ChinaUWBProject.git

			@@ -145,54 +145,20 @@
			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(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(TTS_ENABLE,0);

			PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭gps，4G
			sleep_timer_stop();

			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);

			//// sys_reset(0);
			////// LOG_INFO(TRACE_MODULE_APP, "从休眠出来\r\n");
			//// int_unlock(lock);
			}
			uint8_t jiancebat_percent_flag;
			static void adc_callback(void *data, uint32_t number)
			@@ -255,6 +221,7 @@
			userkey_state=4;
			heartbeasend_flag = 1;
			sleepflag=1;

			sleepflagtime=HIDO_TimerGetTick();
			}
			}
			@@ -301,6 +268,7 @@
			keystarttime3 = HIDO_TimerGetTick();
			}
			}
			uint8_t user_Power_keyflag=0;
			void PowerTask(void)
			{
			if(read_powerkey_input_pca())
			@@ -320,9 +288,12 @@
			// 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();
			}
			}else
			{
			@@ -541,6 +512,10 @@
			{
			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;
			@@ -589,7 +564,7 @@
			// }
			g_com_map[MODBUS_MODE] = 0;
			log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
			g_com_map[VERSION] = (1<<8)\|24;
			g_com_map[VERSION] = (1<<8)\|25;


			LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
			@@ -600,6 +575,7 @@
			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);
			// 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]);
			@@ -628,166 +604,180 @@
			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())
			{
			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==0)
			{
			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;
			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;
			}
			if(bat_percent>=99&&chongman_time>=180)
			only_one_flag=0;
			uwbled=0;
			rtkled=0;
			led4g=0;
			powerled=0;
			// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
			while(1)
			{
			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)
			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
			{
			g_com_map[CNT_RESTART]=0;
			save_com_map_to_flash();
			NVIC_SystemReset();
			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;
			}
			}
			}
			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;
			}
			// NVIC_SystemReset();
			// PCA9555_Set_One_Value_Output(PWR_ENABLE,0);
			input5vflag=1;
			}
			else
			{
			if(state5v==1)
			else
			{
			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);

			}
			}
			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<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)
			{
			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);

			}
			}
			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
			}

			}
			}
			void boot_deinit(void)
			{
			@@ -931,7 +921,7 @@
			// delay_ms(100);
			// gaodu=GetPressAndHeight();
			PCA9555_init();
			board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_115200);
			board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_921600);
			// while(1);
			// Reset reason
			reset_cause_get();
			@@ -955,7 +945,8 @@

			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)
			@@ -977,6 +968,16 @@
			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();
			@@ -1023,8 +1024,8 @@
			flag_secondtask = 0;
			SecondTask();
			}
			IMUTask();
			IMUTask();
			IdleTask();
			check_step_and_update_state();
			check_step_and_update_state();
			}
			}