修改了串口读取的bug，现在是通过飞线控制的 PCA蓝牙IRQ拉低，修改灯的闪灯逻辑，

zhangbo

2025-05-21 59a4e01d92da432e9736b24c085089cd31963833

 keil/include/main/main.c

@@ -94,8 +94,16 @@


/****************************************************************引脚宏定义**************************************************/
#define UWB_OPEN_COUNT 1                                              // UWB每次开启持续时间（秒）
#define UWB_MEASUREMENT_INTERVAL 3                               // 正常状态测距周期
#define UWB_MEASUREMENT_INTERVAL_SLEEP 60                      // 休眠状态测距周期
#define INACTIVE_TIMEOUT  30                           // 无步数变化超时时间（秒）
bool uwb_is_on = false;                                // UWB当前状态标记

void test_Delay_us(uint16_t time);
int LEDTask(uint8_t Uwb_led,uint8_t Bt_led,uint8_t Lora_led,uint8_t Power_led);
void Lora_UploadHeartBeartPoll(void);
void upload_apppoll();
extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
@@ -148,7 +156,7 @@
    .flow = UART_FLOW_CONTROL_NONE,
    .rx_level = UART_RXFIFO_CHAR_1,
    .tx_level = UART_TXFIFO_EMPTY,
    .baud = BAUD_115200,
    .baud = BAUD_921600,
#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
    .dma_en = false,
    .int_rx = false,
@@ -163,10 +171,10 @@
    .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);
}
//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);
//}

static void adc_callback(void *data, uint32_t number)
{
@@ -190,7 +198,17 @@
            bat_percent = ((fVoltage_mv - 3300) /8);
        }
    }
  //  LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
            if(fVoltage_mv<3300)
            {
               //power_low_flag=1;
               //gps_air780_power_change(gps_power_state,0);//gps原样，关闭4G 
//               LOG_INFO(TRACE_MODULE_APP, "电池电压低于3.3V，4G，GPS停止工作\r\n");
            }else{
               //power_low_flag=0;
               //gps_air780_power_change(gps_power_state,1);//gps原样,开启4G
//               LOG_INFO(TRACE_MODULE_APP, "电池电压正常,4G，GPS,正常工作\r\n");
            }
      PCA9555_Set_One_Value_Output(PWR_GND,1);//拉高
}
//static void timer_callback(void *dev, uint32_t time)
//{
@@ -265,7 +283,8 @@
}
void MinuteTask(void)
{
    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
         PCA9555_Set_One_Value_Output(PWR_GND,0);//拉低
      adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
}
void SecondTask(void)
{static uint8_t second_count;
@@ -297,40 +316,55 @@
        }

    }
    HIDO_TimerTick();
//    HIDO_TimerTick();

}
// 定义状态
typedef enum {
    STATE_NORMAL,    // 正常状态，3秒测距上传一次
    STATE_SLEEP      // 休眠状态，1分钟测距上传一次
} CountState_t;
// 全局变量
uint32_t uwb_time_count = 0;  // 定时器计数值
uint32_t step_count = 0;      // 步数计数
uint32_t last_step_count = 0; // 上一次步数
CountState_t current_state = STATE_NORMAL; // 当前状态
uint32_t state_start_time = 0; // 状态开始时间
uint8_t led_state;
uint8_t  stationary_flag;
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
uint8_t  lora_wg_up=0;
extern uint8_t lora_tx_flag;
extern uint16_t sleep_time;
uint8_t input5v_time;
extern uint8_t uwbled,btled,loraled,powerled;
uint8_t jibu_flag;
static void sleep_timer_callback(void *dev, uint32_t time)
{
    g_start_send_flag=1;
//     HIDO_TimerGetTick();
     input5v_time=1;
//    g_start_send_flag=1;
     HIDO_TimerTick();
   //      #ifdef DEBUG_BOXING
////      gpio_pin_clr(IO_PIN_5);//测试
   //   gpio_pin_set(IO_PIN_5);//测试
     // lora_wg_up=1;
	   
      lora_tx_flag++;
//      lora_qiehuan++;
//    IO_control_init();
//    UWBPoll();
//    
//    
//    MotorPoll();
//     lora_tx_flag++;
     uwb_time_count++;
    jibu_flag=1;
    upload_apppoll();

//    if(secondtask_count++%2==0)
//    {
//        flag_secondtask = 1;
//    }else{
//        flag_secondtask = 0;
//    }
      if (current_state == STATE_NORMAL)
     {
       sleep_time++;
      }
      if(!read_5v_input_pca())
    {
       if(bat_percent>15)
        {
             powerled=1;
        }
         else
            {
            powerled=0;
        }
      }			

//    flag_sleeptimer = 1;

      input5v_time=1;
    //马达震动逻辑
    if(g_com_map[MOTOR_ENABLE])
    {
@@ -348,28 +382,70 @@
    }else{
        motor_power_state=1;
    }
 
    //GPS工作逻辑
      if(nomove_count++>g_com_map[STATIONARY_TIME])
    {
     stationary_flag = 1;
    } else 
      {
     stationary_flag = 0;
    }
    nomove_count++;
}

void phy_timer_callback(uint32_t time)
{
 lora_tx_flag++;
		
}
uint16_t sleep_time=0;
uint32_t state_start_time_jibu=0;
uint8_t exercise_state=0;
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;
            }
          }
     }
}
//void phy_timer_callback(uint32_t time)
//{
// lora_tx_flag++;
//}

void uart0_receive_callback()
{
   uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);
}
    

void uart1_receive_callback()
{
   uart_receive(UART_ID1,m_EUART_DMA_RXBuf_1,USART_RX_BUF_SIZE,uart1_receive_callback);
}    

static void voltage_input_handler(enum IO_PIN_T pin)
{
@@ -388,12 +464,14 @@
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
     Usart0ParseDataCallback = UsartParseDataHandler_1;
    parameter_init_anchor();//g_com_map表初始化角色默认为基站
    g_com_map[DEV_ID]=0x1234;
//    g_com_map[DEV_ID]=0x0721;
     g_com_map[STATIONARY_TIME] = 10;
//    g_com_map[GROUP_ID]=1;
    dev_id=g_com_map[DEV_ID];//这里不太对
    group_id=g_com_map[GROUP_ID];//组ID
//     group_id=0x04;
    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;
@@ -419,17 +497,62 @@
    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)|11;
    g_com_map[VERSION] = (1<<8)|13;
    LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
    LOG_INFO(TRACE_MODULE_APP,"固件版本:BGK-mk+蓝牙V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
    LOG_INFO(TRACE_MODULE_APP,"固件版本:BGK-mk+蓝牙薄工卡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);
}



uint32_t adctick = 0;
uint16_t chongman_time;
void IdleTask(void)
{   
 UART0_CheckReceive();
 UART_CheckReceive();
if(read_5v_input_pca())
   {
            chongman_time=0;
                  RED_LED_OFF;
                  GREEN_LED_OFF;
                  UWB_LED_OFF;
                  BT_LED_OFF;
                  LORA_LED_OFF;
            while(1)
            {
                nomove_count = 0;
                adctick = HIDO_TimerGetTick();
                if(HIDO_TimerGetTick()-adctick>60)  //10分钟采样一次 电量
                {
                    chongman_time=chongman_time+60;
                    adctick = HIDO_TimerGetTick();
                    PCA9555_Set_One_Value_Output(PWR_GND,0);//拉低
                    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
                }
                if(bat_percent>=99&&chongman_time>=600)
                {
                   GREEN_LED_ON;
                            RED_LED_OFF;
                }
                        else
                        {
//                   RED_LED_ON;
                            GREEN_LED_OFF;
                }
								
               if(!read_5v_input_pca())
                {
                break;
                }
            }
                     sys_reset(0);
//            NVIC_SystemReset();
//            input5vflag=1;
      }
   else
   {
	
//    sys_reset(0);
   }
}

int bind_check(void)
@@ -457,11 +580,16 @@
{
   //将boot中串口返回普通gpio
// UART0 TX/RX
    io_pin_mux_set(IO_PIN_5, IO_FUNC0);
    io_pin_mux_set(IO_PIN_6, IO_FUNC0);
    io_pin_mux_set(UART0_RX, IO_FUNC0);
    io_pin_mux_set(UART0_TX, IO_FUNC0);
	
      gpio_pin_set_dir(UART0_RX , GPIO_DIR_OUT, 0);
     gpio_pin_set_dir(UART0_TX , 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);
    io_pin_mux_set(UART1_RX, IO_FUNC0);
    io_pin_mux_set(UART1_TX, IO_FUNC0);


    uart_close(UART_ID1);//解绑原来串口1
    uart_close(UART_ID0);//解绑原来串口0
}
@@ -475,6 +603,36 @@
   }
   }

}
void mcu_deep_sleep(void)
{
            uint32_t lock;
            trace_flush();
            lock = int_lock();
             boot_deinit();
                  LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
             //关闭蓝牙 灯
                  LORA_LED_OFF;
                  GREEN_LED_OFF;
                  UWB_LED_OFF;
                  RED_LED_OFF;
                  BT_LED_OFF;				
             PCA9555_Set_One_Value_Output(BT_EN,0);
//              PCA9555_Set_One_Value_Config(BT_IRQ,0);        //设置BT_IRQ为输出拉低
//             PCA9555_Set_One_Value_Output(BT_IRQ,0);
                  sleep_timer_stop();	
            power_enter_power_down_mode(1);
                  sys_reset(0);
            int_unlock(lock);
}
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)PCA_INPUT_DETECT, POWER_WAKEUP_LEVEL_LOW);
      mcu_deep_sleep();

   }
}
#define TEST_SPI_MASTER 0
#define TEST_SPI_POLL_MODE 0
@@ -495,20 +653,27 @@
     io_pin_mux_set(LORA_DIO, IO_FUNC0);
   
   
//     //ADC
//     io_pin_mux_set(ADC_PIN, IO_FUNC1);
//      io_pull_set(ADC_PIN, IO_HIGH_Z, IO_PULL_UP_NONE);
     //ADC
     io_pin_mux_set(ADC_PIN, IO_FUNC1);
      io_pull_set(ADC_PIN, IO_HIGH_Z, IO_PULL_UP_NONE);
   
    //串口0
      io_pin_mux_set(UART0_RX, IO_FUNC4);
    io_pin_mux_set(UART0_TX, IO_FUNC4);
	
     board_debug_console_open(TRACE_PORT_UART0);
    uart_open(UART_ID0, &test_uart_cfg);	
//      io_pin_mux_set(UART0_RX, IO_FUNC0);
//     gpio_pin_set_dir(UART0_RX , GPIO_DIR_OUT, 0);
//    io_pin_mux_set(UART0_TX, IO_FUNC0);
//     gpio_pin_set_dir(UART0_TX , GPIO_DIR_OUT, 0);	
//     board_debug_console_open(TRACE_PORT_UART0);
     uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);//开启dma

     //串口1
      io_pin_mux_set(UART1_RX, IO_FUNC4);
    io_pin_mux_set(UART1_TX, IO_FUNC4);
		
      board_debug_console_open(TRACE_PORT_UART1,BAUD_115200);
      uart_receive(UART_ID1,m_EUART_DMA_RXBuf_1,USART_RX_BUF_SIZE,uart1_receive_callback);//开启dma
}
void spi_init()
{
@@ -565,31 +730,7 @@
/********************************************************************************************************/
/********************************************************************************************************/
/********************************************************************************************************/
//static uint16_t delaytime = 771;
//extern uint16_t wg_report_freq,wg_report_id;
//extern uint32_t wg_lost_count;
//extern uint8_t shengji_flag;
//extern uint8_t lora_jianting_flag,report_ancnum;
//uint8_t imu_enable,motor_enable;
//uint32_t time_flag_lorarx=0;
//uint32_t lora_huanxing_count=0;
//uint16_t Lora_wangguanid=0;
//wg_state_enum wg_state = WG_Lost;
//uint16_t wangguan_up_id;
//uint8_t LoraUp_flag;
//uint16_t rec_wenjian_daxiao;
//uint16_t recnum[3];
//uint16_t recv_flag=0;
//uint16_t tx_flag=0;
//uint16_t CRC16=0;
//uint16_t DEST_ID=0;
//uint16_t rec_value,rec_delaytime,rx_count,datalen_offset;
//uint16_t Loratx_flag=0;
//uint16_t Lorarx_flag=0;
//uint16_t Lorarx_time_out_flag=0;
//uint8_t tx_buf[5]={0,1,0,1,1};
//uint32_t sleep_time_count=0;
//uint32_t uwb_ceju_count=0;

wg_state_enum wg_state = WG_Lost;
/********************************************************************************************************/
static void Lora_irq_handler(enum IO_PIN_T pin)
@@ -610,16 +751,118 @@
      PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值
      check_input_change();
}
extern uint32_t uwb_time_count;
uint8_t uwbled,btled,loraled,powerled;
uint8_t send_count=0;
void upload_apppoll()
{	
     uint32_t elapsed_time_jibu;

    switch (current_state) 
         {
        case STATE_NORMAL:
            elapsed_time_jibu = uwb_time_count - state_start_time;
                switch(elapsed_time_jibu)
                  {
                     case UWB_OPEN_COUNT:
                          CloseUWB();					     
                           LoraReportPoll();
                     break;
							
                     case UWB_MEASUREMENT_INTERVAL:
                           LEDTask(uwbled,btled,loraled,powerled);
                           LEDTask(0,0,0,2);
                             PCA9555_Set_One_Value_Output(IO_KONG,0);
                           delay_us(10000);
                           PCA9555_Set_One_Value_Output(IO_KONG,1);	
                              CloseUWB();
                              Uwbinit();
                              OpenUWB();
                              state_start_time = uwb_time_count;							
                     break;						
                  }
            break;

        case STATE_SLEEP:
            elapsed_time_jibu = uwb_time_count - state_start_time;
                switch(elapsed_time_jibu)
                  {
                     case UWB_OPEN_COUNT:
                            CloseUWB();	                   							
                           LoraReportPoll();
							      

                     break;
							
                     case UWB_MEASUREMENT_INTERVAL_SLEEP:
                           LEDTask(uwbled,btled,loraled,powerled);
                           LEDTask(0,0,0,2);
                             PCA9555_Set_One_Value_Output(IO_KONG,0);
                           delay_us(10000);
                           PCA9555_Set_One_Value_Output(IO_KONG,1);	
                              CloseUWB();
                              Uwbinit();
                              OpenUWB();											
                              state_start_time = uwb_time_count;	
							
							
                     break;						
                  }
            break;
         }	

}
int LEDTask(uint8_t Uwb_led,uint8_t Bt_led,uint8_t Lora_led,uint8_t Power_led)
{
   if(Uwb_led==1)
   {
    UWB_LED_ON;
   }else
   {
    UWB_LED_OFF;
   }
	
   if(Bt_led==1)
   {
    BT_LED_ON;
   }else
   {
    BT_LED_OFF;
   }
   if(Lora_led==1)
   {
    LORA_LED_ON;
   }else
   {
    LORA_LED_OFF;
   }
	
   if(powerled==1)
   {
    GREEN_LED_ON;
    GREEN_LED_OFF;;
   }
   else if(powerled==0)
   {
    RED_LED_ON;
    RED_LED_OFF;
	 
   }

//   PCA9555_Set_One_Value_Output(BT_IRQ ,0); 


}
uint8_t io14_state;
uint16_t  lora_freq=0;
uint16_t  lora_up_count=0;
uint8_t TXBuffer[8]={0,1,2,3,4,5,6,7};
uint8_t test_buf[10]={0,1,1,1,1,1,1,1,1,1};
//uint8_t TXBuffer[8]={0,1,2,3,4,5,6,7};
//uint8_t test_buf[10]={0,1,1,1,1,1,1,1,1,1};
int main(void)
{
    board_clock_run();
      //  boot_deinit();
    //  board_debug_console_open(TRACE_PORT_UART1);
     boot_deinit();
    
    // Reset reason
    reset_cause_get();
    reset_cause_clear(); 
@@ -629,27 +872,66 @@
    wdt_close(WDT_ID0);
    gpio_open();
    Board_gpio_init();
  	
    //board_led_init();
    spi_init();
	

    Board_LORA_NVIC_Init(Lora_irq_handler);
     pca_input_detection_init(pca_handler);
      IIC2_Init();
    Accelerometer_Init();

      PCA9555_init();
      adc_open(&usr_adc_cfg);
      Lora_1268_Init();
    SwitchLoraSettings(478,7,22);
      Program_Init();

     power_init();
    sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
      sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
    

    adc_get(&sample[0], NUM_SAMPLES, adc_callback);  
//#ifdef DEBUG_BOXING
//      io_pin_mux_set(BOXING_PIN,IO_FUNC0);
//      gpio_pin_set_dir(BOXING_PIN,GPIO_DIR_OUT,0);
//      io_pull_set(BOXING_PIN,IO_PULL_DOWN,IO_PULL_UP_LEVEL4);
//#endif
    Uwbinit();
      OpenUWB();
//      OpenUWB();
//      boot_deinit();
    while (1)
    { 
       Lora_Tx_Poll();
         if(jibu_flag)
         {
            jibu_flag=0;
           step_count = mir3da_get_step(); // 获取步数
         }
		  
//       Lora_Tx_Poll();
         uwb_app_poll();
         check_step_and_update_state();
//         upload_apppoll();
      IdleTask();
         IMUTask();
			
//         if(1) 
//       {
////               test1=gpio_pin_get_val(_4G_USART_RX_Pin);
//            uint32_t lock;
//            //flag_4guart_needinit = 1;
////            Internet_Poll();
////            HIDO_ATLitePoll();
////            HIDO_TimerPoll();
////            TCPClient_Poll();
//            
//           // delay_us(300000);
//            trace_flush();
//            lock = int_lock();            
//            power_enter_power_down_mode(0);
//                  uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);
////               test3=gpio_pin_get_val(_4G_USART_RX_Pin);
//               //LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
//            int_unlock(lock);
//       }
    }
}