ChinaUWBProject.git

			@@ -139,60 +139,33 @@
			uint8_t onlyoneflag=1;
			void mcu_deep_sleep(void)
			{

			uint32_t lock;
			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，4G
			PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭gps，4G
			sleep_timer_stop();
			//adc_close();
			power_enter_power_down_mode(1);
			// LOG_INFO(TRACE_MODULE_APP, "从休眠出来\r\n");
			sys_reset(0);
			int_unlock(lock);
			//// uint32_t lock;
			//// trace_flush();
			//// lock = int_lock();
			////// LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");
			//// gps_air780_power_change(0,0);//关闭gps，4G
			// deep_sleep_falg=0;
			// PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
			// PCA9555_Set_One_Value_Output(GPS_POWER,0);//关闭gps，4G
			//// PCA9555_Set_One_Value_Config(MAIN_RI,0);//配置4G唤醒引脚为输入
			////
			////// PCA9555_Set_One_Value_Output(MAIN_RI,1);
			// boot_deinit();
			// CloseUWB();
			// if(onlyoneflag)
			// {
			// onlyoneflag=0;
			// userkey_state=4;
			// heartbeasend_flag = 1;
			// sleepflag=1;
			// sleepflagtime=HIDO_TimerGetTick();
			// }
			// if(sleepflag)
			// {
			// if(HIDO_TimerGetTick() - sleepflagtime>3)
			// {
			// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭gps，4G
			// }
			// }
			//
			//// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭gps，4G
			//
			//// sleep_timer_stop();
			//// //adc_close();
			//// power_enter_power_down_mode(1);
			//// delay_us(200000);
			// 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);

			//// sys_reset(0);
			////// LOG_INFO(TRACE_MODULE_APP, "从休眠出来\r\n");
			//// int_unlock(lock);
			// gpio_pin_get_val(PCA_INPUT_DETECT);
			// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭4G AT+CPOWD

			sleep_timer_stop();
			// delay_ms(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);

			}
			uint8_t jiancebat_percent_flag;
			static void adc_callback(void *data, uint32_t number)
			@@ -217,22 +190,22 @@
			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;
			@@ -241,39 +214,49 @@
			uint32_t keystarttime,keystarttime2,keystarttime3;
			extern uint32_t get_in_num,get_out_num;
			uint8_t flag_4G_recdata;
			uint8_t ledonflag;
			uint8_t ledonflag,_4gclose_flag;
			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);
			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>3)
			{
			power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)PCA_INPUT_DETECT, POWER_WAKEUP_LEVEL_LOW);
			mcu_deep_sleep();
			}
			if(HIDO_TimerGetTick() - sleepflagtime>1)
			{
			if(!_4gclose_flag)
			{
			_4gclose_flag = 1;
			PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
			}
			}

			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;
			@@ -281,93 +264,97 @@
			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;
			guanjiflag=1;
			userkey_state = 2;
			guanjiflagtime=HIDO_TimerGetTick();
			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++;
			gaodu=GetPressAndHeight()*100;
			// gaodu=GetPressAndHeight()*100;
			// else{
			// nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
			// }
			@@ -382,49 +369,51 @@
			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++;}
			if(g_com_map[UWBFrequency]>1)
			{
			uwb_time_count++;
			}
			// #endif
			uwb_offtime_count++;
			if(uwb_offtime_count>60)
			{
			uwb_offtime_count=0;
			current_state = STATE_SLEEP;
			}
			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)
			{
			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
			@@ -437,16 +426,16 @@
			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) {
			@@ -457,31 +446,31 @@
			// 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];

			@@ -489,9 +478,9 @@

			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;
			@@ -512,7 +501,7 @@
			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)
			{
			@@ -521,38 +510,42 @@
			}
			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[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;
			@@ -564,8 +557,8 @@
			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");
			@@ -577,10 +570,10 @@
			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]
			//g_com_map[SEND_4G_SECOND]
			// if(g_com_map[SEND_4G_SECOND]<30)
			// {
			// gps_open_flag=0;
			@@ -588,10 +581,10 @@
			// 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)\|24;


			log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
			g_com_map[VERSION] = (1<<8)\|33;


			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,"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]);
			@@ -600,9 +593,15 @@
			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
			LOG_INFO(TRACE_MODULE_APP,"当前4G波特率: 9600.\r\n");
			#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)
			{
			@@ -613,7 +612,7 @@
			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);
			@@ -628,181 +627,217 @@
			extern uint8_t jiancebat_percent_flag;
			void IdleTask(void)
			{
			if(read_5v_input_pca())
			{
			if(state5v==0)
			// if(g_com_map[URT_BQ])
			// {}
			// 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
			{
			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)
			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)
			{
			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)
			}
			if(bat_percent>=99&&chongman_time>=180)
			{
			powerled = GREEN;
			} else {
			powerled = RED;
			}
			if(DBG_GetMode() == DBG_MODE_SHELL)
			{
			if(ota_flag==1)
			{
			powerled = GREEN;
			}else{
			powerled = RED;
			// OTA_Poll();
			// HTTPClient_Poll();
			}
			if(DBG_GetMode() == DBG_MODE_SHELL)
			else
			{
			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();
			uwb_app_poll();
			}
			UART_CheckReceive();
			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();
			}
			if(DBG_GetMode() == DBG_MODE_SHELL)
			{
			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(g_com_map[CNT_RESTART]==1)
			{
			g_com_map[CNT_RESTART]=0;
			save_com_map_to_flash();
			NVIC_SystemReset();

			}
			}
			else
			{
			}
			else
			{
			Set4LEDColor(0,0,0,powerled);
			}
			if(input5v_time)
			{
			}
			if(input5v_time)
			{
			if(!read_5v_input_pca())
			{
			break;
			}
			break;
			}
			}
			// NVIC_SystemReset();
			// PCA9555_Set_One_Value_Output(PWR_ENABLE,0);
			input5vflag=1;
			}
			else
			}
			// 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)
			{
			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
			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
			delay_us(1000000);

			}


			}
			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)
			{
			}
			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);
			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
			}
			if(bat_percent<1&&bat_percent_only_one&&jiancebat_percent_flag)
			{
			userkey_state=3;
			heartbeasend_flag = 1;
			guanjiflag=1;
			guanjiflagtime=HIDO_TimerGetTick();
			bat_percent_only_one=0;
			}
			if(guanjiflag)
			{
			rtkled=WHITE;
			uwbled=WHITE;
			led4g=WHITE;
			powerled=WHITE;
			Set4LEDColor(uwbled,rtkled,led4g,powerled);
			if(HIDO_TimerGetTick() - guanjiflagtime>3)
			{
			PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
			PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
			PCA9555_Set_One_Value_Output(GPS_POWER,0);//关GPS
			PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
			}

			}

			}
			}
			void boot_deinit(void)
			{
			//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;
			@@ -810,7 +845,7 @@
			uint32_t elapsed_time_jibu;
			extern uint8_t uwb_OpenClose_flag;
			void upload_apppoll()
			{
			{

			if(current_state==STATE_NORMAL&&uwb_OpenClose_flag==1)
			{
			@@ -819,41 +854,41 @@
			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();
			break;

			case UWB_MEASUREMENT_INTERVAL_SLEEP:
			taglist_num = 0;
			CloseUWB();
			Uwb_init();
			OpenUWB();
			state_start_time = uwb_time_count;
			break;
			}
			}
			// switch (current_state)
			// switch (current_state)
			// {
			////#ifdef UWB_1_5HZ
			// if(g_com_map[UWBFrequency]>1)
			@@ -870,9 +905,9 @@
			// taglist_num = 0;
			// CloseUWB();
			// Uwb_init();
			// OpenUWB();
			// state_start_time = uwb_time_count;
			// }
			// OpenUWB();
			// state_start_time = uwb_time_count;
			// }
			// }
			// else
			// {}
			@@ -883,19 +918,19 @@
			// {
			// 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;
			// }
			// }

			}

			@@ -909,29 +944,29 @@
			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");
			//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,
			};
			struct WDT_CFG_T app_wdt_cfg = {
			.timeout = 32768 * 30,
			.rst_en = true,
			.int_en = true,
			.callback = app_wdt_callback,
			};
			int main(void)
			{
			__enable_irq();
			{
			__enable_irq();
			board_clock_run();
			boot_deinit();
			board_pins_config();
			gpio_open();
			IIC2_Init();
			Accelerometer_Init();
			IIC2_Init();
			Accelerometer_Init();
			// delay_ms(100);
			BarInit();
			// BarInit();
			// delay_ms(100);
			// gaodu=GetPressAndHeight();
			PCA9555_init();
			board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_115200);
			PCA9555_init();
			board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_921600);
			// while(1);
			// Reset reason
			reset_cause_get();
			@@ -946,16 +981,15 @@
			}
			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);
			Internet_Init();
			TCPClient_Init();
			// if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
			@@ -971,23 +1005,30 @@
			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();
			}
			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;
			@@ -997,17 +1038,17 @@
			PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
			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
			PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
			adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
			pca_input_detection_init(pca_handler);//pca检测输入
			gaodu=GetPressAndHeight()*100;
			GPS_Init();
			// gaodu=GetPressAndHeight()*100;
			while (1)
			{

			{
			uwb_app_poll();
			Internet_Poll();
			HIDO_TimerPoll();
			@@ -1023,8 +1064,8 @@
			flag_secondtask = 0;
			SecondTask();
			}
			IMUTask();
			IMUTask();
			IdleTask();
			check_step_and_update_state();
			check_step_and_update_state();
			}
			}