| | |
|---|
| | | #define UWB_MEASUREMENT_INTERVAL 5 |
|---|
| | | #define UWB_MEASUREMENT_INTERVAL_SLEEP 30 |
|---|
| | | |
|---|
| | | #define INACTIVE_TIMEOUT 30 |
|---|
| | | |
|---|
| | | extern uint8_t mUsartReceivePack[100]; |
|---|
| | | extern uint8_t mUsart2ReceivePack[150]; |
|---|
| | | extern uint8_t state5V_prase_flag,gps_prase_flag; |
|---|
| | |
|---|
| | | 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; // 步数计数 |
|---|
| | | uint32_t last_step_count = 0; // 上一次步数 |
|---|
| | | void check_step_and_update_state(void) |
|---|
| | | { |
|---|
| | | if ((step_count != last_step_count)) |
|---|
| | | { |
|---|
| | | // 步数有变化，重置状态为正常状态 |
|---|
| | | last_step_count = step_count; |
|---|
| | | |
|---|
| | | if(current_state == STATE_SLEEP) |
|---|
| | | { |
|---|
| | | state_start_time_jibu = uwb_time_count; |
|---|
| | | state_start_time=uwb_time_count; |
|---|
| | | } |
|---|
| | | // if (current_state != STATE_NORMAL) |
|---|
| | | // { |
|---|
| | | // // 关闭可能正在运行的UWB |
|---|
| | | // if (uwb_is_on) { |
|---|
| | | // CloseUWB(); |
|---|
| | | // UWB_LED_OFF; |
|---|
| | | // uwb_is_on = false; |
|---|
| | | // } |
|---|
| | | // current_state = STATE_NORMAL; |
|---|
| | | // state_start_time = uwb_time_count; // 重置测距周期 |
|---|
| | | // } |
|---|
| | | current_state = STATE_NORMAL; |
|---|
| | | exercise_state=1; |
|---|
| | | last_step_count = step_count; |
|---|
| | | |
|---|
| | | } |
|---|
| | | else |
|---|
| | | { |
|---|
| | | // 步数没有变化，检查是否需要切换到休眠状态 |
|---|
| | | if (current_state == STATE_NORMAL) |
|---|
| | | { |
|---|
| | | uint32_t inactive_time = uwb_time_count - state_start_time_jibu; |
|---|
| | | if (inactive_time >= INACTIVE_TIMEOUT) |
|---|
| | | { // 30秒后切换到休眠状态 |
|---|
| | | 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);//读输入寄存器的值 |
|---|
| | |
|---|
| | | else if(current_state==STATE_SLEEP) |
|---|
| | | { |
|---|
| | | elapsed_time_jibu = uwb_time_count - state_start_time; |
|---|
| | | switch(elapsed_time_jibu==1) |
|---|
| | | switch(elapsed_time_jibu) |
|---|
| | | { |
|---|
| | | case UWB_OPEN_COUNT: |
|---|
| | | CloseUWB(); |
|---|
| | |
|---|
| | | } |
|---|
| | | IMUTask(); |
|---|
| | | IdleTask(); |
|---|
| | | check_step_and_update_state(); |
|---|
| | | } |
|---|
| | | } |
|---|
