移植了国产加速度计的计步逻辑，逻辑是30s没有步数进入休眠模式1分钟上传一次

zhangbo

2025-05-23 28f37df5dd32d6630dbcc23dca88f6a3ae063d7f

 keil/include/main/main.c

@@ -24,16 +24,12 @@
#include "PCA9555.h"
#include "WS2812.h"
#include "DBG.h"
typedef enum
{
    RTCMMODE_NONE,
    RTCMMODE_TCP,
    RTCMMODE_NTRIP,
}RTCMMode;

//#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
void boot_deinit(void);
void upload_apppoll();
#define TEST_UART_POLL_MODE 0
#define TEST_UART_INTERUPT_MODE 1
#define TEST_UART_DMA_MODE 2
@@ -45,6 +41,12 @@
#define WARING_LIMIT_TIME 10
#define UPDATE_TIME 10


#define UWB_OPEN_COUNT 1
#define UWB_MEASUREMENT_INTERVAL 5
#define UWB_MEASUREMENT_INTERVAL_SLEEP 30

#define INACTIVE_TIMEOUT 30

extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
@@ -77,8 +79,16 @@
        LINK_SUCCESS,
        SEARCH_DEV,
} Operation_step;

Operation_step UWB_work_state;

uint32_t gpsbaudrate;
uint32_t uwb_time_count = 0;  // 定时器计数值
//uint32_t step_count = 0;      // 步数计数
//uint32_t last_step_count = 0; // 上一次步数

CountState_t current_state = STATE_NORMAL; // 当前状态
uint32_t state_start_time = 0; // 状态开始时间

Commend_SendDate send_struct;
struct ADC_CFG_T usr_adc_cfg = {
@@ -102,7 +112,7 @@
    .flow = UART_FLOW_CONTROL_NONE,
    .rx_level = UART_RXFIFO_CHAR_1,
    .tx_level = UART_TXFIFO_EMPTY,
    .baud = BAUD_115200,
    .baud = BAUD_9600,
#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
    .dma_en = false,
    .int_rx = false,
@@ -121,22 +131,70 @@
{
    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}
uint8_t deep_sleep_falg=1;
extern  uint8_t userkey_state;
extern uint8_t heartbeasend_flag;
uint8_t sleepflag;
uint32_t sleepflagtime;
uint8_t onlyoneflag=1;
void mcu_deep_sleep(void)
{
            uint32_t lock;
    
                uint32_t lock;
            trace_flush();
            lock = int_lock();
                  LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");
//                  LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");
//                  gps_air780_power_change(0,0);//关闭gps，4G 
                PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
            PCA9555_Set_One_Value_Output(GPS_POWER,0);//关闭gps，4G 
            PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭gps，4G 
                     sleep_timer_stop();   
                  //adc_close();
            power_enter_power_down_mode(1);
                  LOG_INFO(TRACE_MODULE_APP, "从休眠出来\r\n");
                  sys_reset(0);
//                  LOG_INFO(TRACE_MODULE_APP, "从休眠出来\r\n");
            sys_reset(0);
            int_unlock(lock);
////            uint32_t lock;
////            trace_flush();
////            lock = int_lock();
//////                  LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");
////                  gps_air780_power_change(0,0);//关闭gps，4G 
//             deep_sleep_falg=0;
//            PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
//            PCA9555_Set_One_Value_Output(GPS_POWER,0);//关闭gps，4G 
////                  PCA9555_Set_One_Value_Config(MAIN_RI,0);//配置4G唤醒引脚为输入
////				    
//////                  PCA9555_Set_One_Value_Output(MAIN_RI,1);
//             boot_deinit();
//            CloseUWB();
//            if(onlyoneflag)
//            {
//            onlyoneflag=0;
//            userkey_state=4;
//            heartbeasend_flag = 1;
//            sleepflag=1;
//            sleepflagtime=HIDO_TimerGetTick();
//            }
//            if(sleepflag)
//            {
//             if(HIDO_TimerGetTick() - sleepflagtime>3)  
//             {
//              PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭gps，4G 
//             }         
//            }
//    
////            PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭gps，4G 
//	          
////                  sleep_timer_stop();	
////                  //adc_close();
////            power_enter_power_down_mode(1);
////             delay_us(200000);

////             sys_reset(0);
//////                  LOG_INFO(TRACE_MODULE_APP, "从休眠出来\r\n");
////            int_unlock(lock);			 
}
uint8_t jiancebat_percent_flag;
static void adc_callback(void *data, uint32_t number)
{
    uint32_t *result = (uint32_t *)data;
@@ -150,7 +208,7 @@
        {
            bat_percent = 0;
        }
        else if(fVoltage_mv > 4100)
        else if(fVoltage_mv > 4200)
        {
            bat_percent = 100;
        }
@@ -159,16 +217,21 @@
            bat_percent = ((fVoltage_mv - 3300) /8);
        }
    }
            if(fVoltage_mv<3300)
            {
               //power_low_flag=1;
               //gps_air780_power_change(gps_power_state,0);//gps原样，关闭4G 
               LOG_INFO(TRACE_MODULE_APP, "电池电压低于3.3V，4G，GPS停止工作\r\n");
            }else{
               //power_low_flag=0;
               //gps_air780_power_change(gps_power_state,1);//gps原样,开启4G
               LOG_INFO(TRACE_MODULE_APP, "电池电压正常,4G，GPS,正常工作\r\n");
            }
      if(bat_percent>100)
         bat_percent=100;
     if(bat_percent<0)
         bat_percent=0;
      jiancebat_percent_flag=1;
//            if(fVoltage_mv<3300)
//            {
//               //power_low_flag=1;
//               //gps_air780_power_change(gps_power_state,0);//gps原样，关闭4G 
////               LOG_INFO(TRACE_MODULE_APP, "电池电压低于3.3V，4G，GPS停止工作\r\n");
//            }else{
//               //power_low_flag=0;
//               //gps_air780_power_change(gps_power_state,1);//gps原样,开启4G
////               LOG_INFO(TRACE_MODULE_APP, "电池电压正常,4G，GPS,正常工作\r\n");
//            }
      PCA9555_Set_One_Value_Output(ADC_MINIUS,1);//拉高
}
extern uint8_t gps_uwb_flag,gps_need_data_flag;
@@ -180,21 +243,51 @@
uint8_t flag_4G_recdata;
uint8_t ledonflag;
uint32_t ledontime;
extern uint8_t flag_first_TCPconnect;
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();
        if(onlyoneflag)
        {
        onlyoneflag=0;
        nomove_count=0;
        userkey_state=4;
        heartbeasend_flag = 1;
        sleepflag=1;
        sleepflagtime=HIDO_TimerGetTick();
        }
   }
    if(sleepflag)
    {
     if(HIDO_TimerGetTick() - sleepflagtime>3)  
     {
      power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)PCA_INPUT_DETECT, POWER_WAKEUP_LEVEL_LOW);
      mcu_deep_sleep();
     }         
    }
}
void powerON_Task(void)
{
if(deep_sleep_falg==0)
{
PCA9555_Set_One_Value_Output(PWR_ENABLE,1);
}
 
}
uint8_t guanjiflag;
uint8_t heartbeasend_flag;
uint32_t guanjiflagtime;
void UserKeyTask(void)
{
if(!read_userkey_input_pca())
     {
        if(HIDO_TimerGetTick() - keystarttime3>2)
         delay_ms(1000);
        if(!read_userkey_input_pca())
        {
            userkey_state = 1;
            keystarttime3 =  HIDO_TimerGetTick();
            flag_first_TCPconnect = 1;
                  //UDPClient_UploadGPS();
        }
//        if(HIDO_TimerGetTick() - keystarttime2>10)
@@ -211,26 +304,25 @@
{
     if(read_powerkey_input_pca())
     {
        if(HIDO_TimerGetTick() - keystarttime>2)
        delay_ms(1000);
        if(read_powerkey_input_pca())
        {
              rtkled=WHITE;
              uwbled=WHITE;
              led4g=WHITE;
              powerled=WHITE;
              Set4LEDColor(uwbled,rtkled,led4g,powerled);
            delay_ms(500);
            keystarttime =  HIDO_TimerGetTick();
            PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
            PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
            PCA9555_Set_One_Value_Output(GPS_POWER,0);//关GPS
            PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭

              delay_ms(500);
//            keystarttime =  HIDO_TimerGetTick();
//            PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
//            PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
//            PCA9555_Set_One_Value_Output(GPS_POWER,0);//关GPS
//            PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
              heartbeasend_flag = 1;
              guanjiflag=1;
              userkey_state = 2;
              guanjiflagtime=HIDO_TimerGetTick();
        }
//        if(HIDO_TimerGetTick() - keystarttime2>10)
//        {
//						
//            g_com_map[CNT_RESTART] = 1;
//        }
     }else
     {
       keystarttime =  HIDO_TimerGetTick(); 
@@ -239,12 +331,13 @@
}
void MinuteTask(void)
{      
      PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
   PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
    delay_ms(100);
    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
}
void SecondTask(void)
{static uint8_t second_count;
    if(second_count++>60)
    if(second_count++>120)
    {
        second_count = 0;
        MinuteTask();
@@ -279,15 +372,26 @@
}
uint8_t tt=1;
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
uint8_t uwb_enable_flag=0;
uint8_t uwb_offtime_count=0;
uint8_t input5v_time;
extern uint8_t taglist_num;
uint8_t gps_ntripsend;
static void sleep_timer_callback(void *dev, uint32_t time)
{
// powerON_Task();
if(secondtask_count++%2==0)
    {   
        input5v_time=1;
        flag_secondtask = 1;
      if(g_com_map[UWBFrequency]>1)
        {uwb_time_count++;}
//        #endif
            uwb_offtime_count++;
           if(uwb_offtime_count>60)
            {
             uwb_offtime_count=0;
             current_state = STATE_SLEEP;
            }
        if(!read_5v_input_pca())
        {
        if(bat_percent>15)
@@ -299,43 +403,85 @@
        ledonflag=1;
//        ledontime=HIDO_TimerGetTick();
        Set4LEDColor(uwbled,rtkled,led4g,powerled); 
//        uart_send(UART_ID1, ceshidata, 50,NULL);
        }
        input5v_time=1;
        if(taglist_num==0)
        if(taglist_num==0&&g_com_map[UWBFrequency]==1&&g_com_map[UWBENBLE]==1)
        {
        CloseUWB();
        Uwb_init();
        OpenUWB();
        }
        if(g_com_map[UWBENBLE]==1)
        {
       upload_apppoll();
        }
    }else{
        flag_secondtask = 0;
    }
    
 if(delaysleep_count>0)
     delaysleep_count--;
}
uint8_t test11,test21,test31,test41,test51;

#ifdef JIBU_XIUMIAN

uint16_t sleep_time=0;
uint32_t state_start_time_jibu=0;
uint8_t exercise_state=0;
uint32_t step_count = 0;      // 步数计数
uint32_t last_step_count = 0; // 上一次步数
void check_step_and_update_state(void)
{
    if ((step_count != last_step_count))
      {
        // 步数有变化，重置状态为正常状态
      last_step_count = step_count;
			
         if(current_state == STATE_SLEEP)
         {
            state_start_time_jibu = uwb_time_count;
            state_start_time=uwb_time_count;
         }
//         if (current_state != STATE_NORMAL) 
//            {
//            // 关闭可能正在运行的UWB
//            if (uwb_is_on) {
//                CloseUWB();
//                UWB_LED_OFF;
//                uwb_is_on = false;
//            }
//            current_state = STATE_NORMAL;
//            state_start_time = uwb_time_count; // 重置测距周期
//        }
         current_state = STATE_NORMAL;
         exercise_state=1;
         last_step_count = step_count;
			
    } 
      else
      {
        // 步数没有变化，检查是否需要切换到休眠状态
        if (current_state == STATE_NORMAL)
               {	
            uint32_t inactive_time = uwb_time_count - state_start_time_jibu;
            if (inactive_time >= INACTIVE_TIMEOUT)
                  { // 30秒后切换到休眠状态
                current_state = STATE_SLEEP;
                       exercise_state=2;
                       state_start_time_jibu=uwb_time_count;
            }
          }
     }
}
#endif
static void pca_handler(enum IO_PIN_T pin)
{
   PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值
   uint16_t gpio_state;
   gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];
    test41++;
   if(WAKE_UP_POSITION&gpio_state)
   {
      nomove_count=0;
        test11++;
   }
//   if(!(MAIN_RI_POSITION&gpio_state))
//   {
//       flag_4G_recdata = 1;
//     delaysleep_count = 3;
//        test21++;
//   }
    if((PWR_ON_POSITION&gpio_state))
   {
        PowerTask();
        test31++;
   }
   check_input_change();
//   uint16_t gpio_state;
//   gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];

}

void _4gUsart_handler(enum IO_PIN_T pin)
@@ -349,10 +495,11 @@
uint8_t gps_need_data_flag,gps_open_flag;
void Program_Init(void)
{
    uint32_t gpsbaudrate1;
    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
    g_com_map[GROUP_ID]=9;
//    g_com_map[GROUP_ID]=9;
    group_id=g_com_map[GROUP_ID];//组ID
    memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
    warning_distance=g_com_map[ALARM_DISTANCE1];
@@ -361,19 +508,67 @@
    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

    g_com_map[IP_0]=111;
    g_com_map[IP_1]=198;
    g_com_map[IP_2]=60;
    g_com_map[IP_3]=6;
    g_com_map[PORT]=6666;
    g_com_map[RTCMMODE_INDEX] = RTCMMODE_NTRIP;
    snprintf((char *)&g_com_map[NTRIP_HOST_INDEX], 32, "140.143.212.42");
    g_com_map[NTRIP_PORT_INDEX] = HIDO_UtilStrToInt("8005");
//    snprintf((char *)&g_com_map[NTRIP_PORT_INDEX], 32, "8005");
    snprintf((char *)&g_com_map[NTRIP_USERNANME_INDEX], 32, "test005");
    snprintf((char *)&g_com_map[NTRIP_PASSWORD_INDEX], 32, "Hxzk0228");
    snprintf((char *)&g_com_map[NTRIP_SOURCENAME_INDEX], 32, "RTCM32_GNSS2");
    g_com_map[MOTOR_ONTIME_INDEX]=10;
   tag_frequency = 1000/g_com_map[COM_INTERVAL];
    gpsbaudrate=(g_com_map[GPSBAUDRATE1_INDEX]<<16)|g_com_map[GPSBAUDRATE2_INDEX];
    if(gpsbaudrate==9600)
    {
        gpsbaudrate = 3;
        gpsbaudrate1=9600;
    }
    else  if(gpsbaudrate==115200)
    {
    gpsbaudrate = 7;
        gpsbaudrate1=115200;
    }
    else  
    {
    gpsbaudrate = 3;
        gpsbaudrate1=9600;
    }     
    if(g_com_map[GPSENBLE]>1)
    {
    g_com_map[GPSENBLE]=1;
    }
    if(g_com_map[UWBENBLE]>1)
    {
    g_com_map[UWBENBLE]=1;
    }
    if(g_com_map[UWBFrequency]>10)
    {
    g_com_map[UWBFrequency]=1;
    }
//    g_com_map[IP_0]=111;
//    g_com_map[IP_1]=198;
//    g_com_map[IP_2]=60;
//    g_com_map[IP_3]=6;
//    g_com_map[PORT]=6666;
    
//    g_com_map[IP_0]=117;
//    g_com_map[IP_1]=72;
//    g_com_map[IP_2]=111;
//    g_com_map[IP_3]=237;
//    g_com_map[PORT]=7000;
//    
//    g_com_map[TCP_IP_0]=111;
//    g_com_map[TCP_IP_1]=198;
//    g_com_map[TCP_IP_2]=60;
//    g_com_map[TCP_IP_3]=6;
//    g_com_map[TCP_PORT]=1234;
    /*
    RTCMMODE_NONE,
    RTCMMODE_TCP,
    RTCMMODE_NTRIP,
    */
//    g_com_map[RTCMMODE_INDEX] = RTCMMODE_NTRIP;
    
    
//    snprintf((char *)&g_com_map[NTRIP_HOST_INDEX], 32, "140.143.212.42");
//    g_com_map[NTRIP_PORT_INDEX] = HIDO_UtilStrToInt("8005");
////    snprintf((char *)&g_com_map[NTRIP_PORT_INDEX], 32, "8005");
//    snprintf((char *)&g_com_map[NTRIP_USERNANME_INDEX], 32, "test005");
//    snprintf((char *)&g_com_map[NTRIP_PASSWORD_INDEX], 32, "Hxzk0228");
//    snprintf((char *)&g_com_map[NTRIP_SOURCENAME_INDEX], 32, "RTCM32_GNSS2");


    if(g_com_map[BIND_DEV_ID]==0)
@@ -383,20 +578,25 @@
        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;
      }
//    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];
    g_com_map[VERSION] = (1<<8)|3;
        
    g_com_map[VERSION] = (1<<8)|22;
          
        
    LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
    LOG_INFO(TRACE_MODULE_APP,"固件版本:4G-GPS定位手环 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
    LOG_INFO(TRACE_MODULE_APP,"固件版本:4G-GPS定位工卡 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
    LOG_INFO(TRACE_MODULE_APP,"服务器地址: %d.%d.%d.%d:%d.\r\n",g_com_map[IP_0],g_com_map[IP_1],g_com_map[IP_2],g_com_map[IP_3],g_com_map[PORT]);
    LOG_INFO(TRACE_MODULE_APP,"设备UWB状态: %x .\r\n",g_com_map[UWBENBLE]);
    LOG_INFO(TRACE_MODULE_APP,"设备GPS状态: %x .\r\n",g_com_map[GPSENBLE]);
    LOG_INFO(TRACE_MODULE_APP,"设备UWB工作间隔: %x .\r\n",g_com_map[UWBFrequency]);
    LOG_INFO(TRACE_MODULE_APP,"设备GPS工作间隔: %x .\r\n",g_com_map[GPSFrequency]);
    LOG_INFO(TRACE_MODULE_APP,"当前GPS工作波特率: %d .\r\n",gpsbaudrate1);
    if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
    {
    LOG_INFO(TRACE_MODULE_APP,"TCP_RTCM模式,服务器地址: %d.%d.%d.%d:%d.\r\n",g_com_map[TCP_IP_0],g_com_map[TCP_IP_1],g_com_map[TCP_IP_2],g_com_map[TCP_IP_3],g_com_map[TCP_PORT]);
@@ -413,13 +613,16 @@
    { 
        LOG_INFO(TRACE_MODULE_APP,"单点定位模式模式. \r\n");
    }
    delay_ms(500);
}
uint32_t adctick = 0;
uint8_t only_one_flag;
uint16_t chongman_time;
uint8_t bat_percent_old=100;
uint8_t input5vflag;
uint8_t kai_4g_flag;
extern uint8_t ota_flag;
uint8_t bat_percent_only_one=1;
extern uint8_t jiancebat_percent_flag;
void IdleTask(void)
{
if(read_5v_input_pca())
@@ -442,9 +645,11 @@
            while(1)
            {
                nomove_count = 0;
                if(HIDO_TimerGetTick()-adctick>6000)  //10分钟采样一次 电量
                wdt_ping(WDT_ID0);//喂狗
//                adctick = HIDO_TimerGetTick();
                if(HIDO_TimerGetTick()-adctick>600)  //10分钟采样一次 电量
                {
                    chongman_time=chongman_time+6;
                    chongman_time=chongman_time+60;
                    adctick = HIDO_TimerGetTick();
                    PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
                    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
@@ -454,7 +659,7 @@
                only_one_flag=1;
                chongman_time=0;
                }
                if(bat_percent>=99&&chongman_time>=1800)
                if(bat_percent>=99&&chongman_time>=180)
                {
                    powerled = GREEN;
                }else{
@@ -462,17 +667,27 @@
                }
                if(DBG_GetMode() == DBG_MODE_SHELL)
                {
                    if(kai_4g_flag==0)
                    {
                    kai_4g_flag=1;    
//                    PCA9555_Set_One_Value_Output(AIR780E_ENBALE,1);
                    Shell_Init();
                    }
                HIDO_InputPoll();
                Internet_Poll();
                HIDO_TimerPoll();
                HIDO_ATLitePoll();
                TCPClient_Poll();
                        if(ota_flag==1)
                        {
//                            OTA_Poll();
//                            HTTPClient_Poll();  
                        }
                        else
                        {
                        uwb_app_poll();
                        }
                        Internet_Poll();
                        HIDO_TimerPoll();
                        HIDO_ATLitePoll();
                        TCPClient_Poll();
                        if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
                        {TCPClient_Poll_1();}
                        if(flag_secondtask)
                        {
                            flag_secondtask = 0;
                            SecondTask();
                        }
                        UserKeyTask();
                }
                UART_CheckReceive();
                if(flag_secondtask)
@@ -480,7 +695,21 @@
                    flag_secondtask = 0;
                    SecondTask();
                }
                if(DBG_GetMode() == DBG_MODE_SHELL)
                {
                Set4LEDColor(uwbled,rtkled,led4g,powerled);
                    if(g_com_map[CNT_RESTART]==1)
                    {
                        g_com_map[CNT_RESTART]=0;
                        save_com_map_to_flash();
                        NVIC_SystemReset();

                    }
                }
                else
                {
                Set4LEDColor(0,0,0,powerled);
                }
                if(input5v_time)
                {
                if(!read_5v_input_pca())
@@ -489,7 +718,8 @@
                }
                }
            }
            NVIC_SystemReset();
//            NVIC_SystemReset();
//                  PCA9555_Set_One_Value_Output(PWR_ENABLE,0);
            input5vflag=1;
      }
        else 
@@ -501,7 +731,13 @@
                state5V_prase_flag=state5v;
                gps_prase_flag=1;//恢复gps解析
                uart1_change_from_debug_to_gps();//测试
                PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
//                PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
            PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
            PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
            PCA9555_Set_One_Value_Output(GPS_POWER,0);//关GPS
            PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
                     delay_us(1000000);
							  
            }
        }
      UART_CheckReceive();
@@ -509,7 +745,7 @@
        {
            g_com_map[CNT_RESTART]=0;
            NVIC_SystemReset();
            
         
        }
        if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
        {
@@ -525,6 +761,30 @@
        powerled=0;
        Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF); 
        }
         if(bat_percent<1&&bat_percent_only_one&&jiancebat_percent_flag)
         {
                userkey_state=3;
                heartbeasend_flag = 1;
                guanjiflag=1;
                guanjiflagtime=HIDO_TimerGetTick();
                bat_percent_only_one=0;
         }
         if(guanjiflag)
         {
              rtkled=WHITE;
              uwbled=WHITE;
              led4g=WHITE;
              powerled=WHITE;
              Set4LEDColor(uwbled,rtkled,led4g,powerled);
             if(HIDO_TimerGetTick() - guanjiflagtime>3)  
             {
                PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
                PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
                PCA9555_Set_One_Value_Output(GPS_POWER,0);//关GPS
                PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
             }         
         
         }
}
void boot_deinit(void)
{
@@ -532,12 +792,109 @@
// UART0 TX/RX
    io_pin_mux_set(IO_PIN_5, IO_FUNC0);
    io_pin_mux_set(IO_PIN_6, IO_FUNC0);
     gpio_pin_set_dir(IO_PIN_5 , GPIO_DIR_OUT, 0);
     gpio_pin_set_dir(IO_PIN_6 , GPIO_DIR_OUT, 0);
    // 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);//解绑原来串口1
    uart_close(UART_ID0);//解绑原来串口0
}

extern uint32_t uwb_time_count;
uint8_t GPS_UPLOAD_FLAG=0;
uint32_t elapsed_time_jibu;
void upload_apppoll()
{	

    if(current_state==STATE_NORMAL)
    {
        if(g_com_map[UWBFrequency]>1)
        {
            elapsed_time_jibu = uwb_time_count - state_start_time;
            if(elapsed_time_jibu==1)
            {
                 CloseUWB();
                 UWBSendUDPTask();
            }
            else if(elapsed_time_jibu==g_com_map[UWBFrequency])
            {
                   taglist_num = 0;
                   CloseUWB();
                   Uwb_init();
                   OpenUWB();						
                   state_start_time = uwb_time_count;	
            }	
        }
        else
        {}
    }
    else if(current_state==STATE_SLEEP)
    {
            elapsed_time_jibu = uwb_time_count - state_start_time;
            switch(elapsed_time_jibu)
            {
            case UWB_OPEN_COUNT:
                CloseUWB();
                UWBSendUDPTask();						
                break;
                
            case UWB_MEASUREMENT_INTERVAL_SLEEP:
                taglist_num = 0;
                CloseUWB();
                Uwb_init();
                OpenUWB();	
                state_start_time = uwb_time_count;							
                break;						
            }
    }
//    switch (current_state) 
//    {
////#ifdef UWB_1_5HZ
//       if(g_com_map[UWBFrequency]>1)
//       {
//        case STATE_NORMAL:
//            elapsed_time_jibu = uwb_time_count - state_start_time;
//            if(elapsed_time_jibu)
//            {
//                 CloseUWB();
//                 UWBSendUDPTask();
//            }
//            else if(elapsed_time_jibu==g_com_map[UWBFrequency])
//            {
//                   taglist_num = 0;
//                   CloseUWB();
//                   Uwb_init();
//                   OpenUWB();						
//                   state_start_time = uwb_time_count;	
//            }				
//       }
//       else
//       {}
////#endif
//        case STATE_SLEEP:
//            elapsed_time_jibu = uwb_time_count - state_start_time;
//            switch(elapsed_time_jibu)
//            {
//            case UWB_OPEN_COUNT:
//                CloseUWB();
//                UWBSendUDPTask();						
//                break;
//                
//            case UWB_MEASUREMENT_INTERVAL_SLEEP:
//                taglist_num = 0;
//                CloseUWB();
//                Uwb_init();
//                OpenUWB();	
//                state_start_time = uwb_time_count;							
//                break;						
//            }
//            break;
//    }	

}

uint8_t flag_4guart_needinit=0;
uint8_t index1,index2,index3;
int16_t Voltage_input;
@@ -545,12 +902,34 @@
int test1,test3;
uint32_t test4;
extern uint8_t receive_flag;
int main(void)
uint16_t gaodu;
static void app_wdt_callback(void *dev, uint32_t status)
{
    ASSERT(status, "WDT TIMEOUT，程序复位");
      //LOG_INFO(TRACE_MODULE_APP, "程序卡死，看门狗复位");
}
 struct WDT_CFG_T app_wdt_cfg = {
        .timeout = 32768 * 30,
        .rst_en = true,
        .int_en = true,
        .callback = app_wdt_callback,
    };
int main(void)
 {
     __enable_irq();
    board_clock_run();
    boot_deinit();
    board_pins_config();
    gpio_open();
   IIC2_Init();
   Accelerometer_Init();
//     delay_ms(100);
    BarInit();
//     delay_ms(100);
//   gaodu=GetPressAndHeight();
    PCA9555_init();	
   board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_115200);
//   while(1);
    // Reset reason
    reset_cause_get();
    reset_cause_clear();
@@ -564,38 +943,41 @@
    }
    else
    {
        board_calibration_params_default();
      board_calibration_params_default();
    }
    calib_chip();
    wdt_close(WDT_ID0);
    Uart_Register(UART_ID_4G, UART_ID0);
//    Uart_Register(UART_ID_DBG, UART_ID1);
    Program_Init();
    Uart_Register(UART_ID_4G, UART_ID0);

    Uart_Register(UART_ID_DBG_GPS, UART_ID1);
    DBG_Init();
    
    Internet_Init();
    TCPClient_Init();
    if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
//    if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
//    {
//       NTRIPClient_Init();
//       NTRIPApp_Init();
//    }
    if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
    {
       NTRIPClient_Init();
       NTRIPApp_Init();
        TCPClient_Init_1();
    }
    gpio_open();
//    HTTPClient_Init();
    wdt_open(WDT_ID0,&app_wdt_cfg);//30s检测喂狗
    LED_output_init();//配置彩色灯引脚
    IIC2_Init();
    Accelerometer_Init();
    PCA9555_init();


    WT588E02B_Init();
    adc_open(&usr_adc_cfg);
    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
    power_init();
    sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
    sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
    PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
    pca_input_detection_init(pca_handler);//pca检测输入
    Uwb_init();
    OpenUWB();    
    DBG_Init();
//    Shell_Init();

    if(g_com_map[UWBFrequency]&&g_com_map[UWBENBLE])
    {
        OpenUWB();
    }
    if(!read_5v_input_pca())
    {
     Set4LEDColor(BLUE,GREEN,WHITE,RED);
@@ -604,26 +986,42 @@
     delay_ms(500);      
     Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);       
    }
//                        state5v=1;
//                state5V_prase_flag=state5v;
//                gps_prase_flag=0;//解除gps解析
//                uart1_change_from_gps_to_debug();//测试
//                PCA9555_Set_One_Value_Output(MCU_A,1);//输出高电平切换为5V输入
    g_com_map[MODBUS_MODE] = 0;
    state5v=0;
    state5V_prase_flag=state5v;
    gps_prase_flag=1;//恢复gps解析
    uart1_change_from_debug_to_gps();//测试
    PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
    if(g_com_map[UWBENBLE]==0)
    {
    CloseUWB();
    }
    sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
    sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
    PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
    pca_input_detection_init(pca_handler);//pca检测输入
    gaodu=GetPressAndHeight()*100;
    while (1)
    { 
      uwb_app_poll();

        uwb_app_poll();
        Internet_Poll();
        HIDO_TimerPoll();
        HIDO_ATLitePoll();
        TCPClient_Poll();
        wdt_ping(WDT_ID0);//喂狗
        if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
        {
            TCPClient_Poll_1();
        }
        if(flag_secondtask)
        {
            flag_secondtask = 0;
            SecondTask();
        }
      PowerTask();
      IMUTask();
      UserKeyTask();
          IMUTask();
        IdleTask();
            check_step_and_update_state();
    }
}