MK大工卡和新信标测距，5s一次

zhangbo

2025-05-06 4a32430b606b5bc69d1f65b00b78c0641bf7d6fc

 keil/include/main/main.c

@@ -28,6 +28,8 @@
//#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
@@ -41,7 +43,7 @@


#define UWB_OPEN_COUNT 1
#define UWB_MEASUREMENT_INTERVAL 3
#define UWB_MEASUREMENT_INTERVAL 5
#define UWB_MEASUREMENT_INTERVAL_SLEEP 60

extern uint8_t mUsartReceivePack[100];
@@ -112,7 +114,7 @@
    .flow = UART_FLOW_CONTROL_NONE,
    .rx_level = UART_RXFIFO_CHAR_1,
    .tx_level = UART_TXFIFO_EMPTY,
    .baud = BAUD_115200,
    .baud = BAUD_9600,
#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
    .dma_en = false,
    .int_rx = false,
@@ -131,22 +133,31 @@
{
    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}
uint8_t deep_sleep_falg=1;
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");
//            uint32_t lock;
//            trace_flush();
//            lock = int_lock();
////                  LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");
//                  gps_air780_power_change(0,0);//关闭gps，4G 
             deep_sleep_falg=0;
            PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
            PCA9555_Set_One_Value_Output(GPS_POWER,0);//关闭gps，4G 
                  PCA9555_Set_One_Value_Config(MAIN_RI,0);//配置4G唤醒引脚为输入
//                  PCA9555_Set_One_Value_Output(MAIN_RI,1);
             boot_deinit();
            CloseUWB();
            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);
	          
//                  sleep_timer_stop();	
//                  //adc_close();
//            power_enter_power_down_mode(1);
//             delay_us(200000);

//             sys_reset(0);
////                  LOG_INFO(TRACE_MODULE_APP, "从休眠出来\r\n");
//            int_unlock(lock);			 
}
static void adc_callback(void *data, uint32_t number)
{
@@ -306,6 +317,9 @@
    {   
        input5v_time=1;
        flag_secondtask = 1;
           #ifdef UWB_1_5HZ
           uwb_time_count++;
          #endif
        if(!read_5v_input_pca())
        {
        if(bat_percent>15)
@@ -322,10 +336,11 @@
        input5v_time=1;
        if(taglist_num==0)
        {
        CloseUWB();
        Uwb_init();
        OpenUWB();
//        CloseUWB();
//        Uwb_init();
//        OpenUWB();
        }
       upload_apppoll();
    }else{
        flag_secondtask = 0;
    }
@@ -525,7 +540,7 @@
                        g_com_map[CNT_RESTART]=0;
                        save_com_map_to_flash();
                        NVIC_SystemReset();
                                   LOG_INFO(TRACE_MODULE_APP,"1111");

                    }
                }
                else
@@ -541,7 +556,6 @@
                }
            }
            NVIC_SystemReset();
                  LOG_INFO(TRACE_MODULE_APP,"2222");
            input5vflag=1;
      }
        else 
@@ -561,12 +575,11 @@
        {
            g_com_map[CNT_RESTART]=0;
            NVIC_SystemReset();
                   LOG_INFO(TRACE_MODULE_APP,"3333");           
         
        }
        if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
        {
            NVIC_SystemReset();
                  LOG_INFO(TRACE_MODULE_APP,"4444");
        }
        HIDO_TimerPoll();
        if(ledonflag==1)
@@ -585,17 +598,23 @@
// 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);//解绑原来串口1
    uart_close(UART_ID0);//解绑原来串口0
}

extern uint32_t uwb_time_count;
uint8_t GPS_UPLOAD_FLAG=0;
void upload_apppoll()
{   
     uint32_t elapsed_time_jibu;
   uint32_t elapsed_time_jibu;
#ifdef UWB_1_5HZ
	  

    switch (current_state) 
         {
@@ -604,17 +623,20 @@
                switch(elapsed_time_jibu)
                  {
                     case UWB_OPEN_COUNT:

                              CloseUWB();	
                            CloseUWB();
//                            uwbled = LEDOFF;
                          UWBSendUDPTask();
                          GPS_UPLOAD_FLAG=1;
                     break;
                     
                     case UWB_MEASUREMENT_INTERVAL:
                              OpenUWB();	
                    state_start_time = uwb_time_count;							
                            OpenUWB();
//                            uwbled = WHITE;							
                   state_start_time = uwb_time_count;	
							
                     break;                  
                  }
            break;

        case STATE_SLEEP:
            elapsed_time_jibu = uwb_time_count - state_start_time;
                switch(elapsed_time_jibu)
@@ -632,7 +654,7 @@
                  }
            break;
         }   

#endif
}

uint8_t flag_4guart_needinit=0;
@@ -698,7 +720,9 @@
    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();    
      #ifdef UWB_CK
      OpenUWB();
      #endif  
//    DBG_SetMode(DBG_MODE_SHELL);
//    Shell_Init();

@@ -732,7 +756,7 @@
            flag_secondtask = 0;
            SecondTask();
        }
      IMUTask();
          IMUTask();
        IdleTask();
    }
}