chen
2024-09-26 7deaee2f7153d773fa3c780067943f475030ea69
keil/include/main/main.c
@@ -180,7 +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)
{
@@ -191,11 +191,26 @@
    } 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)
                {
                    fenli_alarm_count = 0;
                    _4GAlarmUpload(2);
                }
            } else {
                if(fenli_alarm_count++>20)
                {
                    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
@@ -206,7 +221,6 @@
                    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;
@@ -218,7 +232,6 @@
                    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;
@@ -228,9 +241,8 @@
            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;