国产UWB芯片工程的仓库
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2024-10-10 58a5ac20c0d2c00ef4d497626371754b9a8fb014 
 keil/include/main/main.c


@@ -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,


@@ -179,7 +180,7 @@


//}


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;


uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag,flag_fenli_alarm = 0,fenli_alarm_count;;


int need_open_gps_count;


void MotorPoll(void)


{


@@ -190,11 +191,33 @@


    } else { //绑定状态下


        if(anchordata_num==1) {


            if(distance<g_com_map[ALARM_DISTANCE1]) { //小于预警距离


                fenli_alarm_count = 0;


                if(flag_fenli_alarm)


                {


                    flag_fenli_alarm = 0;


                    fenli_alarm_count = 0;


                    _4GAlarmUpload(2);


                }


            } 


            }


            if(distance>g_com_map[ALARM_DISTANCE1]||anchordata_num==0)


                     {


                if(fenli_alarm_count++>20)


                {


                           if(!flag_fenli_alarm)


                           {


                    flag_fenli_alarm = 1;


                    _4GAlarmUpload(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


@@ -205,7 +228,6 @@


                    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;


@@ -217,25 +239,25 @@


                    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(anchordata_num==0) {


            if(!flag_alam_state)


            {


                flag_alam_state = 1;


                _4GAlarmUpload(1);


            }


            distance = -1;


            distance = 0x1ffff;


            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;


        }


    }


}


   }




void MinuteTask(void)


{


    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样


@@ -250,6 +272,7 @@


    //UWB更新列表


    TagListUpdate();


    GPS_Poll();


      //gps_power_state=1;//测试gps长开


    //UWB状态检测




    if(IfTCPConnected())


@@ -272,12 +295,16 @@


    HIDO_TimerTick();


    nomove_count++;


}


uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;


uint8_t tt=1;


uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;




static void sleep_timer_callback(void *dev, uint32_t time)


{


    IO_control_init();


   if(tt)


    UWBPoll();


    


   //车载poll


      UWB_Tag_Poll();


    


    MotorPoll();




@@ -328,13 +355,14 @@


}


extern uint16_t ip0,ip1,ip2,ip3,port;


extern uint8_t gps_4g_flag;


extern uint8_t gps_need_data_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


    parameter_init_anchor();//g_com_map表初始化角色默认为基站


    dev_id=g_com_map[DEV_ID];//这里不太对


    group_id=g_com_map[GROUP_ID];//组ID


    tag_frequency = 1000/g_com_map[COM_INTERVAL];//测距频率这个存的是测距时间


//    tag_frequency = 1000/g_com_map[COM_INTERVAL];//测距频率这个存的是测距时间


    memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);


//    g_com_map[ALARM_DISTANCE1] = 40;


//    g_com_map[ALARM_DISTANCE2] = 40;


@@ -354,15 +382,16 @@


    if(g_com_map[SEND_4G_SECOND]<60)


        g_com_map[SEND_4G_SECOND]=60;


    g_com_map[MODBUS_MODE] = 0;


      log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];


    ip0 = (g_com_map[TCP_IP_0]>>12&0xf)*1000+(g_com_map[TCP_IP_0]>>8&0xf)*100+(g_com_map[TCP_IP_0]>>4&0xf)*10+(g_com_map[TCP_IP_0]&0xf);


    ip1 = (g_com_map[TCP_IP_1]>>12&0xf)*1000+(g_com_map[TCP_IP_1]>>8&0xf)*100+(g_com_map[TCP_IP_1]>>4&0xf)*10+(g_com_map[TCP_IP_1]&0xf);


    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)|4;


    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)|9;


    LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);


    LOG_INFO(TRACE_MODULE_APP,"固件版本:UWB-4G车载手环 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);


}






@@ -377,7 +406,7 @@


            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();


        }


@@ -390,7 +419,7 @@


            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();


        }


@@ -480,11 +509,12 @@


    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);


@@ -503,7 +533,6 @@


    {


        if(flag_TCP_reconnectting||IfTCPConnected())


        {


            


        //    LOG_INFO(TRACE_MODULE_APP, "处理4G任务\r\n");


            air780_led_on();


            if(flag_4guart_needinit)


@@ -521,6 +550,7 @@


        {


            flag_secondtask = 0;


            SecondTask();


					


        }


        IdleTask();


        //3种情况后都要发包和休眠


@@ -533,23 +563,23 @@


        //}


#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(!gps_need_data_flag&&!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


    }