工卡升级信标V1.0调通了串口下载文件到工卡里

zhangbo

4 天以前 64c36ecbd729ba99dcaba24c52512b0edb92a1b5

 keil/include/main/main.c

@@ -24,6 +24,9 @@
#include "PCA9555.h"
#include "WS2812.h"
#include "DBG.h"
#include "dw_app_anchor.h"
#include "ymodem.h"
#include "mk_phy.h"

//#define DEBUG_MODE
extern int simple_main(void);
@@ -74,11 +77,11 @@
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;
//typedef enum
//{      UN_BIND=0,
//        LINK_SUCCESS,
//        SEARCH_DEV,
//} Operation_step;

Operation_step UWB_work_state;

@@ -139,32 +142,32 @@
uint8_t onlyoneflag=1;
void mcu_deep_sleep(void)
{
  //  char str[19]= {"AT+POWERMODE=ST\r\n"};
                uint32_t lock;
   // uart_send(UART_ID0, str,19, NULL);
            trace_flush();
            lock = int_lock();
    //  char str[19]= {"AT+POWERMODE=ST\r\n"};
    uint32_t lock;
    // uart_send(UART_ID0, str,19, NULL);
    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 
            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
//                  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
//            PCA9555_Set_One_Value_Output(TTS_ENABLE,0);

//            gpio_pin_get_val(PCA_INPUT_DETECT);
//            PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭4G AT+CPOWD
            
         sleep_timer_stop();

    sleep_timer_stop();
//            delay_ms(1);
           if(!gpio_pin_get_val(PCA_INPUT_DETECT))
            {
            return;
            }   
                  //adc_close();
            power_enter_power_down_mode(1);
            
    if(!gpio_pin_get_val(PCA_INPUT_DETECT))
    {
        return;
    }
    //adc_close();
    power_enter_power_down_mode(1);

//                  LOG_INFO(TRACE_MODULE_APP, "从休眠出来\r\n");
            sys_reset(0);
            int_unlock(lock);
    sys_reset(0);
    int_unlock(lock);

}
uint8_t jiancebat_percent_flag;
@@ -190,22 +193,22 @@
            bat_percent = ((fVoltage_mv - 3300) /8);
        }
    }
      if(bat_percent>100)
         bat_percent=100;
     if(bat_percent<0)
         bat_percent=0;
      jiancebat_percent_flag=1;
    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 
//               //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
    PCA9555_Set_One_Value_Output(ADC_MINIUS,1);//拉高
}
extern uint8_t gps_uwb_flag,gps_need_data_flag;
uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0,userkey_state;
@@ -219,44 +222,44 @@
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);
    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);
        if(onlyoneflag)
        {
        onlyoneflag=0;
        nomove_count=0;
        userkey_state=4;
        heartbeasend_flag = 1;
        sleepflag=1;
         
        sleepflagtime=HIDO_TimerGetTick();
            onlyoneflag=0;
            nomove_count=0;
            userkey_state=4;
            heartbeasend_flag = 1;
            sleepflag=1;

            sleepflagtime=HIDO_TimerGetTick();
        }
   }
    }
    if(sleepflag)
    {
        if(HIDO_TimerGetTick() - sleepflagtime>1)  
         {
        if(HIDO_TimerGetTick() - sleepflagtime>1)
        {
            if(!_4gclose_flag)
            {
                _4gclose_flag = 1;
                PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
            }                
         }
        
        if(HIDO_TimerGetTick() - sleepflagtime>3)  
         {
            }
        }

        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);
}
 
    if(deep_sleep_falg==0)
    {
        PCA9555_Set_One_Value_Output(PWR_ENABLE,1);
    }

}
uint16_t gaodu;
uint8_t guanjiflag;
@@ -264,93 +267,93 @@
uint32_t guanjiflagtime;
void UserKeyTask(void)
{
if(!read_userkey_input_pca())
     {
         delay_ms(1000);
    if(!read_userkey_input_pca())
    {
        delay_ms(1000);
        if(!read_userkey_input_pca())
        {
            userkey_state = 1;
            keystarttime3 =  HIDO_TimerGetTick();
            flag_first_TCPconnect = 1;
                  //UDPClient_UploadGPS();
            //UDPClient_UploadGPS();
        }
//        if(HIDO_TimerGetTick() - keystarttime2>10)
//        {
//						
//
//            g_com_map[CNT_RESTART] = 1;
//        }
     }else
     {
       keystarttime3 =  HIDO_TimerGetTick(); 
     }
} 
    } else
    {
        keystarttime3 =  HIDO_TimerGetTick();
    }
}
uint8_t user_Power_keyflag=0;
void PowerTask(void)
{
     if(read_powerkey_input_pca())
     {
    if(read_powerkey_input_pca())
    {
        delay_ms(1000);
        if(read_powerkey_input_pca())
        {
              rtkled=WHITE;
              uwbled=WHITE;
              led4g=WHITE;
              powerled=WHITE;
              Set4LEDColor(uwbled,rtkled,led4g,powerled);
              delay_ms(500);
            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
              heartbeasend_flag = 1;
              user_Power_keyflag=1;
              guanjiflag=1;
              userkey_state = 2;
              guanjiflagtime=HIDO_TimerGetTick();
              g_com_map[KEY_POWERON] = user_Power_keyflag;
              save_com_map_to_flash();
            heartbeasend_flag = 1;
            user_Power_keyflag=1;
            guanjiflag=1;
            userkey_state = 2;
            guanjiflagtime=HIDO_TimerGetTick();
            g_com_map[KEY_POWERON] = user_Power_keyflag;
            save_com_map_to_flash();
        }
     }else
     {
       keystarttime =  HIDO_TimerGetTick(); 
       keystarttime2 =  HIDO_TimerGetTick(); 
     }
    } else
    {
        keystarttime =  HIDO_TimerGetTick();
        keystarttime2 =  HIDO_TimerGetTick();
    }
}
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;
{   static uint8_t second_count;
    if(second_count++>120)
    {
        second_count = 0;
        MinuteTask();
    }
    //UWB状态检测
if(!power_low_flag)//低供电下不需要检测重连
   {
    if(IfTCPConnected())
    if(!power_low_flag)//低供电下不需要检测重连
    {
        TCP_reconnect_timer =0;
        flag_TCP_reconnectting = 0;
    } else {
        if(TCP_reconnect_timer<30)//如果TCP没有连接，每隔10分钟尝试连接30秒
        if(IfTCPConnected())
        {
            flag_TCP_reconnectting = 1;
        } else {
            TCP_reconnect_timer =0;
            flag_TCP_reconnectting = 0;
        }
        if(TCP_reconnect_timer++>600)
        {
            TCP_reconnect_timer = 0;
        }
        } else {
            if(TCP_reconnect_timer<30)//如果TCP没有连接，每隔10分钟尝试连接30秒
            {
                flag_TCP_reconnectting = 1;
            } else {
                flag_TCP_reconnectting = 0;
            }
            if(TCP_reconnect_timer++>600)
            {
                TCP_reconnect_timer = 0;
            }

        }
    }
   }
    HIDO_TimerTick();
//      if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
    nomove_count++;
@@ -359,59 +362,101 @@
//      nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
//      }
}

void led_offtask()
{
    if(ledonflag==1)
    {
        ledonflag=0;
        uwbled=0;
        rtkled=0;
        led4g=0;
        powerled=0;
        Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
    }
}
uint16_t led_flag;
void Led_Task()
{
    if(led_flag==1)
    {
       led_flag=0;  
        if(DBG_GetMode() == DBG_MODE_SHELL)
        {

            if(bat_percent>15)
            {
                powerled = BLUE;
            } else {
                powerled = RED;
            }
            ledonflag=1;

            Set4LEDColor(uwbled,rtkled,led4g,powerled);        
        }
    }
}
uint8_t tt=1;
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
uint8_t uwb_offtime_count=0;
uint8_t input5v_time;
extern uint8_t taglist_num;

uint8_t gps_ntripsend;
extern uint8_t uwb_OpenClose_flag;
uint8_t Get_anchor_appdata_flag;
uint8_t Get_anchor_appdata_num;

static void sleep_timer_callback(void *dev, uint32_t time)
{
// powerON_Task();
if(secondtask_count++%2==0)
    {   
    if(secondtask_count++%2==0)
    {
        input5v_time=1;
        flag_secondtask = 1;
      if(g_com_map[UWBFrequency]>1)
        {uwb_time_count++;}
        led_flag=1;
        if(g_com_map[UWBFrequency]>1||current_state==STATE_SLEEP)
        {
            uwb_time_count++;
        }
//        #endif
            uwb_offtime_count++;
           if(uwb_offtime_count>60)
            {
             uwb_offtime_count=0;
             current_state = STATE_SLEEP;
            }
        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)
        {
            powerled = BLUE;
        }else{
             powerled = RED;
        }
        ledonflag=1;
            if(bat_percent>15)
            {
                powerled = BLUE;
            } else {
                powerled = RED;
            }
            ledonflag=1;
//        ledontime=HIDO_TimerGetTick();
        Set4LEDColor(uwbled,rtkled,led4g,powerled); 
            Set4LEDColor(uwbled,rtkled,led4g,powerled);
//        uart_send(UART_ID1, ceshidata, 50,NULL);
        }
        
        input5v_time=1;
        if(taglist_num==0&&g_com_map[UWBFrequency]==1&&g_com_map[UWBENBLE]==1&&uwb_OpenClose_flag==1)
        if(taglist_num==0&&g_com_map[UWBFrequency]==1&&g_com_map[UWBENBLE]==1&&uwb_OpenClose_flag==1&&current_state == STATE_NORMAL)
        {
        CloseUWB();
        Uwb_init();
        OpenUWB();
            CloseUWB();
            Uwb_init();
            OpenUWB();
        }
        if(g_com_map[UWBENBLE]==1)
        {
       upload_apppoll();
            upload_apppoll();
        }
    }else{
    } else {
        flag_secondtask = 0;
    }
    
 if(delaysleep_count>0)
     delaysleep_count--;

    if(delaysleep_count>0)
        delaysleep_count--;
}

#ifdef JIBU_XIUMIAN
@@ -424,16 +469,16 @@
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) 
        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) {
@@ -444,31 +489,31 @@
//            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
      {
        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
            {   // 30秒后切换到休眠状态
                current_state = STATE_SLEEP;
                       exercise_state=2;
                       state_start_time_jibu=uwb_time_count;
                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
   check_input_change();
    PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值
    check_input_change();
//   uint16_t gpio_state;
//   gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];

@@ -476,9 +521,9 @@

void _4gUsart_handler(enum IO_PIN_T pin)
{
     //LOG_INFO(TRACE_MODULE_APP, "4G RX 唤醒\r\n");
        flag_4G_recdata = 1;
        delaysleep_count = 3;
    //LOG_INFO(TRACE_MODULE_APP, "4G RX 唤醒\r\n");
    flag_4G_recdata = 1;
    delaysleep_count = 3;
}
extern uint16_t ip0,ip1,ip2,ip3,port;
extern uint8_t gps_4g_flag;
@@ -486,7 +531,7 @@
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
    Usart1ParseDataCallback = Usart1ParseDataHandler;//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;
@@ -499,7 +544,7 @@
    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[MOTOR_ONTIME_INDEX]=10;
   tag_frequency = 1000/g_com_map[COM_INTERVAL];
    tag_frequency = 1000/g_com_map[COM_INTERVAL];
    gpsbaudrate=(g_com_map[GPSBAUDRATE1_INDEX]<<16)|g_com_map[GPSBAUDRATE2_INDEX];
    if(gpsbaudrate==9600)
    {
@@ -508,98 +553,60 @@
    }
    else  if(gpsbaudrate==115200)
    {
    gpsbaudrate = 7;
        gpsbaudrate = 7;
        gpsbaudrate1=115200;
    }
    else  
    else
    {
    gpsbaudrate = 3;
        gpsbaudrate = 3;
        gpsbaudrate1=9600;
    }     
    }
    if(g_com_map[GPSENBLE]>1)
    {
    g_com_map[GPSENBLE]=1;
        g_com_map[GPSENBLE]=1;
    }
    if(g_com_map[UWBENBLE]>1)
    {
    g_com_map[UWBENBLE]=1;
        g_com_map[UWBENBLE]=1;
    }
    if(g_com_map[UWBFrequency]>10)
    {
    g_com_map[UWBFrequency]=1;
        g_com_map[UWBFrequency]=1;
    }
    if(g_com_map[URT_BQ]>1)
    {
    g_com_map[URT_BQ]=0;
        g_com_map[URT_BQ]=0;
    }
//    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)
    {
        UWB_work_state = UN_BIND;
    }else{
    } else {
        UWB_work_state = SEARCH_DEV;
    }
      //g_com_map[SEND_4G_SECOND]
//    if(g_com_map[SEND_4G_SECOND]<30)
//      {
//      gps_open_flag=0;
//      }else{
//      gps_open_flag=1;
//      }

    g_com_map[MODBUS_MODE] = 0;
      log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
    g_com_map[VERSION] = (1<<8)|29;
          
        
    log_4g_enable_flag =1;//g_com_map[LOG_4G_ENABLE];
    g_com_map[VERSION] = (1<<8)|0;


    LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
    LOG_INFO(TRACE_MODULE_APP,"固件版本:4G-GPS定位工卡 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
    LOG_INFO(TRACE_MODULE_APP,"固件版本:信标升级工卡 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);
    #ifdef _4G_115200
//    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);
#ifdef _4G_115200
    LOG_INFO(TRACE_MODULE_APP,"当前4G波特率: 115200.\r\n");
    #else
#else
    LOG_INFO(TRACE_MODULE_APP,"当前4G波特率: 9600.\r\n");
    #endif
#endif
//    LOG_INFO(TRACE_MODULE_APP,"充电是否开机标志位: %d .\r\n",g_com_map[URT_BQ]);
    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]);
        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]);
    }
    else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
    {
@@ -610,7 +617,7 @@
        LOG_INFO(TRACE_MODULE_APP,"NtripSourcename:%s.\r\n",(char *)&g_com_map[NTRIP_SOURCENAME_INDEX]);
    }
    else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NONE)
    { 
    {
        LOG_INFO(TRACE_MODULE_APP,"单点定位模式模式. \r\n");
    }
    delay_ms(500);
@@ -629,199 +636,227 @@
//    {}
//    else
//    {
//    
//    
//    }   
    
    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
                    PCA9555_Set_One_Value_Output(MCU_A,1);//输出高电平切换为5V输入
                } 
                chongman_time=0;
                only_one_flag=0;
                uwbled=0;
                rtkled=0;
                led4g=0;
                powerled=0;
    //            PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
                while(1)
                {
                    nomove_count = 0;
                    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+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
                    }
                    if(bat_percent>=99&&!only_one_flag)
                    {
                    only_one_flag=1;
                    chongman_time=0;
                    }
                    if(bat_percent>=99&&chongman_time>=180)
                    {
                        powerled = GREEN;
                    }else{
                        powerled = RED;
                    }
                    if(DBG_GetMode() == DBG_MODE_SHELL)
                    {
                            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)
                    {
                        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())
                    {
                    break;
                    }
                    }
                }
    //            NVIC_SystemReset();
    //                  PCA9555_Set_One_Value_Output(PWR_ENABLE,0);
                input5vflag=1;
            }
            else 
    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
            PCA9555_Set_One_Value_Output(MCU_A,1);//输出高电平切换为5V输入
        }
        chongman_time=0;
        only_one_flag=0;
        uwbled=0;
        rtkled=0;
        led4g=0;
        powerled=0;
        //            PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
        while(1)
        {
            nomove_count = 0;
            wdt_ping(WDT_ID0);//喂狗
            //                adctick = HIDO_TimerGetTick();
            if(HIDO_TimerGetTick()-adctick>600)  //10分钟采样一次 电量
            {
                if(state5v==1)
                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
            }
            if(bat_percent>=99&&!only_one_flag)
            {
                only_one_flag=1;
                chongman_time=0;
            }
            if(bat_percent>=99&&chongman_time>=180)
            {
                powerled = GREEN;
            } else {
                powerled = RED;
            }
            if(DBG_GetMode() == DBG_MODE_SHELL)
            {
                if(ota_flag==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
                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);
                                  
                    //                            OTA_Poll();
                    //                            HTTPClient_Poll();
                }
                else
                {
                    uwb_app_poll();
                }
                Internet_Poll();
                HIDO_TimerPoll();
                HIDO_ATLitePoll();            
                TCPClient_Poll();
                Led_Task();

//                if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
//                {
//                    TCPClient_Poll_1();
//                }
                if(flag_secondtask)
                {
                    flag_secondtask = 0;
                    SecondTask();
                }

                led_offtask();
                UserKeyTask();
            }
            UART_CheckReceive();
            if(g_com_map[CNT_RESTART]==1)
            if(flag_secondtask)
            {
                g_com_map[CNT_RESTART]=0;
                NVIC_SystemReset();
             
                flag_secondtask = 0;
                SecondTask();
            }
            if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
            if(DBG_GetMode() == DBG_MODE_SHELL)
            {
                NVIC_SystemReset();
//                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();

                }
            }
            HIDO_TimerPoll();
            if(ledonflag==1)
            else
            {
            ledonflag=0;
            uwbled=0;
            rtkled=0;
            led4g=0;
            powerled=0;
            Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF); 
                Set4LEDColor(0,0,0,powerled);
            }
             if(bat_percent<5&&jiancebat_percent_flag)
              {
                 WT588E_PLAY(14);
              }
             if(bat_percent<1&&bat_percent_only_one&&jiancebat_percent_flag)
             {
                    WT588E_PLAY(15);
                    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(TTS_ENABLE,0);     //关闭语音输入
                    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
                 }         
             
             }
            if(input5v_time)
            {
                if(!read_5v_input_pca())
                {
                    break;
                }
            }
        }
        //            NVIC_SystemReset();
        //                  PCA9555_Set_One_Value_Output(PWR_ENABLE,0);
        input5vflag=1;
    }
    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
//                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);
//
//                }
        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
            //保留串口输出到debug口这样可以看到看门狗的复位
//            //关闭电源前检查PCA输出脚的电平保证不供电在关闭电源脚
//            PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
//            PCA9555_Set_One_Value_Output(TTS_ENABLE,0);
//            PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
//            PCA9555_Set_One_Value_Output(GPS_POWER,0);//关GPS
//            delay_ms(200);

//            PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
            PCA9555_Close_Power();

        }
    }
    UART_CheckReceive();
    if(g_com_map[CNT_RESTART]==1)
    {
        g_com_map[CNT_RESTART]=0;
        NVIC_SystemReset();

    }
    if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
    {
        NVIC_SystemReset();
    }
    HIDO_TimerPoll();
//    if(ledonflag==1)
//    {
//        ledonflag=0;
//        uwbled=0;
//        rtkled=0;
//        led4g=0;
//        powerled=0;
//        Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
//    }
    if(bat_percent<5&&jiancebat_percent_flag)
    {
        WT588E_PLAY(14);
    }
    if(bat_percent<1&&bat_percent_only_one&&jiancebat_percent_flag)
    {
        WT588E_PLAY(15);
        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(TTS_ENABLE,0);     //关闭语音输入
//            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
            PCA9555_Close_Power();
        }

    }
}
void boot_deinit(void)
{
   //将boot中串口返回普通gpio
    //将boot中串口返回普通gpio
// 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);
    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

    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;
extern uint8_t uwb_OpenClose_flag;
uint8_t uwb_close_count,uwb_close_count1;
void upload_apppoll()
{	
{

    if(current_state==STATE_NORMAL&&uwb_OpenClose_flag==1)
    {
@@ -830,41 +865,43 @@
            elapsed_time_jibu = uwb_time_count - state_start_time;
            if(elapsed_time_jibu==1)
            {
                 CloseUWB();
                 UWBSendUDPTask();
                CloseUWB();
//                UWBSendUDPTask();
            }
            else if(elapsed_time_jibu==g_com_map[UWBFrequency])
            {
                   taglist_num = 0;
                   CloseUWB();
                   Uwb_init();
                   OpenUWB();						
                   state_start_time = uwb_time_count;	
            }	
                taglist_num = 0;
                CloseUWB();
                Uwb_init();
                OpenUWB();
                state_start_time = uwb_time_count;
            }
        }
        else
        {}
    }
    else if(current_state==STATE_SLEEP&&uwb_OpenClose_flag==1)
    {
            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;						
            }
        elapsed_time_jibu = uwb_time_count - state_start_time;
        switch(elapsed_time_jibu)
        {
        case UWB_OPEN_COUNT:
            CloseUWB();
//            UWBSendUDPTask();
//            uwb_close_count++;        
            break;

        case UWB_MEASUREMENT_INTERVAL_SLEEP:
            taglist_num = 0;
            CloseUWB();
            Uwb_init();
            OpenUWB();
            state_start_time = uwb_time_count;
//            uwb_close_count1++;        
            break;
        }
    }
//    switch (current_state) 
//    switch (current_state)
//    {
////#ifdef UWB_1_5HZ
//       if(g_com_map[UWBFrequency]>1)
@@ -881,9 +918,9 @@
//                   taglist_num = 0;
//                   CloseUWB();
//                   Uwb_init();
//                   OpenUWB();						
//                   state_start_time = uwb_time_count;	
//            }				
//                   OpenUWB();
//                   state_start_time = uwb_time_count;
//            }
//       }
//       else
//       {}
@@ -894,21 +931,42 @@
//            {
//            case UWB_OPEN_COUNT:
//                CloseUWB();
//                UWBSendUDPTask();						
//                UWBSendUDPTask();
//                break;
//                
//
//            case UWB_MEASUREMENT_INTERVAL_SLEEP:
//                taglist_num = 0;
//                CloseUWB();
//                Uwb_init();
//                OpenUWB();	
//                state_start_time = uwb_time_count;							
//                break;						
//                OpenUWB();
//                state_start_time = uwb_time_count;
//                break;
//            }
//            break;
//    }	
//    }

}

//uint8_t flag_4guart_needinit=0;
//uint8_t index1,index2,index3;
//int16_t Voltage_input;
//int tt2;
//int test1,test3;
//uint32_t test4;
//extern uint8_t receive_flag;
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,
};



uint8_t flag_4guart_needinit=0;
uint8_t index1,index2,index3;
@@ -916,33 +974,120 @@
int tt2;
int test1,test3;
uint32_t test4;
extern uint8_t receive_flag;
static void app_wdt_callback(void *dev, uint32_t status)
void Chuanshuwenjian_Poll()
{
    ASSERT(status, "WDT TIMEOUT，程序复位");
      //LOG_INFO(TRACE_MODULE_APP, "程序卡死，看门狗复位");
    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_ID1, &test_uart_cfg);
       //uart_receive(UART_ID1, trx_buf, 1, uart_receive_callback);
//      LOG_INFO(TRACE_MODULE_APP,"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 
//                  }
        }
    }
}
 struct WDT_CFG_T app_wdt_cfg = {
        .timeout = 32768 * 30,
        .rst_en = true,
        .int_en = true,
        .callback = app_wdt_callback,
    };


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_ID1, 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    
            
        }
//    }
}



int main(void)
 {
     __enable_irq();
{
    __enable_irq();
    board_clock_run();
    boot_deinit();
    board_pins_config();
    gpio_open();
   IIC2_Init();
   Accelerometer_Init();
    IIC2_Init();
    Accelerometer_Init();
//     delay_ms(100);
//    BarInit();
//     delay_ms(100);
//   gaodu=GetPressAndHeight();
    PCA9555_init();	
   board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_921600);
    PCA9555_init();
    board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_115200);
//   while(1);
    // Reset reason
    reset_cause_get();
@@ -957,17 +1102,15 @@
    }
    else
    {
      board_calibration_params_default();
        board_calibration_params_default();
    }
    calib_chip();
    wdt_close(WDT_ID0);
    Program_Init();
    Uart_Register(UART_ID_4G, UART_ID0);

    Uart_Register(UART_ID_DBG_GPS, UART_ID1);
    DBG_Init();

    SendComMap(0x50,0);    
//    SendComMap(0x50,0);
    Internet_Init();
    TCPClient_Init();
//    if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
@@ -975,78 +1118,84 @@
//       NTRIPClient_Init();
//       NTRIPApp_Init();
//    }
    if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
    {
        TCPClient_Init_1();
    }
//    if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
//    {
//        TCPClient_Init_1();
//    }
//    HTTPClient_Init();
    wdt_open(WDT_ID0,&app_wdt_cfg);//30s检测喂狗
    LED_output_init();//配置彩色灯引脚

    PCA9555_Set_One_Value_Output(TTS_ENABLE,1); 
    PCA9555_Set_One_Value_Output(TTS_ENABLE,1);
    WT588E02B_Init();
    adc_open(&usr_adc_cfg);
    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
    power_init();
    Uwb_init();
    
    if(g_com_map[KEY_POWERON]==1)
    {
      WT588E_PLAY(0);                           //播报开机语音
      g_com_map[KEY_POWERON]=0;
      save_com_map_to_flash();


        WT588E_PLAY(0);                           //播报开机语音
        g_com_map[KEY_POWERON]=0;
        save_com_map_to_flash();
    }
    

    if(g_com_map[UWBFrequency]&&g_com_map[UWBENBLE])
    {
        OpenUWB();
    }
    if(!read_5v_input_pca())
    {
     Set4LEDColor(BLUE,GREEN,WHITE,RED);
     delay_ms(500);
     Set4LEDColor(RED,WHITE,RED,WHITE);
     delay_ms(500);		
     Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);       
        Set4LEDColor(BLUE,GREEN,WHITE,RED);
        delay_ms(500);
        Set4LEDColor(RED,WHITE,RED,WHITE);
        delay_ms(500);
        Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
    }
    g_com_map[MODBUS_MODE] = 0;
    state5v=0;
    state5V_prase_flag=state5v;

#ifdef UART_DEBUG_NORMALLY_OPEN
    uart1_change_from_gps_to_debug();
    PCA9555_Set_One_Value_Output(MCU_A,1);
#else
    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  
#endif    

    if(g_com_map[UWBENBLE]==0)
    {
    CloseUWB();
        CloseUWB();
    }
    sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
    sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
    Chuanshuwenjian_Poll();
    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
//    GPS_Init();
//    gaodu=GetPressAndHeight()*100;
    while (1)
    { 

    {
        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(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
//        {
//            TCPClient_Poll_1();
//        }
        if(flag_secondtask)
        {
            flag_secondtask = 0;
            SecondTask();
        }
      IMUTask();
        IMUTask();
        IdleTask();
      check_step_and_update_state();
//        check_step_and_update_state();
//        led_offtask();
    }
}