Merge branch 'MK大工卡-低精度GPS-1/5HZ' of http://47.108.70.204:60062/r/ChinaUWBP...

WXK

2025-05-06 8217c70984ac4feb7bfc952e4f6e944bf824527d

 keil/include/main/main.c

@@ -1,43 +1,3 @@
/*
 * Copyright (c) 2019-2023 Beijing Hanwei Innovation Technology Ltd. Co. and
 * its subsidiaries and affiliates (collectly called MKSEMI).
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form, except as embedded into an MKSEMI
 *    integrated circuit in a product or a software update for such product,
 *    must reproduce the above copyright notice, this list of conditions and
 *    the following disclaimer in the documentation and/or other materials
 *    provided with the distribution.
 *
 * 3. Neither the name of MKSEMI nor the names of its contributors may be used
 *    to endorse or promote products derived from this software without
 *    specific prior written permission.
 *
 * 4. This software, with or without modification, must only be used with a
 *    MKSEMI integrated circuit.
 *
 * 5. Any software provided in binary form under this license must not be
 *    reverse engineered, decompiled, modified and/or disassembled.
 *
 * THIS SOFTWARE IS PROVIDED BY MKSEMI "AS IS" AND ANY EXPRESS OR IMPLIED
 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 * MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL MKSEMI OR CONTRIBUTORS BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
 * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#include "mk_trace.h"
#include "mk_wdt.h"
#include "mk_calib.h"
@@ -61,10 +21,15 @@
#include "HIDO_ATLite.h"
#include "HIDO_Timer.h"
#include "TCPClient.h"
#include "PCA9555.h"
#include "WS2812.h"
#include "DBG.h"

//#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
@@ -77,12 +42,16 @@
#define UPDATE_TIME 10


#define UWB_OPEN_COUNT 1
#define UWB_MEASUREMENT_INTERVAL 5
#define UWB_MEASUREMENT_INTERVAL_SLEEP 60

extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
extern int distance;
extern uint8_t anchordata_num;
uint32_t dev_id;
uint16_t dev_id;
uint8_t group_id;
uint16_t tag_frequency;
uint16_t disoffset;
@@ -98,13 +67,30 @@
uint8_t recev_error_num,send_messgae_count,send_flag,control_state,power_low_flag;
uint8_t flag_4g_usart_rx_state = 1;  //4G 串口RX当前是 RX状态，不是GPIO状态
int input_5v_flag,air780e_flag1,air780e_flag2,air780e_flag3,air780e_flag4;
extern uint8_t pca9555writedata_config[10];//暂存寄存器所有配置的数组
extern uint8_t pca9555writedata_output[10];//暂存输出高低电平配置的数组
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;

Operation_step UWB_work_state;
// 定义状态
typedef enum {
    STATE_NORMAL,    // 正常状态，3秒测距上传一次
    STATE_SLEEP      // 休眠状态，1分钟测距上传一次
} CountState_t;

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 = {
@@ -128,7 +114,7 @@
    .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,
@@ -147,19 +133,31 @@
{
    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}
uint8_t deep_sleep_falg=1;
void mcu_deep_sleep(void)
{
            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 
                     sleep_timer_stop();	
                  //adc_close();
            power_enter_power_down_mode(1);
                  //LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\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();
            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);			 
}
static void adc_callback(void *data, uint32_t number)
{
@@ -174,7 +172,7 @@
        {
            bat_percent = 0;
        }
        else if(fVoltage_mv > 4100)
        else if(fVoltage_mv > 4200)
        {
            bat_percent = 100;
        }
@@ -185,153 +183,103 @@
    }
            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");
               //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
               //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");
            }
      gpio_pin_set(ADC_GND_ENABLE);//在拉高
  //  LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
      PCA9555_Set_One_Value_Output(ADC_MINIUS,1);//拉高
}
//void UartInit(void)
//{
//board_pins_config();
//uart_open(UART_ID1, &test_uart_cfg);
//board_debug_console_open(TRACE_PORT_UART0);
//uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
//}
extern uint8_t gps_uwb_flag,gps_need_data_flag;
uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0,userkey_state;
uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag,flag_fenli_alarm = 0,fenli_alarm_count,delaysleep_count,enbale_blink_flag;
int need_open_gps_count;
uint32_t keystarttime,keystarttime2;
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;
        }
    }
   }
uint32_t keystarttime,keystarttime2,keystarttime3;
extern uint32_t get_in_num,get_out_num;
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);
      power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)PCA_INPUT_DETECT, POWER_WAKEUP_LEVEL_LOW);
      mcu_deep_sleep();
   }
}
void UserKeyTask(void)
 {
     if(!GET_USERKEY)
{
if(!read_userkey_input_pca())
     {
        if(HIDO_TimerGetTick() - keystarttime>3)
         delay_ms(1000);
        if(!read_userkey_input_pca())
        {
            userkey_state = 1;
            keystarttime =  HIDO_TimerGetTick();
                  UDPClient_UploadGPS();
            keystarttime3 =  HIDO_TimerGetTick();
            flag_first_TCPconnect = 1;
                  //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())
     {
        delay_ms(1000);
        if(read_powerkey_input_pca())
        {
            g_com_map[CNT_RESTART] = 1;
              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

        }
//        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
    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();
    }
      if(!power_low_flag)
      Gps_change();
      else{
      gps_power_state=0;//关闭GPS
      update_led_power_state();
      //初始化GPS计数数据
      gps_need_data_flag=1;
      gps_wait_count2=0;
      gps_wait_count=0;
      }
    //UWB状态检测

if(!power_low_flag)//低供电下不需要检测重连
   {
    if(IfTCPConnected())
    {
        TCP_reconnect_timer =0;
@@ -349,51 +297,67 @@
        }

    }
   }
    HIDO_TimerTick();
      if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
//      if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
    nomove_count++;
      else{
      nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
      }
//      else{
//      nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
//      }
}
uint8_t tt=1;
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
uint8_t uwb_enable_flag=0;
uint8_t input5v_time;
extern uint8_t taglist_num;
uint8_t gps_ntripsend;
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)
    {
    {   
        input5v_time=1;
        flag_secondtask = 1;
           #ifdef UWB_1_5HZ
           uwb_time_count++;
          #endif
        if(!read_5v_input_pca())
        {
        if(bat_percent>15)
        {
            powerled = BLUE;
        }else{
             powerled = RED;
        }
        ledonflag=1;
//        ledontime=HIDO_TimerGetTick();
        Set4LEDColor(uwbled,rtkled,led4g,powerled); 
//        uart_send(UART_ID1, ceshidata, 50,NULL);
        }
        input5v_time=1;
        if(taglist_num==0)
        {
//        CloseUWB();
//        Uwb_init();
//        OpenUWB();
        }
       upload_apppoll();
    }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 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();
//   uint16_t gpio_state;
//   gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];

}
static void move_handler(enum IO_PIN_T pin)
{
    nomove_count=0;
}
uint8_t flag_4G_recdata;

void _4gUsart_handler(enum IO_PIN_T pin)
{
     //LOG_INFO(TRACE_MODULE_APP, "4G RX 唤醒\r\n");
@@ -402,23 +366,55 @@
}
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 gps_need_data_flag,gps_open_flag;
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
    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;
    group_id=g_com_map[GROUP_ID];//组ID
//    tag_frequency = 1000/g_com_map[COM_INTERVAL];//测距频率这个存的是测距时间
    memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
//    g_com_map[ALARM_DISTANCE1] = 40;
//    g_com_map[ALARM_DISTANCE2] = 40;
    warning_distance=g_com_map[ALARM_DISTANCE1];
    prewarning_distance=g_com_map[ALARM_DISTANCE2];
    send_struct.warnDistence=warning_distance;
    send_struct.alarmDistence=prewarning_distance;//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
     tag_frequency = 1000/g_com_map[COM_INTERVAL];

//    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)
    {
@@ -435,69 +431,166 @@
      }
    g_com_map[MODBUS_MODE] = 0;
      log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
    ip0 = (g_com_map[TCP_IP_0]>>12&0xf)*1000+(g_com_map[TCP_IP_0]>>8&0xf)*100+(g_com_map[TCP_IP_0]>>4&0xf)*10+(g_com_map[TCP_IP_0]&0xf);
    ip1 = (g_com_map[TCP_IP_1]>>12&0xf)*1000+(g_com_map[TCP_IP_1]>>8&0xf)*100+(g_com_map[TCP_IP_1]>>4&0xf)*10+(g_com_map[TCP_IP_1]&0xf);
    ip2 = (g_com_map[TCP_IP_2]>>12&0xf)*1000+(g_com_map[TCP_IP_2]>>8&0xf)*100+(g_com_map[TCP_IP_2]>>4&0xf)*10+(g_com_map[TCP_IP_2]&0xf);
    ip3 = (g_com_map[TCP_IP_3]>>12&0xf)*1000+(g_com_map[TCP_IP_3]>>8&0xf)*100+(g_com_map[TCP_IP_3]>>4&0xf)*10+(g_com_map[TCP_IP_3]&0xf);
    port = g_com_map[TCP_PORT];
    g_com_map[VERSION] = (1<<8)|10;
         
        
    LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
    LOG_INFO(TRACE_MODULE_APP,"固件版本:UWB-4G车载手环 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,"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]);
    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]);
    }
    else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
    {
        LOG_INFO(TRACE_MODULE_APP,"NtripHost:%s.\r\n",(char *)&g_com_map[NTRIP_HOST_INDEX]);
        LOG_INFO(TRACE_MODULE_APP,"NtripPort:%d.\r\n",g_com_map[NTRIP_PORT_INDEX]);
        LOG_INFO(TRACE_MODULE_APP,"NtripUsername:%s.\r\n",(char *)&g_com_map[NTRIP_USERNANME_INDEX]);
        LOG_INFO(TRACE_MODULE_APP,"NtripPassword:%s.\r\n",(char *)&g_com_map[NTRIP_PASSWORD_INDEX]);
        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);
}



uint32_t adctick = 0;
uint8_t only_one_flag;
uint16_t chongman_time;
uint8_t bat_percent_old=100;
uint8_t input5vflag;
extern uint8_t ota_flag;
void IdleTask(void)
{
    if(gpio_pin_get_val(INPUT_5V_Pin))
    {
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;
//                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();

        if(state5v==0)
                    }
                }
                else
                {
                Set4LEDColor(0,0,0,powerled);
                }
                if(input5v_time)
                {
                if(!read_5v_input_pca())
                {
                break;
                }
                }
            }
            NVIC_SystemReset();
            input5vflag=1;
      }
        else 
        {
            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();
            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
            }
        }

        //UART_CheckSend();
    } 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();
        }
    }
      UART_CheckReceive();
}
int bind_check(void)
{
    if(g_com_map[BIND_DEV_ID]!=0x00)
    {
        return 1;
//绑定信息为1说明设备已经被下发绑定
    } else {
        return 0;
//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;
    }
        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); 
        }
}
void boot_deinit(void)
{
@@ -505,30 +598,82 @@
// 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;
void upload_apppoll()
{	
   uint32_t elapsed_time_jibu;
#ifdef UWB_1_5HZ
	  

    switch (current_state) 
         {
        case STATE_NORMAL:
            elapsed_time_jibu = uwb_time_count - state_start_time;
                switch(elapsed_time_jibu)
                  {
                     case UWB_OPEN_COUNT:
                            CloseUWB();
//                            uwbled = LEDOFF;
                          UWBSendUDPTask();
                          GPS_UPLOAD_FLAG=1;
                     break;
							
                     case UWB_MEASUREMENT_INTERVAL:
                            OpenUWB();
//                            uwbled = WHITE;							
                   state_start_time = uwb_time_count;	
							
                     break;						
                  }
            break;
        case STATE_SLEEP:
            elapsed_time_jibu = uwb_time_count - state_start_time;
                switch(elapsed_time_jibu)
                  {
                     case UWB_OPEN_COUNT:

                                 CloseUWB();	
                     break;
							
                     case UWB_MEASUREMENT_INTERVAL_SLEEP:

                                 OpenUWB();	
                      state_start_time = uwb_time_count;							
                     break;						
                  }
            break;
         }	
#endif
}

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;
int main(void)
{
     __enable_irq();
    board_clock_run();
    boot_deinit();
    board_pins_config();
    board_debug_console_open(TRACE_PORT_UART1);
     board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_115200);
    // Reset reason
    reset_cause_get();
    reset_cause_clear();

    // Load calibration parameters from NVM
    uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
    uint32_t external_flash = (REG_READ(0x40010030) >> 28) & 0x3;
    if (internal_flash || external_flash == 1)
@@ -541,137 +686,78 @@
    {
        board_calibration_params_default();
    }

    // Chip calibration
    calib_chip();

    // Disable watchdog timer
    wdt_close(WDT_ID0);
    LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");

    // open system timer
    //sys_timer_open();

    // TODO 4G
    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)
//    {
//       NTRIPClient_Init();
//       NTRIPApp_Init();
//    }
    if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
    {
        TCPClient_Init_1();
    }
//    HTTPClient_Init();
    gpio_open();
      board_output_init();//配置adcGND引脚
//      battery_monitor_open();
//      Voltage_input=battery_monitor_get();
//      battery_monitor_close();
    adc_open(&usr_adc_cfg);
		
    LED_output_init();//配置彩色灯引脚
    IIC2_Init();
    Accelerometer_Init();
    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();   
    PCA9555_init();
    WT588E02B_Init();
    adc_open(&usr_adc_cfg);
    uart_receive(UART_ID1,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(SLEEP_TIMER_NUM));//测试
 //   board_5V_input_init(voltage_input_handler);
       adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
    board_acceleration_detection_init(move_handler);
//       LOG_INFO(TRACE_MODULE_APP, "测试进入app");
      board_4GUsart_detection_init(_4gUsart_handler);
    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();
      #ifdef UWB_CK
      OpenUWB();
      #endif  
//    DBG_SetMode(DBG_MODE_SHELL);
//    Shell_Init();

    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);       
    }
    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
    while (1)
    { test4=gpio_pin_get_val(SCL_PIN);
		
         if(!power_low_flag)//确认是否休眠下才开启功能
         {
        if(flag_TCP_reconnectting||IfTCPConnected())
    { 
        uwb_app_poll();
        Internet_Poll();
        HIDO_TimerPoll();
        HIDO_ATLitePoll();
        TCPClient_Poll();
        if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
        {
        //    LOG_INFO(TRACE_MODULE_APP, "处理4G任务\r\n");
           
//            if(flag_4guart_needinit)
//            {
//                flag_4guart_needinit = 0;
//                AIR780EUartInit();
//            }//yuan
                 if(flag_4G_recdata==1)
            {
                flag_4G_recdata = 2;
               
                //LOG_INFO(TRACE_MODULE_APP, "运行Socket_RecvAll tt2 %d\r\n",tt2);
                Socket_RecvAll();
            }
//                  air780_led_on();
            Internet_Poll();
            HIDO_ATLitePoll();
            HIDO_TimerPoll();
            TCPClient_Poll();
//            air780_led_off();
            TCPClient_Poll_1();
        }
      }
        if(flag_secondtask)
        {
            flag_secondtask = 0;
            SecondTask();
					
        }
            UserKeyTask();
            IMUTask();
          IMUTask();
        IdleTask();
#ifndef DEBUG_MODE
//if(flag_sleeptimer)
//        if(!gps_need_data_flag&&!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&Socket_IsSendQueueEmpty(0))||!flag_TCP_reconnectting&&!IfTCPConnected())) //进入休眠条件（与关系，全满足才进）：1.没有5V输入 2 TCP已连接时发送队列为空||TCP无连接时不在重连状态。
//        {
//                 if(!flag_4guart_needinit)
//            {
//                           LOG_INFO(TRACE_MODULE_APP, "4G RX 中断打开\r\n");
//                             board_4GUsart_detection_init(_4gUsart_handler);

//            }
//               flag_sleeptimer =0;
            //LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
//                flag_4guart_needinit = 1;

//        trace_flush();
//        uint32_t lock = int_lock();
//        //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
//        power_enter_power_down_mode(0);
//        int_unlock(lock);
//        }//yuan

            if(delaysleep_count==0)
        if(!gps_power_state&&!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&AIR780E_IsIPIdle()&&Socket_IsSendQueueEmpty(0))||((!flag_TCP_reconnectting)&&!IfTCPConnected()))) 
        {
//               test1=gpio_pin_get_val(_4G_USART_RX_Pin);
            uint32_t lock;
            //flag_4guart_needinit = 1;
//            Internet_Poll();
//            HIDO_ATLitePoll();
//            HIDO_TimerPoll();
//            TCPClient_Poll();
            
           // delay_us(300000);
            trace_flush();
            lock = int_lock();            
            power_enter_power_down_mode(0);
                  uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
//               test3=gpio_pin_get_val(_4G_USART_RX_Pin);
               //LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
            int_unlock(lock);
        }

#endif
    }
}