解决测距失败计数会影响基站和车载测距9位数问题，基站帧间隔单独改为1000

chen

2024-09-25 4b19ce29c8c25010cdba0bf4e0835b4e97c971e9

 keil/include/main/main.c

@@ -62,7 +62,7 @@
#include "HIDO_Timer.h"
#include "TCPClient.h"

//#define DEBUG_MODE
#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
#define TEST_UART_POLL_MODE 0
@@ -97,6 +97,7 @@
static uint32_t sample[NUM_SAMPLES] = {0};
uint8_t recev_error_num,send_messgae_count,send_flag,control_state;
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;
typedef enum
{      UN_BIND=0,
        LINK_SUCCESS,
@@ -177,8 +178,8 @@
//board_debug_console_open(TRACE_PORT_UART0);
//uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
//}
extern gps_uwb_flag;
uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1;
extern uint8_t gps_uwb_flag;
uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0;
uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag;
int need_open_gps_count;
void MotorPoll(void)
@@ -190,6 +191,11 @@
    } else { //绑定状态下
        if(anchordata_num==1) {
            if(distance<g_com_map[ALARM_DISTANCE1]) { //小于预警距离
                if(flag_alam_state)
                {
                    flag_alam_state = 0;
                    _4GAlarmUpload(2);
                }
                need_open_gps_count=0;
                moter_open_uwb_flag=0;//关闭震动
                gps_uwb_flag=0;//关闭GPS
@@ -197,6 +203,11 @@
                need_open_gps_count++;
                moter_open_uwb_flag=1;//开启震动
                if(need_open_gps_count>=20) {
                    if(!flag_alam_state)
                    {
                        flag_alam_state = 1;
                        _4GAlarmUpload(1);
                    }
                    gps_uwb_flag=1;//开启gps测距流程
                    need_open_gps_count=0;
                }
@@ -204,12 +215,22 @@
                need_open_gps_count++;
                moter_open_uwb_flag=1;//开启震动
                if(need_open_gps_count>=20) {
                    if(!flag_alam_state)
                    {
                        flag_alam_state = 1;
                        _4GAlarmUpload(1);
                    }
                    gps_uwb_flag=1;//开启gps测距流程
                    need_open_gps_count=0;
                }
            }
        } else if(anchordata_num==0) {

            if(!flag_alam_state)
            {
                flag_alam_state = 1;
                _4GAlarmUpload(1);
            }
            distance = -1;
            gps_uwb_flag=1;//开启gps测距流程
            moter_open_uwb_flag=1;//开启震动
            need_open_gps_count=0;
@@ -229,7 +250,8 @@
    }
    //UWB更新列表
    TagListUpdate();
    GPS_Poll();
    //GPS_Poll();
      gps_power_state=1;//测试gps长开
    //UWB状态检测

    if(IfTCPConnected())
@@ -252,13 +274,18 @@
    HIDO_TimerTick();
    nomove_count++;
}
uint8_t tt=1;
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
static void sleep_timer_callback(void *dev, uint32_t time)
{
    IO_control_init();
   if(tt)
    UWBPoll();
    if(g_com_map[MOTOR_ENABLE])
   //车载poll
      UWB_Tag_Poll();
    
    MotorPoll();

    if(secondtask_count++%2==0)
    {
        flag_secondtask = 1;
@@ -269,18 +296,23 @@
    flag_sleeptimer = 1;

    //马达震动逻辑
    if(motor_open_air_flag||moter_open_uwb_flag)
    if(g_com_map[MOTOR_ENABLE])
    {
       if (motor_count++%2==0)
       {
        motor_power_state = 1;
       }else{
        motor_power_state = 0;
       }
    } else {
        if(motor_open_air_flag||moter_open_uwb_flag)
        {
           if (motor_count++%2==0)
           {
            motor_power_state = 1;
           }else{
            motor_power_state = 0;
           }
        } else {
            motor_power_state=1;
        }
    }else{
        motor_power_state=1;
    }

 
    //GPS工作逻辑

}
@@ -300,6 +332,7 @@
    // AIR780EUartInit();
}
extern uint16_t ip0,ip1,ip2,ip3,port;
extern uint8_t gps_4g_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
@@ -316,7 +349,7 @@
    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
    

    if(g_com_map[BIND_DEV_ID]==0)
    {
        UWB_work_state = UN_BIND;
@@ -331,10 +364,10 @@
    ip2 = (g_com_map[TCP_IP_2]>>12&0xf)*1000+(g_com_map[TCP_IP_2]>>8&0xf)*100+(g_com_map[TCP_IP_2]>>4&0xf)*10+(g_com_map[TCP_IP_2]&0xf);
    ip3 = (g_com_map[TCP_IP_3]>>12&0xf)*1000+(g_com_map[TCP_IP_3]>>8&0xf)*100+(g_com_map[TCP_IP_3]>>4&0xf)*10+(g_com_map[TCP_IP_3]&0xf);
    port = g_com_map[TCP_PORT];
    g_com_map[VERSION] = (1<<8)|2;
    LOG_INFO("设备ID: %x .\r\n",dev_id);
    LOG_INFO("固件版本:UWB-4G手环 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
    LOG_INFO("服务器地址: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port);
    g_com_map[VERSION] = (1<<8)|1;
    LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
    LOG_INFO(TRACE_MODULE_APP,"固件版本:UWB-4G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",ip0,ip1,ip2,ip3,port);
}


@@ -349,7 +382,7 @@
            state5v=1;
            state5V_prase_flag=state5v;
            gps_prase_flag=0;//解除gps解析
            uart1_change_from_gps_to_debug();
            uart1_change_from_gps_to_debug();//测试
         //   uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
            //UartInit();
        }
@@ -362,7 +395,7 @@
            state5v=0;
            state5V_prase_flag=state5v;
            gps_prase_flag=1;//恢复gps解析
            uart1_change_from_debug_to_gps();
            uart1_change_from_debug_to_gps();//测试
          //  uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
            //UartDeinit();
        }
@@ -452,24 +485,26 @@
    io_pin_mux_set(SCL_PIN, IO_FUNC0);//测试测距波形
    gpio_pin_set_dir(SCL_PIN , GPIO_DIR_OUT, 0);
    io_pull_set(SCL_PIN , IO_PULL_DOWN, IO_PULL_UP_LEVEL4);
    gps_air780_power_change(0,1);//开启gps，4G 
    gps_air780_power_change(1,1);//开启gps，4G 
//加速度计初始化必须在IO_control_init之前因为复用SDA引脚
    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
   // uart_open(UART_ID1, &test_uart_cfg);
    Program_Init();
         Program_Init();
    //uart_open(UART_ID1, &test_uart_cfg);
 
   // uart1_change_from_gps_to_debug();   
    //Uart1GpsRecDebugSend();   
    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
   
// Initialize low power mode
    power_init();
      AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
    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(SLEEP_TIMER_NUM));//测试
 //   board_5V_input_init(voltage_input_handler);
    board_acceleration_detection_init(move_handler);
//       LOG_INFO(TRACE_MODULE_APP, "测试进入app");
    AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
  
    while (1)
    {
        if(flag_TCP_reconnectting||IfTCPConnected())
@@ -492,6 +527,7 @@
        {
            flag_secondtask = 0;
            SecondTask();
					
        }
        IdleTask();
        //3种情况后都要发包和休眠
@@ -504,23 +540,23 @@
        //}
#ifndef DEBUG_MODE
//if(flag_sleeptimer)
    //    if(!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&Socket_IsSendQueueEmpty(0))||!flag_TCP_reconnectting&&!IfTCPConnected())&&!flag_4G_recdata) //进入休眠条件（与关系，全满足才进）：1.没有5V输入 2 TCP已连接时发送队列为空||TCP无连接时不在重连状态。
        if(!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&Socket_IsSendQueueEmpty(0))||!flag_TCP_reconnectting&&!IfTCPConnected())) //进入休眠条件（与关系，全满足才进）：1.没有5V输入 2 TCP已连接时发送队列为空||TCP无连接时不在重连状态。
        {
            //     if(!flag_4guart_needinit)
                 if(!flag_4guart_needinit)
            {
                //           LOG_INFO(TRACE_MODULE_APP, "4G RX 中断打开\r\n");
                //             board_4GUsart_detection_init(_4gUsart_handler);
//
                           LOG_INFO(TRACE_MODULE_APP, "4G RX 中断打开\r\n");
                             board_4GUsart_detection_init(_4gUsart_handler);

            }
//               flag_sleeptimer =0;
//            LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
            //    flag_4guart_needinit = 1;
//
//        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);
               flag_sleeptimer =0;
            LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
                flag_4guart_needinit = 1;

        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
    }