V1.1铁鞋专属升级工卡，修改uwb配置参数为64len并且修改回包时间让其能测距升级

chen

2025-06-06 3b7f39134908d81041e9550f75169d671f95d0e5

 keil/include/main/main.c

@@ -62,10 +62,15 @@
#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"

#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
@@ -104,11 +109,6 @@
extern uint8_t pca9555writedata_input[10];//暂存输入寄存器所有配置的数组
extern uint8_t pca9555writedata_polarity[10];//暂存输入极性反转寄存器所有配置的数组
uint8_t temp_pca9555writedata_input[10];//暂存上一次输入寄存器所有配置的数组
typedef enum
{      UN_BIND=0,
        LINK_SUCCESS,
        SEARCH_DEV,
} Operation_step;
Operation_step UWB_work_state;


@@ -134,7 +134,7 @@
    .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,
@@ -193,13 +193,13 @@
            {
               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");
               //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");
               //LOG_INFO(TRACE_MODULE_APP, "电池电压正常,4G，GPS,正常工作\r\n");
            }
      gpio_pin_set(ADC_GND_ENABLE);//在拉高
      PCA9555_Set_One_Value_Output(ADC_MINIUS,1);//拉高
  //  LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
}
//void UartInit(void)
@@ -213,83 +213,83 @@
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;
uint32_t keystarttime,keystarttime2,keystarttime3;
extern uint32_t get_in_num,get_out_num;
void MotorPoll(void)
{
    if(UWB_work_state==UN_BIND) {
        gps_uwb_flag=0;//关闭GPS
        moter_open_uwb_flag=0;//关闭震动
        need_open_gps_count=0;//清0计数gps
    } else { //绑定状态下
        if(anchordata_num==1) {
            if(distance<g_com_map[ALARM_DISTANCE1]) { //小于预警距离
                fenli_alarm_count = 0;
                if(flag_fenli_alarm)
                {
                    flag_fenli_alarm = 0;
                    fenli_alarm_count = 0;
                    _4GAlarmUpload(2);
                }
            } 
            }
            if(distance>g_com_map[ALARM_DISTANCE1]||anchordata_num==0)
                     {
                if(fenli_alarm_count++>20)
                {
                           if(!flag_fenli_alarm)
                           {
                    flag_fenli_alarm = 1;
                    _4GAlarmUpload(1);
                           }
                }
                     }
                 if(distance<g_com_map[ALARM_DISTANCE1]) { //小于预警距离
                if(flag_alam_state)
                {
                    flag_alam_state = 0;
//void MotorPoll(void)
//{
//    if(UWB_work_state==UN_BIND) {
//        gps_uwb_flag=0;//关闭GPS
//        moter_open_uwb_flag=0;//关闭震动
//        need_open_gps_count=0;//清0计数gps
//    } else { //绑定状态下
//        if(anchordata_num==1) {
//            if(distance<g_com_map[ALARM_DISTANCE1]) { //小于预警距离
//                fenli_alarm_count = 0;
//                if(flag_fenli_alarm)
//                {
//                    flag_fenli_alarm = 0;
//                    fenli_alarm_count = 0;
//                    _4GAlarmUpload(2);
//                }
//            } 
//            }
//            if(distance>g_com_map[ALARM_DISTANCE1]||anchordata_num==0)
//                     {
//                if(fenli_alarm_count++>20)
//                {
//                           if(!flag_fenli_alarm)
//                           {
//                    flag_fenli_alarm = 1;
//                    _4GAlarmUpload(1);
//                           }
//                }
//                     }
//                 if(distance<g_com_map[ALARM_DISTANCE1]) { //小于预警距离
//                if(flag_alam_state)
//                {
//                    flag_alam_state = 0;

                }		
							
                need_open_gps_count=0;
                moter_open_uwb_flag=0;//关闭震动
                gps_uwb_flag=0;//关闭GPS
            } else if(g_com_map[ALARM_DISTANCE1]<=distance&&distance<=g_com_map[ALARM_DISTANCE2]) { //大于预警距离小于报警距离
                need_open_gps_count++;
                moter_open_uwb_flag=1;//开启震动
                if(need_open_gps_count>=20) {
                    if(!flag_alam_state)
                    {
                        flag_alam_state = 1;
                    }
                    gps_uwb_flag=1;//开启gps测距流程
                    need_open_gps_count=0;
                }
            } else if(distance>=g_com_map[ALARM_DISTANCE2]) { //大于报警距离
                need_open_gps_count++;
                moter_open_uwb_flag=1;//开启震动
                if(need_open_gps_count>=20) {
                    if(!flag_alam_state)
                    {
                        flag_alam_state = 1;
                    }
                    gps_uwb_flag=1;//开启gps测距流程
                    need_open_gps_count=0;
                }
            
        } 
                  if(anchordata_num==0) {
            if(!flag_alam_state)
            {
                flag_alam_state = 1;
            }
            distance = 0x1ffff;
            gps_uwb_flag=1;//开启gps测距流程
            moter_open_uwb_flag=1;//开启震动
            need_open_gps_count=0;
        }
    }
   }
//                }		
//							
//                need_open_gps_count=0;
//                moter_open_uwb_flag=0;//关闭震动
//                gps_uwb_flag=0;//关闭GPS
//            } else if(g_com_map[ALARM_DISTANCE1]<=distance&&distance<=g_com_map[ALARM_DISTANCE2]) { //大于预警距离小于报警距离
//                need_open_gps_count++;
//                moter_open_uwb_flag=1;//开启震动
//                if(need_open_gps_count>=20) {
//                    if(!flag_alam_state)
//                    {
//                        flag_alam_state = 1;
//                    }
//                    gps_uwb_flag=1;//开启gps测距流程
//                    need_open_gps_count=0;
//                }
//            } else if(distance>=g_com_map[ALARM_DISTANCE2]) { //大于报警距离
//                need_open_gps_count++;
//                moter_open_uwb_flag=1;//开启震动
//                if(need_open_gps_count>=20) {
//                    if(!flag_alam_state)
//                    {
//                        flag_alam_state = 1;
//                    }
//                    gps_uwb_flag=1;//开启gps测距流程
//                    need_open_gps_count=0;
//                }
//            
//        } 
//                  if(anchordata_num==0) {
//            if(!flag_alam_state)
//            {
//                flag_alam_state = 1;
//            }
//            distance = 0x1ffff;
//            gps_uwb_flag=1;//开启gps测距流程
//            moter_open_uwb_flag=1;//开启震动
//            need_open_gps_count=0;
//        }
//    }
//   }
void IMUTask(void)
{
   if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)
@@ -298,27 +298,49 @@
   }
}
void UserKeyTask(void)
 {
     if(!GET_USERKEY)
{
if(!read_userkey_input_pca())
     {
        if(HIDO_TimerGetTick() - keystarttime>3)
        if(HIDO_TimerGetTick() - keystarttime3>2)
        {
            userkey_state = 1;
            keystarttime =  HIDO_TimerGetTick();
                  UDPClient_UploadGPS();
            keystarttime3 =  HIDO_TimerGetTick();
                  //UDPClient_UploadGPS();
        }
        if(HIDO_TimerGetTick() - keystarttime2>10)
//        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)
        {
            g_com_map[CNT_RESTART] = 1;
            keystarttime =  HIDO_TimerGetTick();
                  PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
                  PCA9555_Set_One_Value_Output(GPS_LED,0);//输出低电平关闭LED
        }
//        if(HIDO_TimerGetTick() - keystarttime2>10)
//        {
//						
//            g_com_map[CNT_RESTART] = 1;
//        }
     }else
     {
       keystarttime =  HIDO_TimerGetTick(); 
       keystarttime2 =  HIDO_TimerGetTick(); 
     }
 } 
}
void MinuteTask(void)
{      gpio_pin_clr(ADC_GND_ENABLE);//拉低
{		
      PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
}
void SecondTask(void)
@@ -328,8 +350,6 @@
        second_count = 0;
        MinuteTask();
    }
      TagListUpdate_person_num_car();
      in_table_log();
      
//      if(!power_low_flag)
//      Gps_change();
@@ -372,6 +392,17 @@
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;
@@ -380,38 +411,44 @@
   {
      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;
static void sleep_timer_callback(void *dev, uint32_t time)
{
    //IO_control_init();
      if(enbale_blink_flag)
   {
   green_charge_state=0;
   charge_red_on();
   }
	 
   charge_state_change();//充电状态判断
if(secondtask_count++%2==0)
    {
    {   
        flag_secondtask = 1;
        PwtagTimeTask();
        if(update_tag_time>0)
        {
            update_tag_time--;
            if(update_tag_time==0)
            {
            NVIC_SystemReset();
            }
        }
        if(Get_anchor_appdata_flag==1)
        {
        Get_anchor_appdata_num++;
            if(Get_anchor_appdata_num>40)
            {
            g_com_map[YAOGEIANC_UPWENJIAN_FLAG]=0;
            save_com_map_to_flash();  
            delay_ms(300);                        
                NVIC_SystemReset();
            }
        }
    }else{
        flag_secondtask = 0;
    }
      if(enbale_blink_flag)
   {
      //delay_us(5000);
   green_charge_state=0;
   charge_red_off();
   }		
 if(delaysleep_count>0)
     delaysleep_count--;
    //GPS工作逻辑
}

static void voltage_input_handler(enum IO_PIN_T pin)
{

}
static void move_handler(enum IO_PIN_T pin)
{
    nomove_count=0;
@@ -431,6 +468,7 @@
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;//需改为默认为gps处理，UsartParseDataHandler为升级处理当调试时候改为
@@ -447,13 +485,13 @@
    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

    if(g_com_map[BIND_DEV_ID]==0)
    {
        UWB_work_state = UN_BIND;
    }else{
        UWB_work_state = SEARCH_DEV;
    }
//    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)
      {
@@ -468,43 +506,61 @@
    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;
    g_com_map[VERSION] = (1<<8)|1;
    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,"服务器地址: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port);
    LOG_INFO(TRACE_MODULE_APP,"铁鞋升级工卡\r\n",ip0,ip1,ip2,ip3,port);
}



void uart_change_check(uint16_t gpio_state)
{
   if(INPUT_5V_POSITION&gpio_state)
      {
              if(state5v==0)
        {
            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
        } 
      }else {
        if(state5v==1)
        {
            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
        }
         }
}
void IdleTask(void)
{
//    if(gpio_pin_get_val(INPUT_5V_Pin))
//    {

//        if(state5v==0)
//if(read_5v_input_pca())
//      {
//              if(state5v==0)
//        {
//            state5v=1;
//            state5V_prase_flag=state5v;
//            gps_prase_flag=0;//解除gps解析
//            uart1_change_from_gps_to_debug();//测试
//         //   uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
//            //UartInit();
//        }

//        //UART_CheckSend();
//    } else {
////            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
//        } 
//      }else {
//        if(state5v==1)
//        {
//            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
//          //  uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
//            //UartDeinit();
////            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
//        }
//    }
      UART_CheckReceive();
//         }
      UART0_CheckReceive();
}
int bind_check(void)
{
@@ -517,16 +573,16 @@
//绑定信息为0说明设备未被绑定
    }
}
void check_if_in_search(void)
{
    if(link_success_flag==1) { //如果第一次测距收包成功那么则进入连接测距模式
        UWB_work_state=LINK_SUCCESS;
    } else { //否则进入搜索模式
        UWB_work_state=SEARCH_DEV;
        if(first_search_flag==0)
            first_search_flag=1;
    }
}
//void check_if_in_search(void)
//{
//    if(link_success_flag==1) { //如果第一次测距收包成功那么则进入连接测距模式
//        UWB_work_state=LINK_SUCCESS;
//    } else { //否则进入搜索模式
//        UWB_work_state=SEARCH_DEV;
//        if(first_search_flag==0)
//            first_search_flag=1;
//    }
//}
void boot_deinit(void)
{
   //将boot中串口返回普通gpio
@@ -545,17 +601,115 @@
int tt2;
int test1,test3;
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-文件传输启动\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; //软复位回到bootloader 
                  }
//                  else{
//                  SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader 
//                  }
        }
    }
}
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;
void Lora_upanc_ing_Poll( void )
{   uint16_t crc16;
//    if(Lora_upanc_flag==1)
//    {
//        Lora_deinit_Poll();
        if(Lora_qingqiu_flag==1)
        {
            CloseUWB();
//            mubiao_anchor_ID=0x1872;
            final_bag_num=(g_com_map[YAOGEIANC_UPWENJIAN_DAXIAO]/ONE_BAG_DAXIAO)+1;//计算一共要发都是包
//            final_bag_num=651;
            Lora_qingqiu_flag=0;
            send_lora_data[MSG_TYPE_IDX]=LORA_MSGTYPE_UPDATEFILE_RESP;//LORA MSG TYPE 定义
            memcpy(&send_lora_data[SOURCE_ID_IDX],&dev_id,2);//自己ID 占用2个字节
            memcpy(&send_lora_data[DEST_ID_IDX],&mubiao_anchor_ID,2);//标签或者基站的设备ID 2个字节
            memcpy(&send_lora_data[MUQIAN_BAG],&Lora_qingqiu_bao,2);
            memcpy(&send_lora_data[DATA_IDX], (HIDO_VOID *)(APP_CONFIG_APPLICATION_ADDRESS+Lora_qingqiu_bao*ONE_BAG_DAXIAO), ONE_BAG_DAXIAO);
            crc16=Cal_CRC16(send_lora_data,DATA_IDX+ONE_BAG_DAXIAO);
            memcpy(&send_lora_data[DATA_IDX+ONE_BAG_DAXIAO],&crc16,2);
//            Lora_status=1;
            jindu=(Lora_qingqiu_bao*100)/final_bag_num;
//            LOG_INFO(TRACE_MODULE_APP, "升级进度%d\r\n",jindu);
            Dtu_shengji_jindu[4]=jindu;
            memcpy(&Dtu_shengji_jindu[5],&mubiao_anchor_ID,2);
            if(jindu>baifenbi)
            {
            uart_send(UART_ID0, Dtu_shengji_jindu,9, NULL);
                baifenbi=baifenbi+10;
            }
            tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(100U);//发送必须要延时发送才可以用于测距否则立即发送会获取时间戳不对，需要计算程序运行时间，避免设置过去时间
            tempflag=uwb_tx(send_lora_data,DATA_IDX+ONE_BAG_DAXIAO+2+2,1,tx_en_start_u32);//立即发送  
            tx_en_start_u321= phy_timer_count_get();
//            while(mac_is_busy());//等待发送完成    
            
        }
//    }
}
extern uint8_t shengji_flag;
int main(void)
{
    board_clock_run();
    boot_deinit();
    board_pins_config();
   board_debug_console_open(TRACE_PORT_UART1);
   board_debug_console_open_baud(TRACE_PORT_UART0,BAUD_115200);
    // Reset reason
    reset_cause_get();
    reset_cause_clear();

    Program_Init();
    sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
    sleep_timer_start(__MS_TO_32K_CNT(500));//测试
    Chuanshuwenjian_Poll();
//注意串口一波特率改为9600了为了能和GPS通信上
    // Load calibration parameters from NVM
    uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
    uint32_t external_flash = (REG_READ(0x40010030) >> 28) & 0x3;
@@ -581,48 +735,64 @@
    //sys_timer_open();

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

    gpio_open();
      board_output_init();//配置adcGND引脚
      LED_output_init();//配置adcGND引脚
//      battery_monitor_open();
//      Voltage_input=battery_monitor_get();
//      battery_monitor_close();
	
    adc_open(&usr_adc_cfg);
      
    IIC2_Init();
//    IIC2_Init();
    Accelerometer_Init();
      PCA9555_init();
    //IO_control_init();
//      PCA9555_init();
      if(!read_5v_input_pca())
      {
     Set4LEDColor(BLUE,GREEN,WHITE,GREEN);
     delay_ms(500);
     Set4LEDColor(RED,WHITE,RED,WHITE);
     delay_ms(500);		
     //Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);       
    }
         //IO_control_init();
//    io_pin_mux_set(SCL_PIN, IO_FUNC0);//测试测距波形
//    gpio_pin_set_dir(SCL_PIN , GPIO_DIR_IN, 0);
//    io_pull_set(SCL_PIN , IO_PULL_UP, IO_PULL_UP_LEVEL4);
    //gps_air780_power_change(0,1);//开启gps，4G 
//加速度计初始化必须在IO_control_init之前因为复用SDA引脚
      gpio_pin_clr(ADC_GND_ENABLE);
   
         Program_Init();
    //uart_open(UART_ID1, &test_uart_cfg);
   // uart1_change_from_gps_to_debug();   
    //Uart1GpsRecDebugSend();   
    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
    uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
   
// Initialize low power mode
    power_init();
      //AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
    sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
    sleep_timer_start(__MS_TO_32K_CNT(g_com_map[COM_INTERVAL]));//测试
    sleep_timer_start(__MS_TO_32K_CNT(500));//测试
    //sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
 //   board_5V_input_init(voltage_input_handler);
//         PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
       adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
    board_acceleration_detection_init(move_handler);
      pca_input_detection_init(pca_handler);//pca检测输入
      //       LOG_INFO(TRACE_MODULE_APP, "测试进入app");
      Uwb_init();
      OpenUWB();
        LOG_INFO(TRACE_MODULE_APP,"初始化_uwb_rx打开\r\n");
		
      //board_4GUsart_detection_init(_4gUsart_handler);
    while (1)
    { test4=gpio_pin_get_val(SCL_PIN);
    { 
        if(!shengji_flag)
         uwb_app_poll();
//         Lora_upanc_ing_Poll();
         //test4=gpio_pin_get_val(SCL_PIN);
         //UWBPoll();
//         if(!power_low_flag)//确认是否休眠下才开启功能
//         {
@@ -656,8 +826,9 @@
            SecondTask();
               
        }
//            UserKeyTask();
//            PowerTask();
//            IMUTask();
//            UserKeyTask();
        IdleTask();
#ifndef DEBUG_MODE
//if(flag_sleeptimer)