解决不测距，充电问题

zhangbo

2025-04-28 7001a22f0c7e737dc8193c1b50be7ef31b38108a

 keil/include/main/main.c

@@ -40,6 +40,10 @@
#define UPDATE_TIME 10


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

extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
@@ -71,8 +75,20 @@
        LINK_SUCCESS,
        SEARCH_DEV,
} Operation_step;
Operation_step UWB_work_state;

Operation_step UWB_work_state;
// 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;

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

Commend_SendDate send_struct;
struct ADC_CFG_T usr_adc_cfg = {
@@ -122,6 +138,7 @@
            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 
            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_Output(AIR780E_ENBALE,0);//关闭gps，4G 
                     sleep_timer_stop();   
@@ -144,7 +161,7 @@
        {
            bat_percent = 0;
        }
        else if(fVoltage_mv > 4100)
        else if(fVoltage_mv > 4200)
        {
            bat_percent = 100;
        }
@@ -174,10 +191,12 @@
uint8_t flag_4G_recdata;
uint8_t ledonflag;
uint32_t ledontime;
extern uint8_t flag_first_TCPconnect;
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)ACCLERATE_DETECT_Pin, POWER_WAKEUP_LEVEL_HIGH);
      power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)PCA_INPUT_DETECT, POWER_WAKEUP_LEVEL_LOW);
      mcu_deep_sleep();
   }
}
@@ -185,10 +204,12 @@
{
if(!read_userkey_input_pca())
     {
        if(HIDO_TimerGetTick() - keystarttime3>2)
         delay_ms(1000);
        if(!read_userkey_input_pca())
        {
            userkey_state = 1;
            keystarttime3 =  HIDO_TimerGetTick();
            flag_first_TCPconnect = 1;
                  //UDPClient_UploadGPS();
        }
//        if(HIDO_TimerGetTick() - keystarttime2>10)
@@ -205,7 +226,8 @@
{
     if(read_powerkey_input_pca())
     {
        if(HIDO_TimerGetTick() - keystarttime>2)
        delay_ms(1000);
        if(read_powerkey_input_pca())
        {
              rtkled=WHITE;
              uwbled=WHITE;
@@ -233,12 +255,13 @@
}
void MinuteTask(void)
{      
      PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
   PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
    delay_ms(100);
    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
}
void SecondTask(void)
{static uint8_t second_count;
    if(second_count++>60)
    if(second_count++>120)
    {
        second_count = 0;
        MinuteTask();
@@ -276,8 +299,6 @@
uint8_t uwb_enable_flag=0;
uint8_t input5v_time;
extern uint8_t taglist_num;
extern uint8_t ceshidata[500];
extern uint8_t ceshichangdu;
uint8_t gps_ntripsend;
static void sleep_timer_callback(void *dev, uint32_t time)
{
@@ -308,36 +329,18 @@
    }else{
        flag_secondtask = 0;
    }
    if(gps_ntripsend==1)
    {
 gps_ntripsend=2;   
    }
    
 if(delaysleep_count>0)
     delaysleep_count--;
}
uint8_t test11,test21,test31,test41,test51;

static void pca_handler(enum IO_PIN_T pin)
{
   PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值
   uint16_t gpio_state;
   gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];
    test41++;
   if(WAKE_UP_POSITION&gpio_state)
   {
      nomove_count=0;
        test11++;
   }
//   if(!(MAIN_RI_POSITION&gpio_state))
//   {
//       flag_4G_recdata = 1;
//     delaysleep_count = 3;
//        test21++;
//   }
    if((PWR_ON_POSITION&gpio_state))
   {
        PowerTask();
        test31++;
   }
   check_input_change();
//   uint16_t gpio_state;
//   gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];

}

void _4gUsart_handler(enum IO_PIN_T pin)
@@ -363,6 +366,7 @@
    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
     tag_frequency = 1000/g_com_map[COM_INTERVAL];

//    g_com_map[IP_0]=111;
//    g_com_map[IP_1]=198;
@@ -370,31 +374,31 @@
//    g_com_map[IP_3]=6;
//    g_com_map[PORT]=6666;
    
    g_com_map[IP_0]=117;
    g_com_map[IP_1]=72;
    g_com_map[IP_2]=111;
    g_com_map[IP_3]=237;
    g_com_map[PORT]=7000;
    
    g_com_map[TCP_IP_0]=111;
    g_com_map[TCP_IP_1]=198;
    g_com_map[TCP_IP_2]=60;
    g_com_map[TCP_IP_3]=6;
    g_com_map[TCP_PORT]=1234;
//    g_com_map[IP_0]=117;
//    g_com_map[IP_1]=72;
//    g_com_map[IP_2]=111;
//    g_com_map[IP_3]=237;
//    g_com_map[PORT]=7000;
//    
//    g_com_map[TCP_IP_0]=111;
//    g_com_map[TCP_IP_1]=198;
//    g_com_map[TCP_IP_2]=60;
//    g_com_map[TCP_IP_3]=6;
//    g_com_map[TCP_PORT]=1234;
    /*
    RTCMMODE_NONE,
    RTCMMODE_TCP,
    RTCMMODE_NTRIP,
    */
    g_com_map[RTCMMODE_INDEX] = RTCMMODE_NTRIP;
//    g_com_map[RTCMMODE_INDEX] = RTCMMODE_NTRIP;
    
    
    snprintf((char *)&g_com_map[NTRIP_HOST_INDEX], 32, "140.143.212.42");
    g_com_map[NTRIP_PORT_INDEX] = HIDO_UtilStrToInt("8005");
//    snprintf((char *)&g_com_map[NTRIP_PORT_INDEX], 32, "8005");
    snprintf((char *)&g_com_map[NTRIP_USERNANME_INDEX], 32, "test005");
    snprintf((char *)&g_com_map[NTRIP_PASSWORD_INDEX], 32, "Hxzk0228");
    snprintf((char *)&g_com_map[NTRIP_SOURCENAME_INDEX], 32, "RTCM32_GNSS2");
//    snprintf((char *)&g_com_map[NTRIP_HOST_INDEX], 32, "140.143.212.42");
//    g_com_map[NTRIP_PORT_INDEX] = HIDO_UtilStrToInt("8005");
////    snprintf((char *)&g_com_map[NTRIP_PORT_INDEX], 32, "8005");
//    snprintf((char *)&g_com_map[NTRIP_USERNANME_INDEX], 32, "test005");
//    snprintf((char *)&g_com_map[NTRIP_PASSWORD_INDEX], 32, "Hxzk0228");
//    snprintf((char *)&g_com_map[NTRIP_SOURCENAME_INDEX], 32, "RTCM32_GNSS2");


    if(g_com_map[BIND_DEV_ID]==0)
@@ -412,11 +416,11 @@
      }
    g_com_map[MODBUS_MODE] = 0;
      log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
    g_com_map[VERSION] = (1<<8)|3;
        
    g_com_map[VERSION] = (1<<8)|8;
         
        
    LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
    LOG_INFO(TRACE_MODULE_APP,"固件版本:4G-GPS定位手环 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
    LOG_INFO(TRACE_MODULE_APP,"固件版本:4G-GPS定位工卡 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",g_com_map[IP_0],g_com_map[IP_1],g_com_map[IP_2],g_com_map[IP_3],g_com_map[PORT]);
    if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
    {
@@ -434,13 +438,14 @@
    { 
        LOG_INFO(TRACE_MODULE_APP,"单点定位模式模式. \r\n");
    }
    delay_ms(500);
}
uint32_t adctick = 0;
uint8_t only_one_flag;
uint16_t chongman_time;
uint8_t bat_percent_old=100;
uint8_t input5vflag;
uint8_t kai_4g_flag;
extern uint8_t ota_flag;
void IdleTask(void)
{
if(read_5v_input_pca())
@@ -463,9 +468,10 @@
            while(1)
            {
                nomove_count = 0;
                if(HIDO_TimerGetTick()-adctick>6000)  //10分钟采样一次 电量
//                adctick = HIDO_TimerGetTick();
                if(HIDO_TimerGetTick()-adctick>600)  //10分钟采样一次 电量
                {
                    chongman_time=chongman_time+6;
                    chongman_time=chongman_time+60;
                    adctick = HIDO_TimerGetTick();
                    PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
                    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
@@ -475,7 +481,7 @@
                only_one_flag=1;
                chongman_time=0;
                }
                if(bat_percent>=99&&chongman_time>=1800)
                if(bat_percent>=99&&chongman_time>=180)
                {
                    powerled = GREEN;
                }else{
@@ -483,20 +489,27 @@
                }
                if(DBG_GetMode() == DBG_MODE_SHELL)
                {
                    if(kai_4g_flag==0)
                    {
                    kai_4g_flag=1;    
//                    PCA9555_Set_One_Value_Output(AIR780E_ENBALE,1);
                    //Shell_Init();
                    }
                    if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
                    {TCPClient_Poll_1();}
                //HIDO_InputPoll();
                DBG_Poll();
                Internet_Poll();
                HIDO_TimerPoll();
                HIDO_ATLitePoll();
                TCPClient_Poll();
                        if(ota_flag==1)
                        {
//                            OTA_Poll();
//                            HTTPClient_Poll();  
                        }
                        else
                        {
                        uwb_app_poll();
                        }
                        Internet_Poll();
                        HIDO_TimerPoll();
                        HIDO_ATLitePoll();
                        TCPClient_Poll();
                        if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
                        {TCPClient_Poll_1();}
                        if(flag_secondtask)
                        {
                            flag_secondtask = 0;
                            SecondTask();
                        }
                        UserKeyTask();
                }
                UART_CheckReceive();
                if(flag_secondtask)
@@ -507,6 +520,13 @@
                if(DBG_GetMode() == DBG_MODE_SHELL)
                {
                Set4LEDColor(uwbled,rtkled,led4g,powerled);
                    if(g_com_map[CNT_RESTART]==1)
                    {
                        g_com_map[CNT_RESTART]=0;
                        save_com_map_to_flash();
                        NVIC_SystemReset();
                                   LOG_INFO(TRACE_MODULE_APP,"1111");
                    }
                }
                else
                {
@@ -521,6 +541,7 @@
                }
            }
            NVIC_SystemReset();
                  LOG_INFO(TRACE_MODULE_APP,"2222");
            input5vflag=1;
      }
        else 
@@ -540,11 +561,12 @@
        {
            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)
@@ -570,6 +592,49 @@
    uart_close(UART_ID0);//解绑原来串口0
}

extern uint32_t uwb_time_count;
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();	
                     break;
							
                     case UWB_MEASUREMENT_INTERVAL:
                              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();	
                     break;
							
                     case UWB_MEASUREMENT_INTERVAL_SLEEP:

                                 OpenUWB();	
                      state_start_time = uwb_time_count;							
                     break;						
                  }
            break;
         }	

}

uint8_t flag_4guart_needinit=0;
uint8_t index1,index2,index3;
int16_t Voltage_input;
@@ -577,14 +642,13 @@
int test1,test3;
uint32_t test4;
extern uint8_t receive_flag;
extern uint8_t YUANGPS_ParseGGA_data[256];
extern uint8_t YUANGPS_ParseGGA_changdu;
int main(void)
{
     __enable_irq();
    board_clock_run();
    boot_deinit();
    board_pins_config();
   board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_115200);
     board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_115200);
    // Reset reason
    reset_cause_get();
    reset_cause_clear();
@@ -602,22 +666,24 @@
    }
    calib_chip();
    wdt_close(WDT_ID0);
    Program_Init();
    Uart_Register(UART_ID_4G, UART_ID0);

    Uart_Register(UART_ID_DBG_GPS, UART_ID1);
    DBG_Init();
    
    Program_Init();
    Internet_Init();
    TCPClient_Init();
    if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
    {
       NTRIPClient_Init();
       NTRIPApp_Init();
    }
//    if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
//    {
//       NTRIPClient_Init();
//       NTRIPApp_Init();
//    }
    if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
    {
        TCPClient_Init_1();
    }
//    HTTPClient_Init();
    gpio_open();
    LED_output_init();//配置彩色灯引脚
    IIC2_Init();
@@ -644,36 +710,29 @@
     delay_ms(500);      
     Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);       
    }
                g_com_map[MODBUS_MODE] = 0;
                state5v=0;
                state5V_prase_flag=state5v;
                gps_prase_flag=1;//恢复gps解析
                uart1_change_from_debug_to_gps();//测试
                PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
    g_com_map[MODBUS_MODE] = 0;
    state5v=0;
    state5V_prase_flag=state5v;
    gps_prase_flag=1;//恢复gps解析
    uart1_change_from_debug_to_gps();//测试
    PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
    while (1)
    { 
      uwb_app_poll();
        uwb_app_poll();
        Internet_Poll();
        HIDO_TimerPoll();
        HIDO_ATLitePoll();
        TCPClient_Poll();
        if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
        {TCPClient_Poll_1();}
//        if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP&&gps_ntripsend==2)
//        {
//            gps_ntripsend=0;
//            NTRIPApp_ReportGGA(YUANGPS_ParseGGA_data, YUANGPS_ParseGGA_changdu);
//            memset(YUANGPS_ParseGGA_data,0,YUANGPS_ParseGGA_changdu);
//            YUANGPS_ParseGGA_changdu=0;
//        }    
        {
            TCPClient_Poll_1();
        }
        if(flag_secondtask)
        {
            flag_secondtask = 0;
            SecondTask();
        }
      PowerTask();
      IMUTask();
      UserKeyTask();
        IdleTask();
    }
}