111111111，不跑at，交给外包

WXK

2025-03-26 adf39f48b3c6a26db6a8c8ccb455c6addb8dc359

111111111，不跑at，交给外包

 keil/JLinkLog.txt

ÎļþÌ«´ó

 keil/Listings/uwb_simple_example.map

ÎļþÌ«´ó

 keil/Objects/uwb_simple_example.build_log.htm

@@ -21,13 +21,13 @@
Dialog DLL:      TARMCM1.DLL V1.14.2.0
 
<h2>Project:</h2>
C:\git-mk8000\ChinaUWBProject - 4G\keil\uwb_simple_example.uvprojx
C:\git-mk8000\ChinaUWBProject - 4G - OTA\keil\uwb_simple_example.uvprojx
Project File Date:  03/26/2025

<h2>Output:</h2>
*** Using Compiler 'V6.14', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin'
Build target 'MK8000 Release'
After Build - User command #1: fromelf.exe --bincombined -o "Output\uwb_simple_example.bin" "C:\git-mk8000\ChinaUWBProject - 4G\keil\Objects\uwb_simple_example.axf"
After Build - User command #1: fromelf.exe --bincombined -o "Output\uwb_simple_example.bin" "C:\git-mk8000\ChinaUWBProject - 4G - OTA\keil\Objects\uwb_simple_example.axf"
".\Objects\uwb_simple_example.axf" - 0 Error(s), 0 Warning(s).

<h2>Software Packages used:</h2>

 keil/Objects/uwb_simple_example.hex

ÎļþÌ«´ó

 keil/Objects/uwb_simple_example.htm

ÎļþÌ«´ó

 keil/Objects/uwb_simple_example.lnp

@@ -42,10 +42,8 @@
".\objects\uwb_app.o"
".\objects\uwb_tag.o"
".\objects\gps.o"
".\objects\ntripapp.o"
".\objects\dbg.o"
".\objects\shell.o"
".\objects\tcpclient_1.o"
".\objects\ota.o"
".\objects\wsf_assert.o"
".\objects\wsf_buf.o"
".\objects\wsf_bufio.o"
@@ -70,7 +68,7 @@
".\objects\internet.o"
".\objects\module.o"
".\objects\socket.o"
".\objects\ntripclient.o"
".\objects\httpclient.o"
".\objects\uart.o"
--library_type=microlib --strict --scatter ".\include\devices\MK800X\Source\ARM\MK800X_ac6_copy.sct"
--summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols

 keil/Objects/uwb_simple_example_MK8000 Release.dep

@@ -667,7 +667,7 @@
I (include\drivers\mk_dma.h)(0x67D670B8)

I (include\drivers\mk_misc.h)(0x67D670B8)

F (.\include\drivers\serial_at_cmd_app.c)(0x67D670B8)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/drivers -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include/components/internet/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-IC:/Keil_v5/ARM/PACK/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-IC:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/serial_at_cmd_app.o -MD)

I (include\drivers\serial_at_cmd_app.h)(0x67D670B8)

I (include\drivers\serial_at_cmd_app.h)(0x67E3C5D2)

I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x5DDFFD72)

I (include\drivers\global_param.h)(0x67E25480)

I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x5DDFFD6C)

@@ -748,7 +748,7 @@
I (C:\Keil_v5\ARM\ARMCLANG\include\stdarg.h)(0x5DDFFD72)

I (include\drivers\mk_gpio.h)(0x67D670B8)

I (include\drivers\Usart.h)(0x67D670B8)

F (.\include\main\main.c)(0x67E39517)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include/components/internet/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-IC:/Keil_v5/ARM/PACK/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-IC:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/main.o -MD)

F (.\include\main\main.c)(0x67E3D8E3)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include/components/internet/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-IC:/Keil_v5/ARM/PACK/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-IC:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/main.o -MD)

I (include\drivers\mk_trace.h)(0x67D670B8)

I (include\drivers\mk_common.h)(0x67D670B8)

I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72)

@@ -775,7 +775,7 @@
I (C:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x5DDFFD72)

I (C:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x5DDFFD6A)

I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x5DDFFD6C)

I (include\drivers\serial_at_cmd_app.h)(0x67D670B8)

I (include\drivers\serial_at_cmd_app.h)(0x67E3C5D2)

I (include\drivers\global_param.h)(0x67E25480)

I (include\board\board.h)(0x67D670B8)

I (include\drivers\mk_gpio.h)(0x67D670B8)

@@ -906,7 +906,7 @@
I (include\drivers\mk_gpio.h)(0x67D670B8)

I (include\drivers\mk_io.h)(0x67D670B8)

I (include\drivers\mk_calib.h)(0x67D670B8)

F (.\include\src\GPS.c)(0x67D68CCC)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include/components/internet/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-IC:/Keil_v5/ARM/PACK/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-IC:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/gps.o -MD)

F (.\include\src\GPS.c)(0x67E3A5B8)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include/components/internet/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-IC:/Keil_v5/ARM/PACK/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-IC:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/gps.o -MD)

I (C:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x5DDFFD72)

I (C:\Keil_v5\ARM\ARMCLANG\include\stdarg.h)(0x5DDFFD72)

I (C:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x5DDFFD6A)

@@ -969,7 +969,7 @@
I (include\drivers\global_param.h)(0x67E25480)

I (include\components\internet\inc\Module.h)(0x67D670B8)

I (include\drivers\DBG.h)(0x67D68A57)

F (.\include\drivers\DBG.c)(0x67D68BC8)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include/components/internet/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-IC:/Keil_v5/ARM/PACK/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-IC:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/dbg.o -MD)

F (.\include\drivers\DBG.c)(0x67E3A62F)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include/components/internet/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-IC:/Keil_v5/ARM/PACK/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-IC:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/dbg.o -MD)

I (C:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x5DDFFD72)

I (C:\Keil_v5\ARM\ARMCLANG\include\stdarg.h)(0x5DDFFD72)

I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x5DDFFD6C)

@@ -1061,7 +1061,7 @@
I (include\devices\MK800X\Include\system_MK800X.h)(0x67D670B8)

I (..\user_config.h)(0x67D670B8)

I (include\drivers\mk_dma.h)(0x67D670B8)

F (.\include\src\OTA.c)(0x67E269E5)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include/components/internet/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-IC:/Keil_v5/ARM/PACK/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-IC:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/ota.o -MD)

F (.\include\src\OTA.c)(0x67E3D4C5)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include/components/internet/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-IC:/Keil_v5/ARM/PACK/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-IC:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/ota.o -MD)

I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x5DDFFD6C)

I (include\components\hido\Include\HIDO_TypeDef.h)(0x67D670B8)

I (include\components\hido\Include\HIDO_Timer.h)(0x67D670B8)

@@ -1093,7 +1093,7 @@
I (include\drivers\mk_uart.h)(0x67D670B8)

I (C:\Keil_v5\ARM\ARMCLANG\include\stdarg.h)(0x5DDFFD72)

I (include\drivers\global_param.h)(0x67E25480)

I (include\drivers\serial_at_cmd_app.h)(0x67D670B8)

I (include\drivers\serial_at_cmd_app.h)(0x67E3C5D2)

F (.\include\components\wsf\sources\port\baremetal\wsf_assert.c)(0x67D670B8)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/components/wsf/include/platform -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include/components/internet/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-IC:/Keil_v5/ARM/PACK/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-IC:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/wsf_assert.o -MD)

I (include\components\wsf\include\wsf_assert.h)(0x67D670B8)

I (include\components\wsf\include\wsf_trace.h)(0x67D670B8)


 keil/include/drivers/DBG.c

@@ -458,5 +458,5 @@
    l_stSerialInput.m_fnPuts = DBG_SerialPutString;
    HIDO_InputRegister(&l_stSerialInput);
    
    Shell_Init();
//    Shell_Init();
}

 keil/include/drivers/serial_at_cmd_app.h

@@ -11,7 +11,7 @@

#define APP_CONFIG_IAPFLAG_MAP  0x0402D010
#define APP_CONFIG_IAPFLAG_SECTOR_ADDR 0x0402D000    

#define APP_CONFIG_IAP_PARAM_MAP       0x0407A000
typedef enum{    UsartReceiveWaitHead0,// 55  0d
                UsartReceiveWaitHead1,//aa   0a
                UsartReceiveWaitMsgType,//   

 keil/include/main/main.c

@@ -416,24 +416,8 @@
        
        
    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]);
    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");
    }
    LOG_INFO(TRACE_MODULE_APP,"跳转OTA升级固件启动成功\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]);
    delay_ms(500);
}
uint32_t adctick = 0;
@@ -444,133 +428,133 @@
extern uint8_t ota_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;
//                adctick = HIDO_TimerGetTick();
                if(HIDO_TimerGetTick()-adctick>60)  //10分钟采样一次 ç”µé‡
                {
                    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>=600)
                {
                    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;
                }
                }
            }
            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); 
        }
//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>60)  //10分钟采样一次 ç”µé‡
//                {
//                    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>=600)
//                {
//                    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;
//                }
//                }
//            }
//            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)
{
@@ -594,7 +578,7 @@
extern uint8_t receive_flag;
extern uint8_t YUANGPS_ParseGGA_data[256];
extern uint8_t YUANGPS_ParseGGA_changdu;
static HIDO_CHAR url[256 + 1];
static HIDO_CHAR url[256 + 1]="http://123.57.87.125:7001/hfs/MK8000-4G工卡V1.2.Bin";
//void OTA_MODE(void)
//{
//    if(g_com_map[OTA_FLAG])
@@ -670,17 +654,8 @@
    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();
//    TCPClient_Init();
    HTTPClient_Init();
    gpio_open();
    LED_output_init();//配置彩色灯引脚
    IIC2_Init();
@@ -694,52 +669,36 @@
    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_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;
    DBG_SetMode(DBG_MODE_SHELL);
    state5v=1;
    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
    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
    
//    memcpy(/*(HIDO_UINT8 *)*/url,(void *)APP_CONFIG_IAP_PARAM_MAP,256);
    OTA_Start((HIDO_UINT8 *)url);
    LOG_INFO(TRACE_MODULE_APP,"获取固件地址为:%s\r\n",url);
    while (1)
    { 
        if(ota_flag==1)
        {
//            OTA_Poll();
//            HTTPClient_Poll();    
        }
        else
        {
            uwb_app_poll();
        }
        OTA_Poll();
        HTTPClient_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();
        }
        PowerTask();
        IMUTask();
        UserKeyTask();
        IdleTask();
//        TCPClient_Poll();
//        if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
//        {
//            TCPClient_Poll_1();
//        }
//        if(flag_secondtask)
//        {
//            flag_secondtask = 0;
//            SecondTask();
//        }
//        PowerTask();
//        IMUTask();
//        UserKeyTask();
//        IdleTask();
    }
}

 keil/include/src/GPS.c

@@ -543,7 +543,7 @@
    }
    UDPClient_UploadGPS();
    gps_ntripsend=1;
    NTRIPApp_ReportGGA(GPS_ParseGGA_data, _u32Len);
//    NTRIPApp_ReportGGA(GPS_ParseGGA_data, _u32Len);
//    if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP&&gps_ntripsend)
//    {
//        gps_ntripsend=0;

 keil/include/src/OTA.c

@@ -128,6 +128,7 @@
 * Author            : www.hido-studio.com
 * Modified Date:    : 2020å¹´9月13日
 *******************************************************************************/
uint8_t result1;
static HIDO_INT32 OTA_HTTPGetFileCallBack(HIDO_UINT32 _u32RespCode, ST_HTTPGetFileResponse *_pstResponse,
        HIDO_UINT8 *_pu8Data, HIDO_UINT32 _u32Len, HIDO_VOID *_pArg)
{
@@ -185,20 +186,18 @@
//#endif
                                      // HAL_Delay(10);
                    // Reboot(0);
                    uint32_t result = 0;
                    uint16_t tmp = 0xCCCC;
                    uint16_t tmp = 0xBBBB;
                    __disable_irq();
                    result = flash_open(FLASH_ID0,NULL);
                    if(!result)//打开成功
                        flash_erase(FLASH_ID0,APP_CONFIG_IAPFLAG_SECTOR_ADDR,FLASH_SECTOR_SIZE);
                    result = flash_write_nbytes(FLASH_ID0,APP_CONFIG_IAPFLAG_MAP,(uint8_t*)&tmp,2);
                    result1=flash_open(FLASH_ID0,NULL);
                    if(!result1) 
                    {
                    flash_erase(FLASH_ID0, APP_CONFIG_IAPFLAG_MAP, 2);//擦除APPFLAG
                    flash_write_nbytes(FLASH_ID0, APP_CONFIG_IAPFLAG_MAP, (uint8_t*)&tmp, sizeof(tmp));
                    }
                    __enable_irq();
                    Serial0PutString("进入升级模式\r\n");
                    g_com_map[CNT_UPDATE]=0;
                    save_com_map_to_flash();
                    delay_us(100000);
                    delay_us(1000000);
                    NVIC_SystemReset(); //软复位回到bootloader
                    break;
                            break;
                }

                OTA_RequestFileData(l_u32OTAFileRecvLen);
@@ -231,8 +230,6 @@
static HIDO_INT32 OTA_Failed(void)
{
    /* å‡çº§å‚数有误，取消升级 */
    HIDO_UINT16 tmp = 0xFFFF;
    
//    HIDO_Debug("goto app application\r\n");

        // æ‰§è¡Œåˆ°è¿™é‡Œï¼Œè¯´æ˜Žæ–‡ä»¶ä¸‹è½½å¤±è´¥äº†ï¼Œéœ€è¦è¿›ä¸€æ­¥å¤„理
@@ -241,9 +238,17 @@
    SPIFlash_Write(SPI_FLASH_ID_0, APP_CONFIG_IAPFLAG_MAP, (HIDO_UINT8*)&tmp, sizeof(tmp)); 
    SPIFlash_Erase(SPI_FLASH_ID_0, APP_CONFIG_IAP_PARAM_MAP, 256, SPI_FLASH_SECTOR_ERASE_MODE_4K);  
#endif
//    g_com_map[OTA_FLAG]=0;
//    save_com_map_to_flash();
//    delay_us(100000);
    uint16_t tmp = 0xFFFF;
    __disable_irq();
    result1=flash_open(FLASH_ID0,NULL);
    if(!result1) 
    {
    flash_erase(FLASH_ID0, APP_CONFIG_IAPFLAG_MAP, 2);//擦除APPFLAG
    flash_write_nbytes(FLASH_ID0, APP_CONFIG_IAPFLAG_MAP, (uint8_t*)&tmp, sizeof(tmp));
    flash_erase(FLASH_ID0, APP_CONFIG_IAP_PARAM_MAP, 256);//擦除APPFLAG
    }
    __enable_irq();
    delay_us(1000000);
    NVIC_SystemReset(); //软复位回到bootloader
    
    return HIDO_OK;

 keil/uwb_simple_example.uvguix.WXK

@@ -70,7 +70,7 @@
      <WinId>466</WinId>
      <ViewName>Source Browser</ViewName>
      <UserString>500</UserString>
      <TableColWidths>300</TableColWidths>
      <TableColWidths>166</TableColWidths>
    </View>
  </TreeListPane>

@@ -101,17 +101,17 @@
        <yPos>-1</yPos>
      </MaxPosition>
      <NormalPosition>
        <Top>122</Top>
        <Left>2652</Left>
        <Right>4369</Right>
        <Bottom>1047</Bottom>
        <Top>142</Top>
        <Left>2680</Left>
        <Right>4397</Right>
        <Bottom>1067</Bottom>
      </NormalPosition>
    </WindowPosition>
    <MDIClientArea>
      <RegID>0</RegID>
      <MDITabState>
        <Len>2288</Len>
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@@ -3669,9 +3669,9 @@
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@@ -3687,7 +3687,7 @@
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@@ -3715,7 +3715,7 @@
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@@ -3733,15 +3733,15 @@
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@@ -3759,9 +3759,9 @@
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@@ -3776,19 +3776,46 @@
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 keil/uwb_simple_example.uvoptx

@@ -148,40 +148,7 @@
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 keil/uwb_simple_example.uvprojx

@@ -1015,26 +1015,6 @@
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@@ -1086,6 +1066,128 @@
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@@ -1443,11 +1545,6 @@
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@@ -1501,6 +1598,11 @@
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