#include "mk_trace.h"
#include "mk_wdt.h"
#include "mk_calib.h"
#include "mk_misc.h"
#include "mk_flash.h"
#include "libc_rom.h"
#include <serial_at_cmd_app.h>
#include <global_param.h>
#include "board.h"
#include "wsf_nvm.h"
#include "mk_power.h"
#include "Usart.h"
#include "mk_adc.h"
#include "mk_sleep_timer.h"
#include "lis3dh_driver.h"
#include "sn74hc595.h"
#include "mk_4G.h"
#include "UART.h"
#include "AIR780EDriver.h"
#include "Internet.h"
#include "HIDO_ATLite.h"
#include "HIDO_Timer.h"
#include "TCPClient.h"
#include "PCA9555.h"
#include "WS2812.h"
#include "DBG.h"

//#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
void boot_deinit(void);
void upload_apppoll();
#define TEST_UART_POLL_MODE 0
#define TEST_UART_INTERUPT_MODE 1
#define TEST_UART_DMA_MODE 2
#define TEST_UART_MODE TEST_UART_DMA_MODE

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


#define UWB_OPEN_COUNT 1
#define UWB_MEASUREMENT_INTERVAL 5
#define UWB_MEASUREMENT_INTERVAL_SLEEP 30

#define INACTIVE_TIMEOUT 30

uint8_t input5v_flag=0;
extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
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;
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,power_low_flag;
uint8_t flag_4g_usart_rx_state = 1;  //4G ´®¿ÚRXµ±Ç°ÊÇ RX״̬£¬²»ÊÇGPIO״̬
int input_5v_flag,air780e_flag1,air780e_flag2,air780e_flag3,air780e_flag4;
extern uint8_t pca9555writedata_config[10];//ÔÝ´æ¼Ä´æÆ÷ËùÓÐÅäÖõÄÊý×é
extern uint8_t pca9555writedata_output[10];//ÔÝ´æÊä³ö¸ßµÍµçƽÅäÖõÄÊý×é
extern uint8_t pca9555writedata_input[10];//ÔÝ´æÊäÈë¼Ä´æÆ÷ËùÓÐÅäÖõÄÊý×é
extern uint8_t pca9555writedata_polarity[10];//ÔÝ´æÊäÈ뼫ÐÔ·´×ª¼Ä´æÆ÷ËùÓÐÅäÖõÄÊý×é
uint8_t temp_pca9555writedata_input[10];//ÔÝ´æÉÏÒ»´ÎÊäÈë¼Ä´æÆ÷ËùÓÐÅäÖõÄÊý×é
typedef enum
{		UN_BIND=0,
        LINK_SUCCESS,
        SEARCH_DEV,
} Operation_step;

Operation_step UWB_work_state;

uint32_t gpsbaudrate;
uint32_t uwb_time_count = 0;  // ¶¨Ê±Æ÷¼ÆÊýÖµ
//uint32_t step_count = 0;      // ²½Êý¼ÆÊý
//uint32_t last_step_count = 0; // ÉÏÒ»´Î²½Êý

CountState_t current_state = STATE_NORMAL; // µ±Ç°×´Ì¬
uint32_t state_start_time = 0; // ״̬¿ªÊ¼Ê±¼ä

Commend_SendDate send_struct;
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)*/
    .rate = 500000,               /* ADC works at high frequency system clock, the maximum sampling rate is 2M */
    .channel_p = ADC_IN_EXTPIN0,  /* ADC positive channel --> GPIO0 */
    .channel_n = ADC_IN_VREF,     /* ADC negative channel --> Vref */
    .int_en = false,
    .dma_en = false, /* DMA support only in continue mode */
    .acc_num = 0,
    .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_9600,
#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
    .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,
#elif (TEST_UART_MODE == TEST_UART_DMA_MODE)
    .dma_en = true,
    .int_rx = false,
    .int_tx = false,
#endif
};
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);
}
uint8_t deep_sleep_falg=1;
extern  uint8_t userkey_state;
extern uint8_t heartbeasend_flag;
uint8_t sleepflag;
uint32_t sleepflagtime;
uint8_t onlyoneflag=1;
void mcu_deep_sleep(void)
{
    
                uint32_t lock;
            trace_flush();
            lock = int_lock();
//						LOG_INFO(TRACE_MODULE_APP, "½øÈëÉî¶ÈÐÝÃß\r\n");
//						gps_air780_power_change(0,0);//¹Ø±Õgps£¬4G 
                PCA9555_Set_One_Value_Output(LED_POWER,0);//Êä³öµÍµçƽ¹Ø±ÕLED
            PCA9555_Set_One_Value_Output(GPS_POWER,0);//¹Ø±Õgps£¬4G 
            PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//¹Ø±Õgps£¬4G 
							sleep_timer_stop();	
						//adc_close();
            power_enter_power_down_mode(1);
//						LOG_INFO(TRACE_MODULE_APP, "´ÓÐÝÃß³öÀ´\r\n");
            sys_reset(0);
            int_unlock(lock);
////            uint32_t lock;
////            trace_flush();
////            lock = int_lock();
//////						LOG_INFO(TRACE_MODULE_APP, "½øÈëÉî¶ÈÐÝÃß\r\n");
////						gps_air780_power_change(0,0);//¹Ø±Õgps£¬4G 
//	          deep_sleep_falg=0;
//            PCA9555_Set_One_Value_Output(LED_POWER,0);//Êä³öµÍµçƽ¹Ø±ÕLED
//            PCA9555_Set_One_Value_Output(GPS_POWER,0);//¹Ø±Õgps£¬4G 
////						PCA9555_Set_One_Value_Config(MAIN_RI,0);//ÅäÖÃ4G»½ÐÑÒý½ÅΪÊäÈë
////				    
//////						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);//¹Ø±Õgps£¬4G 
//             }         
//            }
//    
////            PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//¹Ø±Õgps£¬4G 
//	          
////						sleep_timer_stop();	
////						//adc_close();
////            power_enter_power_down_mode(1);
////          	delay_us(200000);

////	          sys_reset(0);
//////						LOG_INFO(TRACE_MODULE_APP, "´ÓÐÝÃß³öÀ´\r\n");
////            int_unlock(lock);			 
}
uint8_t jiancebat_percent_flag;
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",
//        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;
        if(fVoltage_mv < 3300)
        {
            bat_percent = 0;
        }
        else if(fVoltage_mv > 4200)
        {
            bat_percent = 100;
        }
        else
        {
            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(fVoltage_mv<3300)
//				{
//					//power_low_flag=1;
//					//gps_air780_power_change(gps_power_state,0);//gpsÔ­Ñù£¬¹Ø±Õ4G 
////					LOG_INFO(TRACE_MODULE_APP, "µç³ØµçѹµÍÓÚ3.3V£¬4G£¬GPSÍ£Ö¹¹¤×÷\r\n");
//				}else{
//					//power_low_flag=0;
//					//gps_air780_power_change(gps_power_state,1);//gpsÔ­Ñù,¿ªÆô4G
////					LOG_INFO(TRACE_MODULE_APP, "µç³ØµçѹÕý³£,4G£¬GPS,Õý³£¹¤×÷\r\n");
//				}
		PCA9555_Set_One_Value_Output(ADC_MINIUS,1);//À­¸ß
}
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;
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(onlyoneflag)
        {
        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();
     }         
    }
}
void powerON_Task(void)
{
if(deep_sleep_falg==0)
{
PCA9555_Set_One_Value_Output(PWR_ENABLE,1);
}
 
}
uint16_t gaodu;
uint8_t guanjiflag;
uint8_t heartbeasend_flag;
uint32_t guanjiflagtime;
void UserKeyTask(void)
{
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();
        }
//        if(HIDO_TimerGetTick() - keystarttime2>10)
//        {
//						
//            g_com_map[CNT_RESTART] = 1;
//        }
     }else
     {
       keystarttime3 =  HIDO_TimerGetTick(); 
     }
} 
void PowerTask(void)
{
     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);
//            keystarttime =  HIDO_TimerGetTick();
//            PCA9555_Set_One_Value_Output(LED_POWER,0);//Êä³öµÍµçƽ¹Ø±ÕLED
//            PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
//            PCA9555_Set_One_Value_Output(GPS_POWER,0);//¹ØGPS
//            PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//µÍµçƽ¹Ø±Õ
              heartbeasend_flag = 1;
              guanjiflag=1;
              userkey_state = 2;
              guanjiflagtime=HIDO_TimerGetTick();
        }
     }else
     {
       keystarttime =  HIDO_TimerGetTick(); 
       keystarttime2 =  HIDO_TimerGetTick(); 
     }
}
void MinuteTask(void)
{		
	PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//À­µÍ
    delay_ms(100);
    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc²ÉÑù
}
void SecondTask(void)
{static uint8_t second_count;
    if(second_count++>120)
    {
        second_count = 0;
        MinuteTask();
    }
    //UWB״̬¼ì²â
if(!power_low_flag)//µÍ¹©µçϲ»ÐèÒª¼ì²âÖØÁ¬
	{
    if(IfTCPConnected())
    {
        TCP_reconnect_timer =0;
        flag_TCP_reconnectting = 0;
    } else {
        if(TCP_reconnect_timer<30)//Èç¹ûTCPûÓÐÁ¬½Ó£¬Ã¿¸ô10·ÖÖÓ³¢ÊÔÁ¬½Ó30Ãë
        {
            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])//·ÀÖ¹Òç³ö
    nomove_count++;
    gaodu=GetPressAndHeight()*100;
//		else{
//		nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
//		}
}
uint8_t tt=1;
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
uint8_t uwb_offtime_count=0;
uint8_t input5v_time;
extern uint8_t taglist_num;
uint8_t gps_ntripsend;
static void sleep_timer_callback(void *dev, uint32_t time)
{
// powerON_Task();
if(secondtask_count++%2==0)
    {   
        input5v_time=1;
        flag_secondtask = 1;
		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;
				}
        if(!read_5v_input_pca())
        {
        if(bat_percent>15)
        {
            powerled = BLUE;
        }else{
             powerled = RED;
        }
        ledonflag=1;
//        ledontime=HIDO_TimerGetTick();
        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)
        {
        CloseUWB();
        Uwb_init();
        OpenUWB();
        }
        if(g_com_map[UWBENBLE]==1)
        {
		 upload_apppoll();
        }
    }else{
        flag_secondtask = 0;
    }
    
 if(delaysleep_count>0)
     delaysleep_count--;
}

#ifdef JIBU_XIUMIAN

uint16_t sleep_time=0;
uint32_t state_start_time_jibu=0;
uint8_t exercise_state=0;
uint32_t step_count = 0;      // ²½Êý¼ÆÊý
uint32_t last_step_count = 0; // ÉÏÒ»´Î²½Êý
void check_step_and_update_state(void)
{
    if ((step_count != last_step_count))
		{
        // ²½ÊýÓб仯£¬ÖØÖÃ״̬ΪÕý³£×´Ì¬
      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) 
//				{
//            // ¹Ø±Õ¿ÉÄÜÕýÔÚÔËÐеÄUWB
//            if (uwb_is_on) {
//                CloseUWB();
//                UWB_LED_OFF;
//                uwb_is_on = false;
//            }
//            current_state = STATE_NORMAL;
//            state_start_time = uwb_time_count; // ÖØÖòâ¾àÖÜÆÚ
//        }
			current_state = STATE_NORMAL;
			exercise_state=1;
			last_step_count = step_count;
			
    } 
		else
		{
        // ²½ÊýûÓб仯£¬¼ì²éÊÇ·ñÐèÒªÇл»µ½ÐÝÃß״̬
        if (current_state == STATE_NORMAL)
					{	
            uint32_t inactive_time = uwb_time_count - state_start_time_jibu;
            if (inactive_time >= INACTIVE_TIMEOUT)
						{ // 30ÃëºóÇл»µ½ÐÝÃß״̬
                current_state = STATE_SLEEP;
							  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);//¶ÁÊäÈë¼Ä´æÆ÷µÄÖµ
	check_input_change();
//	uint16_t gpio_state;
//	gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];

}

void _4gUsart_handler(enum IO_PIN_T pin)
{
     //LOG_INFO(TRACE_MODULE_APP, "4G RX »½ÐÑ\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)
{
    uint32_t gpsbaudrate1;
    Usart1ParseDataCallback = UsartParseDataHandler;//Ðè¸ÄΪĬÈÏΪgps´¦Àí£¬UsartParseDataHandlerΪÉý¼¶´¦Àíµ±µ÷ÊÔʱºò¸ÄΪ
    parameter_init_anchor();//g_com_map±í³õʼ»¯½ÇɫĬÈÏΪ»ùÕ¾
    dev_id=g_com_map[DEV_ID];//ÕâÀﲻ̫¶Ô
//    g_com_map[GROUP_ID]=9;
    group_id=g_com_map[GROUP_ID];//×éID
    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;//¸üб¨¾¯¾àÀë
    memcpy(&send_struct.gunLableId,&g_com_map[BIND_DEV_ID],2);//¸üаó¶¨ID
    send_struct.tagId=dev_id;//¸üÐÂÉ豸ID
    g_com_map[MOTOR_ONTIME_INDEX]=10;
	tag_frequency = 1000/g_com_map[COM_INTERVAL];
    gpsbaudrate=(g_com_map[GPSBAUDRATE1_INDEX]<<16)|g_com_map[GPSBAUDRATE2_INDEX];
    if(gpsbaudrate==9600)
    {
        gpsbaudrate = 3;
        gpsbaudrate1=9600;
    }
    else  if(gpsbaudrate==115200)
    {
    gpsbaudrate = 7;
        gpsbaudrate1=115200;
    }
    else  
    {
    gpsbaudrate = 3;
        gpsbaudrate1=9600;
    }     
    if(g_com_map[GPSENBLE]>1)
    {
    g_com_map[GPSENBLE]=1;
    }
    if(g_com_map[UWBENBLE]>1)
    {
    g_com_map[UWBENBLE]=1;
    }
    if(g_com_map[UWBFrequency]>10)
    {
    g_com_map[UWBFrequency]=1;
    }
//    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;
//    g_com_map[TCP_IP_3]=6;
//    g_com_map[TCP_PORT]=1234;
    /*
    RTCMMODE_NONE,
    RTCMMODE_TCP,
    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");
//    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)|23;
          
        
    LOG_INFO(TRACE_MODULE_APP,"É豸ID: %x .\r\n",dev_id);
    LOG_INFO(TRACE_MODULE_APP,"¹Ì¼þ°æ±¾:4G-GPS¶¨Î»¹¤¿¨ V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
    LOG_INFO(TRACE_MODULE_APP,"·þÎñÆ÷µØÖ·: %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]);
    LOG_INFO(TRACE_MODULE_APP,"É豸UWB״̬: %x .\r\n",g_com_map[UWBENBLE]);
    LOG_INFO(TRACE_MODULE_APP,"É豸GPS״̬: %x .\r\n",g_com_map[GPSENBLE]);
    LOG_INFO(TRACE_MODULE_APP,"É豸UWB¹¤×÷¼ä¸ô: %x .\r\n",g_com_map[UWBFrequency]);
    LOG_INFO(TRACE_MODULE_APP,"É豸GPS¹¤×÷¼ä¸ô: %x .\r\n",g_com_map[GPSFrequency]);
    LOG_INFO(TRACE_MODULE_APP,"µ±Ç°GPS¹¤×÷²¨ÌØÂÊ: %d .\r\n",gpsbaudrate1);
    if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
    {
    LOG_INFO(TRACE_MODULE_APP,"TCP_RTCMģʽ,·þÎñÆ÷µØÖ·: %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,"µ¥µã¶¨Î»Ä£Ê½Ä£Ê½. \r\n");
    }
    delay_ms(500);
}
uint32_t adctick = 0;
uint8_t only_one_flag;
uint16_t chongman_time;
uint8_t bat_percent_old=100;
uint8_t input5vflag;
extern uint8_t ota_flag;
uint8_t bat_percent_only_one=1;
extern uint8_t jiancebat_percent_flag;
void IdleTask(void)
{
if(read_5v_input_pca())
		{
		if(input5v_flag==0)
    {
     NVIC_SystemReset();
    }
            if(state5v==0)
            {
                state5v=1;
                state5V_prase_flag=state5v;
                gps_prase_flag=0;//½â³ýgps½âÎö
                uart1_change_from_gps_to_debug();//²âÊÔ
                PCA9555_Set_One_Value_Output(MCU_A,1);//Êä³ö¸ßµçƽÇл»Îª5VÊäÈë
            } 
            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);//ι¹·
//                adctick = HIDO_TimerGetTick();
                if(HIDO_TimerGetTick()-adctick>600)  //10·ÖÖÓ²ÉÑùÒ»´Î µçÁ¿
                {
                    chongman_time=chongman_time+60;
                    adctick = HIDO_TimerGetTick();
                    PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//À­µÍ
                    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc²ÉÑù
                }
                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;
                }
                }
            }
//            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;//»Ö¸´gps½âÎö
                uart1_change_from_debug_to_gps();//²âÊÔ
//                PCA9555_Set_One_Value_Output(MCU_A,0);//Êä³öµÍµçƽÇл»ÎªGPS
            PCA9555_Set_One_Value_Output(LED_POWER,0);//Êä³öµÍµçƽ¹Ø±ÕLED
            PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
            PCA9555_Set_One_Value_Output(GPS_POWER,0);//¹ØGPS
            PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//µÍµçƽ¹Ø±Õ
							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)  
             {
                PCA9555_Set_One_Value_Output(LED_POWER,0);//Êä³öµÍµçƽ¹Ø±ÕLED
                PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
                PCA9555_Set_One_Value_Output(GPS_POWER,0);//¹ØGPS
                PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//µÍµçƽ¹Ø±Õ
             }         
         
         }
}
void boot_deinit(void)
{
	//½«bootÖд®¿Ú·µ»ØÆÕͨgpio
// 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);
    // 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);//½â°óÔ­À´´®¿Ú1
	 uart_close(UART_ID0);//½â°óÔ­À´´®¿Ú0
}

extern uint32_t uwb_time_count;
uint8_t GPS_UPLOAD_FLAG=0;
uint32_t elapsed_time_jibu;
void upload_apppoll()
{	

    if(current_state==STATE_NORMAL)
    {
        if(g_com_map[UWBFrequency]>1)
        {
            elapsed_time_jibu = uwb_time_count - state_start_time;
            if(elapsed_time_jibu==1)
            {
                 CloseUWB();
                 UWBSendUDPTask();
            }
            else if(elapsed_time_jibu==g_com_map[UWBFrequency])
            {
                   taglist_num = 0;
                   CloseUWB();
                   Uwb_init();
                   OpenUWB();						
                   state_start_time = uwb_time_count;	
            }	
        }
        else
        {}
    }
    else if(current_state==STATE_SLEEP)
    {
            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) 
//    {
////#ifdef UWB_1_5HZ
//       if(g_com_map[UWBFrequency]>1)
//       {
//        case STATE_NORMAL:
//            elapsed_time_jibu = uwb_time_count - state_start_time;
//            if(elapsed_time_jibu)
//            {
//                 CloseUWB();
//                 UWBSendUDPTask();
//            }
//            else if(elapsed_time_jibu==g_com_map[UWBFrequency])
//            {
//                   taglist_num = 0;
//                   CloseUWB();
//                   Uwb_init();
//                   OpenUWB();						
//                   state_start_time = uwb_time_count;	
//            }				
//       }
//       else
//       {}
////#endif
//        case STATE_SLEEP:
//            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;						
//            }
//            break;
//    }	

}

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;
static void app_wdt_callback(void *dev, uint32_t status)
{
    ASSERT(status, "WDT TIMEOUT£¬³ÌÐò¸´Î»");
		//LOG_INFO(TRACE_MODULE_APP, "³ÌÐò¿¨ËÀ£¬¿´ÃŹ·¸´Î»");
}
 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();
    board_clock_run();
    boot_deinit();
    board_pins_config();
    gpio_open();
	  IIC2_Init();
	  Accelerometer_Init();

//     delay_ms(100);
    BarInit();
//     delay_ms(100);
//   gaodu=GetPressAndHeight();
    PCA9555_init();	
	  board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_921600);
	  pca_input_detection_init(pca_handler);//pca¼ì²âÊäÈë
//	while(1);
    // Reset reason
    reset_cause_get();
    reset_cause_clear();
    uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
    uint32_t external_flash = (REG_READ(0x40010030) >> 28) & 0x3;
    if (internal_flash || external_flash == 1)
    {
        WsfNvmInit();
        board_calibration_params_load();
        flash_close(FLASH_ID0);
    }
    else
    {
      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();
    
    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();
    wdt_open(WDT_ID0,&app_wdt_cfg);//30s¼ì²âι¹·
    LED_output_init();//ÅäÖòÊÉ«µÆÒý½Å


    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[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);       
    }
		
    g_com_map[MODBUS_MODE] = 0;
    state5v=0;
    state5V_prase_flag=state5v;
    gps_prase_flag=1;//»Ö¸´gps½âÎö
    uart1_change_from_debug_to_gps();//²âÊÔ
    PCA9555_Set_One_Value_Output(MCU_A,0);//Êä³öµÍµçƽÇл»ÎªGPS
    if(g_com_map[UWBENBLE]==0)
    {
    CloseUWB();
    }
    sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
    sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//²âÊÔ
    PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//À­µÍ
    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc²ÉÑù

    gaodu=GetPressAndHeight()*100;
		if(read_init_5v_input_pca())
		{input5v_flag=1;}
    while (1)
    { 

        uwb_app_poll();
        Internet_Poll();
        HIDO_TimerPoll();
        HIDO_ATLitePoll();
        TCPClient_Poll();
        wdt_ping(WDT_ID0);//ι¹·
        if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
        {
            TCPClient_Poll_1();
        }
        if(flag_secondtask)
        {
            flag_secondtask = 0;
            SecondTask();
        }
				SC7A22H_get_Pedo_task();
		    IMUTask();
        IdleTask();
				check_step_and_update_state();
    }
}