完成免布线标签地板基本测试，修改串口为串口0，有修改为功率固件flag因中断多次触发问题，未加防抖保护，升级未测试

chen

2025-05-29 9aa8760604c398bc3a7a19b26c9e06de776f11df

 keil/include/main/main.c

@@ -61,10 +61,13 @@
#include "HIDO_ATLite.h"
#include "HIDO_Timer.h"
#include "TCPClient.h"
#include "PCA9555.h"
#include "WS2812.h"

//#define DEBUG_MODE
#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
@@ -76,7 +79,8 @@
#define WARING_LIMIT_TIME 10
#define UPDATE_TIME 10


#define UWB_VOL_INVALID_LED_WAIT_COUNT 5
#define UWB_VOL_VALID_LED_WAIT_COUNT 1
extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
@@ -90,13 +94,19 @@
int16_t fVoltage_mv,first_search_flag;
uint8_t bat_percent,g_start_send_flag=1;
uint8_t link_success_flag,motor_count;
uint16_t gps_wait_count;
uint16_t gps_wait_count,gps_wait_count2;
uint8_t state5v = 1;
uint8_t motor_power_state=1,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state,first_motor_in_flag;
uint8_t motor_power_state=1,uwb_state,air780_power_state,gps_success_state,red_charge_state,green_charge_state,air780_success_state,first_motor_in_flag;
float nomove_count=0;
static uint32_t sample[NUM_SAMPLES] = {0};
uint8_t recev_error_num,send_messgae_count,send_flag,control_state;
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,
@@ -104,9 +114,15 @@
} Operation_step;
Operation_step UWB_work_state;


typedef enum
{UWB_UNLINE=0,	
   VOLTAGE_NORMAL,
  VOLTAGE_ABNORMAL,
} UWB_State;
extern UWB_State Voltage_State;
Operation_step UWB_work_state;
Commend_SendDate send_struct;
static struct ADC_CFG_T usr_adc_cfg = {
struct ADC_CFG_T usr_adc_cfg = {
    .mode = ADC_MODE_CONTINUE,    /* Selected single conversion mode  */
    .clk_sel = ADC_CLK_HIGH,      /* Selected 62.4M high speed clock */
    .vref_sel = ADC_SEL_VREF_INT, /* Using internal reference voltage (1.2V)*/
@@ -127,7 +143,7 @@
    .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,
@@ -144,8 +160,23 @@
};
void uart_receive_callback(void *dev, uint32_t err_code)
{
    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);
}
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);
}
uint8_t power_detect_flag;
static void adc_callback(void *data, uint32_t number)
{
    uint32_t *result = (uint32_t *)data;
@@ -168,77 +199,119 @@
            bat_percent = ((fVoltage_mv - 3300) /8);
        }
    }
            if(fVoltage_mv<3300)
            {
               //power_low_flag=1;
               //gps_air780_power_change(gps_power_state,0);//gps原样，关闭4G 
               power_detect_flag=1;
               LOG_INFO(TRACE_MODULE_APP, "电池电压低于3.3V，异常工作\r\n");
            }else{
               //power_low_flag=0;
               //gps_air780_power_change(gps_power_state,1);//gps原样,开启4G
               power_detect_flag=0;
               LOG_INFO(TRACE_MODULE_APP, "电池电压正常,正常工作\r\n");
            }
				
//      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)
//{
//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;
uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0;
uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag;
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;
void MotorPoll(void)
uint32_t keystarttime,keystarttime2,keystarttime3;
extern uint32_t get_in_num,get_out_num;
uint8_t flag_4G_recdata;
extern uint8_t taglist_num;
void IMUTask(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
                if(flag_alam_state)
                {
                    flag_alam_state = 0;
                    _4GAlarmUpload(2);
                }
                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;
                        _4GAlarmUpload(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;
                        _4GAlarmUpload(1);
                    }
                    gps_uwb_flag=1;//开启gps测距流程
                    need_open_gps_count=0;
                }
            }
        } else if(anchordata_num==0) {
            if(!flag_alam_state)
            {
                flag_alam_state = 1;
                _4GAlarmUpload(1);
            }
            distance = -1;
            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;
        }
    }
   if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)
   {//power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)ACCLERATE_DETECT_Pin, POWER_WAKEUP_LEVEL_HIGH);
      mcu_deep_sleep();
   }
}
void UserKeyTask(void)
{
//if(!read_userkey_input_pca())
//     {
//        if(HIDO_TimerGetTick() - keystarttime3>2)
//        {
//            userkey_state = 1;
//            keystarttime3 =  HIDO_TimerGetTick();
//                  //UDPClient_UploadGPS();
//        }
////        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)
//        {
//            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)
{
{		
    //adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
}
void blink_test_led(enum IO_PIN_T pin_num)
{
   gpio_pin_set(pin_num);//亮
   delay_ms(500);
   gpio_pin_clr(pin_num);//灭
}
void blink_test_led_off(enum IO_PIN_T pin_num)
{
   gpio_pin_clr(pin_num);//灭
}
uint8_t wltag_uwb_timer;
void voltage_Task(void)
{
   if(taglist_num==0)
      {
      Voltage_State=UWB_UNLINE;
      }
switch(Voltage_State){
      case    VOLTAGE_NORMAL:
         if(wltag_uwb_timer++>=UWB_VOL_VALID_LED_WAIT_COUNT)
         {   wltag_uwb_timer=0;
            blink_test_led(LED_PIN);
         }
      break;
      case VOLTAGE_ABNORMAL:
         if(wltag_uwb_timer++>=UWB_VOL_INVALID_LED_WAIT_COUNT)
         {   wltag_uwb_timer=0;
            blink_test_led(LED_PIN);
         }
         case UWB_UNLINE:
            blink_test_led_off(LED_PIN);
      break;
   }
}
void led_Task(void)
{
   voltage_Task();
}
void SecondTask(void)
{static uint8_t second_count;
@@ -247,85 +320,72 @@
        second_count = 0;
        MinuteTask();
    }
    //UWB更新列表
    TagListUpdate();
    //GPS_Poll();
      GPS_Poll_1h();
    //UWB状态检测

    if(IfTCPConnected())
    {
        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
        {
            flag_TCP_reconnectting = 1;
        } else {
            flag_TCP_reconnectting = 0;
        }
        if(TCP_reconnect_timer++>600)
        {
            TCP_reconnect_timer = 0;
        }

    }
      led_Task();
    HIDO_TimerTick();
      if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
    nomove_count++;
      else{
      nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
      }
}
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,delaysleep_count;
uint8_t tt=1;
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
uint8_t uwb_enable_flag=0;

void check_input_change(void)
{
   uint16_t gpio_state;
   gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];
   if(WAKE_UP_POSITION&gpio_state)
   {
      nomove_count=0;
   }
   if(!(MAIN_RI_POSITION&gpio_state))
   {
       flag_4G_recdata = 1;
     delaysleep_count = 3;
   }
   //uart_change_check(gpio_state);
}
static void sleep_timer_callback(void *dev, uint32_t time)
{
    //IO_control_init();
  //  UWBPoll();
    
    
    //MotorPoll();

    if(secondtask_count++%2==0)
if(secondtask_count++%2==0)
    {
        flag_secondtask = 1;
    }else{
        flag_secondtask = 0;
    }

    flag_sleeptimer = 1;

    if(delaysleep_count>0)
        delaysleep_count--;
 if(delaysleep_count>0)
     delaysleep_count--;
    //GPS工作逻辑
		
update_led_power_state();//更新灯状态测试
}
static void voltage_input_handler(enum IO_PIN_T pin)
{

}
static void move_handler(enum IO_PIN_T pin)
//static void move_handler(enum IO_PIN_T pin)
//{
//    nomove_count=0;
//}
uint8_t change_buffer_flag=0;
static void gpio_change_handler(enum IO_PIN_T pin)
{
    nomove_count=0;
change_buffer_flag=1;
}
uint8_t flag_4G_recdata,flag_entersleep;

void _4gUsart_handler(enum IO_PIN_T pin)
{
   // if(!gpio_pin_get_val(_4G_USART_RX_Pin))
    {
        LOG_INFO(TRACE_MODULE_APP, "4G RX 唤醒\r\n");
     //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;
extern 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
    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
//    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;
@@ -342,72 +402,75 @@
    }else{
        UWB_work_state = SEARCH_DEV;
    }
    if(g_com_map[SEND_4G_SECOND]<60)
        g_com_map[SEND_4G_SECOND]=60;
      //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];
    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)|6;
    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:UWB-4G手环 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
    LOG_INFO(TRACE_MODULE_APP,"固件版本:4G-GPS定位手环 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);
}



void IdleTask(void)
void uart_change_check(uint16_t gpio_state)
{
    if(gpio_pin_get_val(INPUT_5V_Pin))
    {

        if(state5v==0)
   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();
         //   uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
            //UartInit();
        }

        //UART_CheckSend();
    } else {
            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();
          //  uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
            //UartDeinit();
            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();
         }
}
int bind_check(void)
void IdleTask(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(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
//        } 
//      }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
//        }
//         }
      UART0_CheckReceive();
}
void boot_deinit(void)
{
@@ -421,17 +484,23 @@
    uart_close(UART_ID1);//解绑原来串口1
    uart_close(UART_ID0);//解绑原来串口0
}
uint8_t flag_4guart_needinit=0,tt2;
uint8_t flag_4guart_needinit=0;
uint8_t index1,index2,index3;
int16_t Voltage_input;
int tt2;
int test1,test3;
uint32_t test4;

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();

//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;
@@ -455,91 +524,79 @@

    // open system timer
    //sys_timer_open();

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

      // TODO 4G
    gpio_open();
    //board_led_init();

      LED_output_init();//配置灯引脚和PA引脚
	
//    adc_open(&usr_adc_cfg);
    IIC2_Init();
    Accelerometer_Init();
    IO_control_init();
      #ifdef DEBUG_BOXING
    io_pin_mux_set(SCL_PIN, IO_FUNC0);//测试测距波形
    gpio_pin_set_dir(SCL_PIN , GPIO_DIR_OUT, 0);
    io_pull_set(SCL_PIN , IO_PULL_DOWN, IO_PULL_UP_LEVEL4);
      #endif
    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
//    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
    //uart_open(UART_ID1, &test_uart_cfg);
    Program_Init();
   // uart1_change_from_gps_to_debug();   
    //Uart1GpsRecDebugSend();   
    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
         Program_Init();
    //uart_open(UART_ID1, &test_uart_cfg);  
    uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
   
// Initialize low power mode
   // 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
         //gps_air780_power_change(0,0);//测试
    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);
    board_acceleration_detection_init(move_handler);
////       LOG_INFO(TRACE_MODULE_APP, "测试进入app");
    board_4GUsart_detection_init(_4gUsart_handler);
//    tt2 = gpio_pin_get_val(_4G_USART_RX_Pin);
//       adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
    //board_acceleration_detection_init(move_handler);
      gpio_change_detection_init(gpio_change_handler);//gpio中断检测输入切换对面免布线基站逻辑
      //board_4GUsart_detection_init(_4gUsart_handler);
      Uwb_init();
      OpenUWB();
    while (1)
    {
        if(flag_TCP_reconnectting||IfTCPConnected())
        {
            if(flag_4G_recdata==1)
            {
                flag_4G_recdata = 2;
               
                LOG_INFO(TRACE_MODULE_APP, "运行Socket_RecvAll\r\n");
                Socket_RecvAll();
            }
           // air780_led_on();
//LOG_INFO(TRACE_MODULE_APP, "处理4G\r\n");
            Internet_Poll();
            HIDO_ATLitePoll();
            HIDO_TimerPoll();
            TCPClient_Poll();
           // air780_led_off();
        }
    { 
            uwb_app_poll();
        if(flag_secondtask)
        {
            flag_secondtask = 0;
            SecondTask();
        }
//            PowerTask();
////            IMUTask();
            //UserKeyTask();
        IdleTask();
 
#ifndef DEBUG_MODE
//if(flag_sleeptimer)
       // if(!gpio_pin_get_val(INPUT_5V_Pin))//AIR780E_IsIPIdle() Socket_IsSendQueueEmpty(0)
      //  if(flag_4G_recdata!=2)
        //if(((IfTCPConnected()&&AIR780E_IsIPIdle()&&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(delaysleep_count==0)
        if(((IfTCPConnected()&&AIR780E_IsIPIdle()&&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。
        {
            uint32_t lock;
            
         //   power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)_4G_USART_RX_Pin, POWER_WAKEUP_LEVEL_LOW);
//        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())||power_low_flag)) 
        {
//               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);
                  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
    }
}