)
    {
        buff[i] = i + 0x30;
        //			txbuff[i]=i;
    }
    app_timer_create(&s_Timer, APP_TIMER_MODE_REPEATED, s_TimerCallback);
    app_timer_start(s_Timer, TEST_PERIOD, NULL);
    //		ppi_set();

    while (1)
    {
        cli_process(&clirtt);
        if (NRF_SUCCESS == sd_evt_get(&error))
        {
            BLE_PRINT("shou \r\n");
        }
        //				if (*NRF_FICR->DEVICEID == LS) //左边鞋
        {
            if (NRF_RADIO->STATE == RADIO_STATE_STATE_Disabled)
            {
                nrf_gpio_pin_write(tx, 0);
            }
            else
            {
                nrf_gpio_pin_write(tx, 1);
            }
        }
    }
}
void host_init_pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    host_init(slave_r);
}
CLI_CMD_REGISTER(host_init, "clear sereen", host_init_pcs);

void hsb_pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    send_bytes_server(buff, 200);
}
CLI_CMD_REGISTER(hsb, "clear sereen", hsb_pcs);

void send_pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    tims = 1;
}
CLI_CMD_REGISTER(send, "clear sereen", send_pcs);

void scc_pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    buff[0] = 0xcc;
    send_bytes_client(buff, 6);
}
CLI_CMD_REGISTER(scc, "clear sereen", scc_pcs);

void sbb_pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    buff[0] = 0xbb;
    send_bytes_client(buff, 6);
}
CLI_CMD_REGISTER(sbb, "clear sereen", sbb_pcs);

void hcb_pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    send_bytes_client(buff, 200);
}
CLI_CMD_REGISTER(hcb, "clear sereen", hcb_pcs);

void slave_init_pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    slave_init(host_r);
}
CLI_CMD_REGISTER(slave_init, "clear sereen", slave_init_pcs);

void bleupdata_pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    unsigned int error = 0;
    error = Ble_update_conn_interval(10, 10);
    cli_printf(p_cli, "err %d", error);
}
CLI_CMD_REGISTER(bleupdata10, "clear sereen", bleupdata_pcs);

void bleupdata_1000pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    unsigned int error = 0;
    error = Ble_update_conn_interval(1000, 1000);
    cli_printf(p_cli, "err %d", error);
}
CLI_CMD_REGISTER(bleupdata1000, "clear sereen", bleupdata_1000pcs);

void slaveupdata_pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    unsigned int error =
        slave_update_conn_interval_request(40, 40);
    cli_printf(p_cli, "err %d", error);
}
CLI_CMD_REGISTER(slaveupdata, "clear sereen", slaveupdata_pcs);

void conn_pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    if (argc == 1)
    {
        host_set_scan_name(argv[0], strlen(argv[0]));
        host_init(slave_r);
    }
    else
        cli_printf(p_cli, "err ");
}
CLI_CMD_REGISTER(conn, "clear sereen", conn_pcs);

void scan_name_set_pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    if (argc == 1)
    {
        host_set_scan_name(argv[0], strlen(argv[0]));
    }
    else
        cli_printf(p_cli, "err ");
}
CLI_CMD_REGISTER(scan_name_set, "clear sereen", scan_name_set_pcs);

void systemreset_pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    NVIC_SystemReset();
}
CLI_CMD_REGISTER(systemreset, "clear sereen", systemreset_pcs);

void scanstart_pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    scan_start();
}
CLI_CMD_REGISTER(scanstart, "clear sereen", scanstart_pcs);

void slave_dec_pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    slave_disconnect();
}
CLI_CMD_REGISTER(slave_dec, "clear sereen", slave_dec_pcs);

void host_dec_pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    host_disconnect();
}
CLI_CMD_REGISTER(host_dec, "clear sereen", host_dec_pcs);

void getconn_pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    BLE_PRINT("min_conn_interval : %d * 1.25 ms\r\n", slave_conn_params.min_conn_interval);
    BLE_PRINT("max_conn_interval : %d * 1.25 ms\r\n", slave_conn_params.max_conn_interval);
    BLE_PRINT("slave_latency     : %d\r\n", slave_conn_params.slave_latency);
    BLE_PRINT("conn_sup_timeout  : %d * 10   ms\r\n", slave_conn_params.conn_sup_timeout);
    extern ble_gap_conn_params_t host_conn_params;
    BLE_PRINT("min_conn_interval : %d * 1.25 ms\r\n", host_conn_params.min_conn_interval);
    BLE_PRINT("max_conn_interval : %d * 1.25 ms\r\n", host_conn_params.max_conn_interval);
    BLE_PRINT("slave_latency     : %d\r\n", host_conn_params.slave_latency);
    BLE_PRINT("conn_sup_timeout  : %d * 10   ms\r\n", host_conn_params.conn_sup_timeout);

    slave_set_adv_name("123456", 6);
    gap_params_init();
    while (slave_isconnect() == 1)
    {
    }
    BLE_PRINT("123456555");
    advertising_start();
    BLE_PRINT("4554564");
}
CLI_CMD_REGISTER(getconn, "clear sereen", getconn_pcs);

void slave_get_rssi_pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    slave_get_rssi();
}
CLI_CMD_REGISTER(slave_get_rssi, "clear sereen", slave_get_rssi_pcs);
void host_get_rssi_pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    host_get_rssi();
}
CLI_CMD_REGISTER(host_get_rssi, "clear sereen", host_get_rssi_pcs);

int teg = 0;
unsigned int rtccc = 0;
void radio_evt_conf(void)
{
    NRF_RADIO->POWER = (RADIO_POWER_POWER_Enabled << RADIO_POWER_POWER_Pos);
    /* Start 16 MHz crystal oscillator */
    NRF_CLOCK->EVENTS_HFCLKSTARTED = 0;
    NRF_CLOCK->TASKS_HFCLKSTART = 1;
    txbuff[1] = NRF_RTC0->COUNTER;
    txbuff[2] = teg;
    /* Wait for the external oscillator to start up */
    while (NRF_CLOCK->EVENTS_HFCLKSTARTED == 0)
    {
        // Do nothing.
    }

    // Radio config
    NRF_RADIO->TXPOWER = (RADIO_TXPOWER_TXPOWER_0dBm << RADIO_TXPOWER_TXPOWER_Pos);
    NRF_RADIO->FREQUENCY = 7UL; // Frequency bin 7, 2407MHz
    NRF_RADIO->MODE = (RADIO_MODE_MODE_Nrf_1Mbit << RADIO_MODE_MODE_Pos);

    NRF_RADIO->PREFIX0 = 0xC3438303;
    NRF_RADIO->PREFIX1 = 0xE3630023;
    NRF_RADIO->BASE0 = 0x80C4A2E6;
    NRF_RADIO->BASE1 = 0x91D5B3F7;

    NRF_RADIO->TXADDRESS = 0x00UL;   // Set device address 0 to use when transmitting
    NRF_RADIO->RXADDRESSES = 0x01UL; // Enable device address 0 to use to select which addresses to receive

    NRF_RADIO->PCNF0 = 0X00030006;
    NRF_RADIO->PCNF1 = 0X01040020;

    NRF_RADIO->CRCCNF = (RADIO_CRCCNF_LEN_Two << RADIO_CRCCNF_LEN_Pos); // Number of checksum bits

    NRF_RADIO->CRCINIT = 0xFFFFUL;  // Initial value
    NRF_RADIO->CRCPOLY = 0x11021UL; // CRC poly: x^16 + x^12^x^5 + 1

    NRF_RADIO->SHORTS = RADIO_SHORTS_READY_START_Enabled << RADIO_SHORTS_READY_START_Pos //READY后自动开始执行START
                        | RADIO_SHORTS_END_DISABLE_Enabled << RADIO_SHORTS_END_DISABLE_Pos;

    // Set payload pointer
    NRF_RADIO->PACKETPTR = (uint32_t)&txbuff[0];

    NRF_RADIO->EVENTS_DISABLED = 0; //清除标志位
    NRF_RADIO->TASKS_TXEN = 1;      //开始后会内部自己操作
    while (NRF_RADIO->EVENTS_END == 0)
    {
        //等待发送完成
    }
    nrf_gpio_pin_write(rx, 0);
    NRF_RADIO->SHORTS = 0;
    NRF_RADIO->EVENTS_DISABLED = 0U;
    NRF_RADIO->TASKS_DISABLE = 1U;
    while (NRF_RADIO->EVENTS_DISABLED == 0)
    {
        //等待关掉radio
    }

    NRF_RADIO->EVENTS_READY = 0U;
    // Enable radio and wait for ready
    NRF_RADIO->TASKS_RXEN = 1U;

    NRF_RADIO->PACKETPTR = (uint32_t)&rxbuff[0];

    while (NRF_RADIO->EVENTS_READY == 0U)
    {
        // wait
    }
    nrf_gpio_pin_write(rx, 1);
    NRF_RADIO->EVENTS_END = 0U;
    // Start listening and wait for address received event
    NRF_RADIO->TASKS_START = 1U;

    // Wait for end of packet or buttons state changed

    for (int j = 0; j < 5000; j++)
    {
        if (NRF_RADIO->EVENTS_END == 1)
            break;
    }

    if (NRF_RADIO->CRCSTATUS == 1U)
    {
        for (int i = 0; i < 50; i++)
        {
            BLE_PRINT("%x", rxbuff[i]);
        }
        BLE_PRINT("\r\n ");
        memset(rxbuff, 0, 60);
    }
    else
    {
        BLE_PRINT("E\r\n ");
    }
}

nrf_radio_signal_callback_return_param_t call_radio_return_val;
nrf_radio_signal_callback_return_param_t *call_radio(unsigned char sig)
{
    nrf_gpio_pin_write(rx, 1);

    radio_evt_conf();

    nrf_gpio_pin_write(rx, 0);
    call_radio_return_val.callback_action = NRF_RADIO_SIGNAL_CALLBACK_ACTION_REQUEST_AND_END;
    return &call_radio_return_val;
}

void radio_session_open(void)
{
    BLE_PRINT("error= %d\r\n", sd_radio_session_open(call_radio));
}

void radio_session_open_pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    BLE_PRINT("error= %d\r\n", sd_radio_session_open(call_radio));
}
CLI_CMD_REGISTER(radio_s_open, "clear sereen", radio_session_open_pcs);

void radio_session_close_pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    BLE_PRINT("error= %d\r\n", sd_radio_session_close());
}
CLI_CMD_REGISTER(radio_s_close, "clear sereen", radio_session_close_pcs);

void radio_request_earliest(void)
{
    radio_session_open();

    radio_request_p.request_type = NRF_RADIO_REQ_TYPE_EARLIEST;
    radio_request_p.params.earliest.hfclk = NRF_RADIO_HFCLK_CFG_NO_GUARANTEE;
    radio_request_p.params.earliest.length_us = 4000;
    radio_request_p.params.earliest.priority = NRF_RADIO_PRIORITY_NORMAL;
    radio_request_p.params.earliest.timeout_us = 2000;
    BLE_PRINT("radio_request_earliest= %d\r\n", sd_radio_request(&radio_request_p));
    //
    //	radio_request_p.request_type=NRF_RADIO_REQ_TYPE_NORMAL;
    //	radio_request_p.params.normal.hfclk=NRF_RADIO_HFCLK_CFG_XTAL_GUARANTEED;
    //	radio_request_p.params.normal.distance_us=10000;
    //	radio_request_p.params.normal.length_us=5000;
    //	radio_request_p.params.normal.priority=NRF_RADIO_PRIORITY_NORMAL;
}

void radio_request_e_pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    radio_request_p.request_type = NRF_RADIO_REQ_TYPE_EARLIEST;
    radio_request_p.params.earliest.hfclk = NRF_RADIO_HFCLK_CFG_XTAL_GUARANTEED;
    radio_request_p.params.earliest.length_us = 5000;
    radio_request_p.params.earliest.priority = NRF_RADIO_PRIORITY_NORMAL;
    radio_request_p.params.earliest.timeout_us = 2000;
    BLE_PRINT("error= %d", sd_radio_request(&radio_request_p));
}
CLI_CMD_REGISTER(radio_r_e, "clear sereen", radio_request_e_pcs);

void radio_request_n_pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    radio_request_p.request_type = NRF_RADIO_REQ_TYPE_NORMAL;
    BLE_PRINT("error= %d", sd_radio_request(&radio_request_p));
}

CLI_CMD_REGISTER(radio_r_n, "clear sereen", radio_request_n_pcs);

void Radio_State_pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    Radio_State();
}

CLI_CMD_REGISTER(Radio_State, "clear sereen", Radio_State_pcs);

void s100_pcs(cli_t *p_cli, unsigned short argc, char **argv)
{
    send_bytes_client(buff, 150);
}

CLI_CMD_REGISTER(s100, "clear sereen", s100_pcs);

#endif