加入shell模式跟ntrip。目前没有调试好，等外包改一下

WXK

2025-03-12 d5d1ca2ebf9087415d3d11907cd79ba58162760e

 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"
@@ -60,7 +20,18 @@
#include "Internet.h"
#include "HIDO_ATLite.h"
#include "HIDO_Timer.h"
#include "TCPClient.h"
#include "PCA9555.h"
#include "WS2812.h"
#include "DBG.h"
typedef enum
{
    RTCMMODE_NONE,
    RTCMMODE_TCP,
    RTCMMODE_NTRIP,
}RTCMMode;

//#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
#define TEST_UART_POLL_MODE 0
@@ -69,34 +40,48 @@
#define TEST_UART_MODE TEST_UART_DMA_MODE

#define NUM_SAMPLES 1
#define BIND_TRIGGER_TIME 60000 
#define BIND_TRIGGER_TIME 60000
#define MOTOR_COUNT_TIME 1
#define WARING_LIMIT_TIME 10
#define UPDATE_TIME 10


extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
uint32_t dev_id;
extern int distance;
extern uint8_t anchordata_num;
uint16_t dev_id;
uint8_t group_id;
uint16_t tag_frequency;
uint16_t disoffset;
uint16_t warning_distance,prewarning_distance;
int16_t fVoltage_mv,first_search_flag;
uint8_t bat_percent,g_start_send_flag=1;
int link_success_flag;
uint8_t state5v,link_error_count;
uint8_t gps_power_state,motor_power_state=1,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state;
uint8_t link_success_flag,motor_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,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,
      SEARCH_DEV,
}Operation_step;
Operation_step Operation_state;
        LINK_SUCCESS,
        SEARCH_DEV,
} Operation_step;
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)*/
@@ -109,39 +94,55 @@
    .high_pulse_time = 4,
    .settle_time = 1,
};
 struct UART_CFG_T test_uart_cfg =
    {
        .parity = UART_PARITY_NONE,
        .stop = UART_STOP_BITS_1,
        .data = UART_DATA_BITS_8,
        .flow = UART_FLOW_CONTROL_NONE,
        .rx_level = UART_RXFIFO_CHAR_1,
        .tx_level = UART_TXFIFO_EMPTY,
        .baud = BAUD_115200,
struct UART_CFG_T test_uart_cfg =
{
    .parity = UART_PARITY_NONE,
    .stop = UART_STOP_BITS_1,
    .data = UART_DATA_BITS_8,
    .flow = UART_FLOW_CONTROL_NONE,
    .rx_level = UART_RXFIFO_CHAR_1,
    .tx_level = UART_TXFIFO_EMPTY,
    .baud = BAUD_115200,
#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
        .dma_en = false,
        .int_rx = false,
        .int_tx = false,
    .dma_en = false,
    .int_rx = false,
    .int_tx = false,
#elif (TEST_UART_MODE == TEST_UART_INTERUPT_MODE)
        .dma_en = false,
        .int_rx = true,
        .int_tx = true,
    .dma_en = false,
    .int_rx = true,
    .int_tx = true,
#elif (TEST_UART_MODE == TEST_UART_DMA_MODE)
        .dma_en = true,
        .int_rx = false,
        .int_tx = false,
    .dma_en = true,
    .int_rx = false,
    .int_tx = false,
#endif
      };
static 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);
};
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);
}
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 
            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);
}
static void adc_callback(void *data, uint32_t number)
{
    uint32_t *result = (uint32_t *)data;
    for (uint16_t i = 0; i < number; i++)
    {
//        LOG_INFO(TRACE_MODULE_APP, "The voltage measured %d mv\r\n", 
//        LOG_INFO(TRACE_MODULE_APP, "The voltage measured %d mv\r\n",
//        ADC_INTERNAL_VREF_MV + adc_code_to_mv((int16_t)*result, ADC_INTERNAL_VREF_MV));
        fVoltage_mv=ADC_INTERNAL_VREF_MV + adc_code_to_mv((int16_t)*result, ADC_INTERNAL_VREF_MV);
        fVoltage_mv=fVoltage_mv*2;
@@ -158,132 +159,401 @@
            bat_percent = ((fVoltage_mv - 3300) /8);
        }
    }
       LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
            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");
            }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
}
//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);
//}
static void sleep_timer_callback(void *dev, uint32_t time)
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,keystarttime3;
extern uint32_t get_in_num,get_out_num;
uint8_t flag_4G_recdata;
uint8_t ledonflag;
uint32_t ledontime;
void IMUTask(void)
{
		
      nomove_count++;
      send_messgae_count+=g_com_map[COM_INTERVAL];
      //if(send_messgae_count>=g_com_map[4G_INTERNAL]){
      //send_message_count=0;
      //send_flag=1;
   //}
	
      if(Operation_state==LINK_SUCCESS){//成功时清0错误计数
      link_error_count=0;
      g_start_send_flag=1;
      }
      if(Operation_state==SEARCH_DEV){
//      if(first_search_flag){//当第一次连接断开产生时才开始计数
         //link_error_count=0;
//      }
      link_error_count++;
      if(link_error_count==60)
      link_error_count=0;
      //link_error_count+=g_com_map[COM_INTERVAL];
         //if(link_error_count>=g_com_map[4G_INTERNAL])
         //link_error_count=0;
      updata_led_power_state();//更新灯状态
   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)
        {
              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)
{		
      PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
}
void SecondTask(void)
{static uint8_t second_count;
    if(second_count++>60)
    {
        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())
    {
        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;
        }

    }
   }
    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;
//      }
}
static void voltage_input_handler(enum IO_PIN_T pin)
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;
static void sleep_timer_callback(void *dev, uint32_t time)
{
	
}
static void move_handler(enum IO_PIN_T pin)
{
nomove_count=0;
}
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
memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
warning_distance=g_com_map[STATIONARY_TIME];
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
}



void IdleTask(void)
{
   if(gpio_pin_get_val(INPUT_5V_Pin))
   {    	
  
      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{
        if(state5v==1)
if(secondtask_count++%2==0)
    {   
        input5v_time=1;
        flag_secondtask = 1;
        if(!read_5v_input_pca())
        {
          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();
        if(bat_percent>15)
        {
            powerled = BLUE;
        }else{
             powerled = RED;
        }
            UART_CheckReceive();
        ledonflag=1;
//        ledontime=HIDO_TimerGetTick();
        Set4LEDColor(uwbled,rtkled,led4g,powerled); 
        }
        input5v_time=1;
        if(taglist_num==0)
        {
        CloseUWB();
        Uwb_init();
        OpenUWB();
        }
    }else{
        flag_secondtask = 0;
    }
 if(delaysleep_count>0)
     delaysleep_count--;
}
}
int bind_check(void)
uint8_t test11,test21,test31,test41,test51;
static void pca_handler(enum IO_PIN_T pin)
{
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
      Operation_state=LINK_SUCCESS;
         }else{//否则进入搜索模式
      Operation_state=SEARCH_DEV;
      if(first_search_flag==0)
      first_search_flag=1;
   PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值
   uint16_t gpio_state;
   gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];
    test41++;
   if(WAKE_UP_POSITION&gpio_state)
   {
      nomove_count=0;
        test11++;
   }
//   if(!(MAIN_RI_POSITION&gpio_state))
//   {
//       flag_4G_recdata = 1;
//     delaysleep_count = 3;
//        test21++;
//   }
    if((PWR_ON_POSITION&gpio_state))
   {
        PowerTask();
        test31++;
   }
}

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;
}
extern uint16_t ip0,ip1,ip2,ip3,port;
extern uint8_t gps_4g_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
    memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
    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

    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[RTCMMODE_INDEX] = RTCMMODE_NTRIP;
    snprintf((char *)&g_com_map[NTRIP_HOST_INDEX], 32, "140.143.212.42");
    g_com_map[NTRIP_PORT_INDEX] = HIDO_UtilStrToInt("8005");
//    snprintf((char *)&g_com_map[NTRIP_PORT_INDEX], 32, "8005");
    snprintf((char *)&g_com_map[NTRIP_USERNANME_INDEX], 32, "test005");
    snprintf((char *)&g_com_map[NTRIP_PASSWORD_INDEX], 32, "Hxzk0228");
    snprintf((char *)&g_com_map[NTRIP_SOURCENAME_INDEX], 32, "RTCM32_GNSS2");


    if(g_com_map[BIND_DEV_ID]==0)
    {
        UWB_work_state = UN_BIND;
    }else{
        UWB_work_state = SEARCH_DEV;
    }
      //g_com_map[SEND_4G_SECOND]
    if(g_com_map[SEND_4G_SECOND]<30)
      {
      gps_open_flag=0;
      }else{
      gps_open_flag=1;
      }
    g_com_map[MODBUS_MODE] = 0;
      log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
    g_com_map[VERSION] = (1<<8)|3;
        
        
    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",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");
    }
}
uint32_t adctick = 0;
uint8_t only_one_flag;
uint16_t chongman_time;
uint8_t bat_percent_old=100;
uint8_t input5vflag;
uint8_t kai_4g_flag;
void IdleTask(void)
{
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;
                if(HIDO_TimerGetTick()-adctick>6000)  //10分钟采样一次 电量
                {
                    chongman_time=chongman_time+6;
                    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>=1800)
                {
                    powerled = GREEN;
                }else{
                    powerled = RED;
                }
                if(DBG_GetMode() == DBG_MODE_SHELL)
                {
                    if(kai_4g_flag==0)
                    {
                    kai_4g_flag=1;    
//                    PCA9555_Set_One_Value_Output(AIR780E_ENBALE,1);
                    Shell_Init();
                    }
                HIDO_InputPoll();
                Internet_Poll();
                HIDO_TimerPoll();
                HIDO_ATLitePoll();
                TCPClient_Poll();
                }
                UART_CheckReceive();
                if(flag_secondtask)
                {
                    flag_secondtask = 0;
                    SecondTask();
                }
                Set4LEDColor(0,0,0,powerled);
                if(input5v_time)
                {
                if(!read_5v_input_pca())
                {
                break;
                }
                }
            }
            NVIC_SystemReset();
            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
            }
        }
      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); 
        }
}
void boot_deinit(void)
{
   //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);
    // 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
}
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)
{
    board_clock_run();
    boot_deinit();
    board_pins_config();
      IIC2_Init();
    board_debug_console_open(TRACE_PORT_UART0);
       // Reset reason
   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)
@@ -296,107 +566,64 @@
    {
        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
    Uart_Register(UART_ID_4G, UART_ID1);
    AIR780EDriver_PinRegister(AIR780E_PIN_3V8_EN, IO_PIN_5);
    AIR780EDriver_PinRegister(AIR780E_PIN_PWRKEY, IO_PIN_6);
    Uart_Register(UART_ID_4G, UART_ID0);
//    Uart_Register(UART_ID_DBG, UART_ID1);
    Program_Init();
    Internet_Init();
		
    gpio_open();
    //board_led_init();
		
//      adc_open(&usr_adc_cfg);
        IIC2_Init();
      Accelerometer_Init(); //加速度计初始化必须在IO_control_init之前因为复用SDA引脚 
      IO_control_init();
      //adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
      uart_open(UART_ID1, &test_uart_cfg);
      gps_air780_power_change(1,1);//开启gps，4G
      Program_Init();
       uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
// Initialize low power mode
    power_init();
//         g_com_map[BIND_DEV_ID]=0x1122;//测试
      if(bind_check())//绑定后才提前开启测距
      {link_success_flag=temp_main();//上机开启接收2s绑定成功则进行下面轮询测距流程,不成功则1分后再次开启2s接收
         check_if_in_search();
      }else{
      send_struct.bindState=false;
      Operation_state=UN_BIND;
      }
      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(1000));//测试
      board_5V_input_init(voltage_input_handler);
      board_acceleration_detection_init(move_handler);
    while (1)
    TCPClient_Init();
    if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
    {
        // TODO
       NTRIPClient_Init();
       NTRIPApp_Init();
    }
    gpio_open();
    LED_output_init();//配置彩色灯引脚
    IIC2_Init();
    Accelerometer_Init();
    PCA9555_init();
    adc_open(&usr_adc_cfg);
    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
    power_init();
    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
    Uwb_init();
    OpenUWB();    
    DBG_Init();
//    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);       
    }
//                        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
    while (1)
    { 
      uwb_app_poll();
        Internet_Poll();
        HIDO_ATLitePoll();
        HIDO_TimerPoll();
        
   switch(Operation_state){
      case LINK_SUCCESS:
      {//连接成功进行轮询测距
         if(g_start_send_flag){
         g_start_send_flag = 0;
         uwb_led_on();
         simple_main();
         uwb_led_off();
         IdleTask();	
         }else{
         IdleTask();	
         } 
      }
      break;
      case SEARCH_DEV:
      {//接包不成功或者通讯失败进入搜索模式
         if(link_error_count==0||first_search_flag){
         first_search_flag=0;
         uwb_led_on();
         link_success_flag=temp_main();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
         uwb_led_off();
         if(link_success_flag)
         Operation_state=LINK_SUCCESS;
      }
         IdleTask();
      }
      break;
      case UN_BIND:
      {uwb_led_off();//关闭uwb指示灯
         IdleTask();
      }
   break;
   }
		
      //3种情况后都要发包和休眠
      //if(send_flag){
      //message_construct();
      //send_udp;
   //air780_success_state=0;//关闭4G成功发送灯
      //blink_led(&air780_success_state);//成功测距闪烁4G状态灯
   //air780_success_state=0;
      //}
#ifdef DEBUG_MODE
         if(!gpio_pin_get_val(INPUT_5V_Pin)){
                  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);
         }
#endif
        HIDO_ATLitePoll();
        TCPClient_Poll();
        if(flag_secondtask)
        {
            flag_secondtask = 0;
            SecondTask();
        }
      PowerTask();
      IMUTask();
      UserKeyTask();
        IdleTask();
    }
}