加入gps工作流程，马达震动流程

chen

2024-08-26 891a65ef76618a265c4254e45c1928d9c241a7ce

 keil/include/main/main.c

@@ -72,9 +72,18 @@

#define NUM_SAMPLES 1
#define BIND_TRIGGER_TIME 60000
#define MOTOR_COUNT_TIME 1 
#define WARING_LIMIT_TIME 10
#define UPDATE_TIME 10
#define GPS_OPEN_TIME_OUT  240
#define GPS_RESTART_TIME1  1200
#define GPS_RESTART_TIME2  120
#define SEARCH_TIMESTEMP 120
extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
extern int distance;
extern uint8_t anchordata_num;
uint32_t dev_id;
uint8_t group_id;
uint16_t tag_frequency;
@@ -82,19 +91,18 @@
uint16_t warning_distance,prewarning_distance;
int16_t fVoltage_mv,first_search_flag;
uint8_t bat_percent,g_start_send_flag=1;
int link_success_flag;
int link_success_flag,motor_count,gps_wait_count;
uint8_t state5v,link_error_count;
uint8_t gps_power_state,motor_power_state=1,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state;
uint8_t gps_power_state,motor_power_state=1,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state,first_motor_in_flag;
float nomove_count=0;
static uint32_t sample[NUM_SAMPLES] = {0};
uint8_t recev_error_num,send_messgae_count,send_flag,control_state;

uint8_t recev_error_num,send_messgae_count,send_flag,control_state,gps_need_data_flag,gps_timeout_flag,search_open_flag;
typedef enum
{      UN_BIND=0,
        LINK_SUCCESS,
        SEARCH_DEV,
} Operation_step;
Operation_step Operation_state;
Operation_step UWB_Work_State;


Commend_SendDate send_struct;
@@ -170,8 +178,47 @@
//uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
//}
uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1;
uint8_t gps_enable_flag,gps_uwb_flag,gps_air_flag,motor_open_air_flag,moter_open_uwb_flag;
int need_open_gps_count;
void SecondTask(void)
{
         //UWB更新列表
         TagListUpdate();
      g_com_map[ALARM_DISTANCE1]=30;//测试
      g_com_map[ALARM_DISTANCE2]=40;
   //UWB状态检测
   if(UWB_Work_State==UN_BIND){
   gps_uwb_flag=0;//关闭GPS
   moter_open_uwb_flag=0;//关闭震动
   need_open_gps_count=0;//清0计数gps
   }else{//绑定状态下
   if(anchordata_num==1){
      if(distance<g_com_map[ALARM_DISTANCE1]){//小于预警距离
      need_open_gps_count=0;
      moter_open_uwb_flag=0;//关闭震动
         gps_uwb_flag=0;//关闭GPS
   }else if(g_com_map[ALARM_DISTANCE1]<=distance&&distance<=g_com_map[ALARM_DISTANCE2]){//大于预警距离小于报警距离
      need_open_gps_count++;
      moter_open_uwb_flag=1;//开启震动
      if(need_open_gps_count>=20){
      gps_uwb_flag=1;//开启gps测距流程
         need_open_gps_count=0;
      }
   }else if(distance>=g_com_map[ALARM_DISTANCE2]){//大于报警距离
   need_open_gps_count++;
   moter_open_uwb_flag=1;//开启震动
      if(need_open_gps_count>=20){
      gps_uwb_flag=1;//开启gps测距流程
      need_open_gps_count=0;
      }
   }
   }else if(anchordata_num==0){
		
      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;
   }
}
    if(IfTCPConnected())
    {
        TCP_reconnect_timer =0;
@@ -197,31 +244,94 @@

    SecondTask();
   // IO_control_init();
    uwb_led_on();
    delay_us(1000);
    uwb_led_off();
//    uwb_led_on();
//    delay_us(1000);
//    uwb_led_off();
//    send_messgae_count+=g_com_map[COM_INTERVAL];
//    //if(send_messgae_count>=g_com_map[4G_INTERNAL]){
//    //send_message_count=0;
//    //send_flag=1;
//    //}
   //马达震动逻辑
   if(motor_open_air_flag||moter_open_uwb_flag){
      if(first_motor_in_flag==0){
         first_motor_in_flag=1;
   motor_power_state=0;
            motor_count=0;
      }
   motor_count++;
   if(motor_count>=MOTOR_COUNT_TIME){
   motor_count=0;
   motor_power_state^=1;
	
   }
   }else{
      motor_power_state=1;
      motor_count=0;
      first_motor_in_flag=0;
   }
   //GPS工作逻辑
   if(gps_air_flag||gps_uwb_flag){
   gps_power_state=1;//开启GPS
      if(!gps_timeout_flag){
         if(gps_need_data_flag){
         gps_wait_count++;
         if(gps_wait_count>=GPS_OPEN_TIME_OUT){//超时切换工作状态
         gps_timeout_flag=1;//串口添加改变timeout逻辑
         gps_wait_count=0;
         gps_need_data_flag=0;//切换为关闭模式
      }
   }else{
      gps_wait_count++;
      gps_power_state=0;//关闭GPS
   if(gps_wait_count>GPS_RESTART_TIME2){
   gps_need_data_flag=1;
   gps_wait_count=0;
      }
   }
   }else{//超时工作状态
            if(gps_need_data_flag){
               gps_wait_count++;	
               if(gps_wait_count>=GPS_OPEN_TIME_OUT){//超时切换工作状态
               gps_timeout_flag=1;
               gps_need_data_flag=0;
               gps_wait_count=0;
            }
         }else{
         gps_wait_count++;
         gps_power_state=0;//关闭GPS
         if(gps_wait_count>GPS_RESTART_TIME1){
         gps_need_data_flag=1;
         gps_wait_count=0;
         }
         }
	
   }
      }else{
      gps_power_state=0;//关闭gps
      gps_wait_count=0;
      gps_timeout_flag=0;
      gps_need_data_flag=1;			
      }

//    if(Operation_state==LINK_SUCCESS) { //成功时清0错误计数
//        link_error_count=0;
//        g_start_send_flag=1;
//    }
//    if(Operation_state==SEARCH_DEV) {
////      if(first_search_flag){//当第一次连接断开产生时才开始计数
//        //link_error_count=0;
////      }
//        link_error_count++;
//        if(link_error_count==60)
//            link_error_count=0;
//        //link_error_count+=g_com_map[COM_INTERVAL];
//        //if(link_error_count>=g_com_map[4G_INTERNAL])
//        //link_error_count=0;
//        update_led_power_state();//更新灯状态
//    }
    if(UWB_Work_State==LINK_SUCCESS) { //成功时清0错误计数
        link_error_count=0;
        g_start_send_flag=1;
    }
    if(UWB_Work_State==SEARCH_DEV) {
//      if(first_search_flag){//当第一次连接断开产生时才开始计数
        //link_error_count=0;
//      }
        link_error_count++;
       if(link_error_count==SEARCH_TIMESTEMP){
      link_error_count=0;
      search_open_flag=1;
      }
        //link_error_count+=g_com_map[COM_INTERVAL];
        //if(link_error_count>=g_com_map[4G_INTERNAL])
        //link_error_count=0;
        update_led_power_state();//更新灯状态
    }
    
}
static void voltage_input_handler(enum IO_PIN_T pin)
@@ -299,9 +409,9 @@
void check_if_in_search(void)
{
    if(link_success_flag==1) { //如果第一次测距收包成功那么则进入连接测距模式
        Operation_state=LINK_SUCCESS;
        UWB_Work_State=LINK_SUCCESS;
    } else { //否则进入搜索模式
        Operation_state=SEARCH_DEV;
        UWB_Work_State=SEARCH_DEV;
        if(first_search_flag==0)
            first_search_flag=1;
    }
@@ -312,7 +422,7 @@
{
    board_clock_run();
    board_pins_config();
    board_debug_console_open(TRACE_PORT_UART1);
    board_debug_console_open(TRACE_PORT_UART0);
    // Reset reason
    reset_cause_get();
    reset_cause_clear();
@@ -350,33 +460,36 @@
    //board_led_init();

//      adc_open(&usr_adc_cfg);
    IIC2_Init();
    Accelerometer_Init();
//    IIC2_Init();
//    Accelerometer_Init();
    IO_control_init();
  //  gps_air780_power_change(0,1);//开启gps，4G
         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
//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();
  //  uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
    uart_open(UART_ID1, &test_uart_cfg);
    Program_Init();
    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
// Initialize low power mode
    power_init();
  //  LOG_INFO(TRACE_MODULE_APP, "测试数据");
//         g_com_map[BIND_DEV_ID]=0x1122;//测试
//    if(bind_check())//绑定后才提前开启测距
//    {   link_success_flag=temp_main();//上机开启接收2s绑定成功则进行下面轮询测距流程,不成功则1分后再次开启2s接收
//        check_if_in_search();
//    } else {
//        send_struct.bindState=false;
//        Operation_state=UN_BIND;
//    }
         g_com_map[BIND_DEV_ID]=0x1122;//测试
    if(bind_check())//绑定后才提前开启测距
    {   link_success_flag=temp_main();//上机开启接收2s绑定成功则进行下面轮询测距流程,不成功则1分后再次开启2s接收
        check_if_in_search();
    } else {
        send_struct.bindState=false;
        UWB_Work_State=UN_BIND;
    }
    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(1000));//测试
    //board_5V_input_init(voltage_input_handler);
    board_acceleration_detection_init(move_handler);
    
    AIR780E_Reset(); //4G模块重启，耗时1.5秒
    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);
		
    //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())
@@ -391,39 +504,40 @@
            HIDO_TimerPoll();
            TCPClient_Poll();
        }
//        switch(Operation_state) {
//        case LINK_SUCCESS:
//        {   //连接成功进行轮询测距
//            if(g_start_send_flag) {
//                g_start_send_flag = 0;
//                uwb_led_on();
//                simple_main();
//                uwb_led_off();
//                IdleTask();
//            } else {
//                IdleTask();
//            }
//        }
//        break;
//        case SEARCH_DEV:
//        {   //接包不成功或者通讯失败进入搜索模式
//            if(link_error_count==0||first_search_flag) {
//                first_search_flag=0;
//                uwb_led_on();
//                link_success_flag=temp_main();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
//                uwb_led_off();
//                if(link_success_flag)
//                    Operation_state=LINK_SUCCESS;
//            }
//            IdleTask();
//        }
//        break;
//        case UN_BIND:
//        {   uwb_led_off();//关闭uwb指示灯
//            IdleTask();
//        }
//        break;
//        }
        switch(UWB_Work_State) {
        case LINK_SUCCESS:
        {   //连接成功进行轮询测距
            if(g_start_send_flag) {
                g_start_send_flag = 0;
                uwb_led_on();
                simple_main();
                uwb_led_off();
                IdleTask();
            } else {
                IdleTask();
            }
        }
        break;
        case SEARCH_DEV:
        {   //接包不成功或者通讯失败进入搜索模式
            if(search_open_flag||first_search_flag) {
                first_search_flag=0;
                     search_open_flag=0;
                uwb_led_on();
                link_success_flag=temp_main();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
                uwb_led_off();
                if(link_success_flag)
                    UWB_Work_State=LINK_SUCCESS;
            }
            IdleTask();
        }
        break;
        case UN_BIND:
        {   uwb_led_off();//关闭uwb指示灯
            IdleTask();
        }
        break;
        }

        //3种情况后都要发包和休眠
        //if(send_flag){
@@ -434,15 +548,16 @@
        //air780_success_state=0;
        //}
#ifndef DEBUG_MODE
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(!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&Socket_IsSendQueueEmpty(0))||!flag_TCP_reconnectting&&!IfTCPConnected())&&!gps_power_state) //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。
            {     
             board_4GUsart_detection_init(_4gUsart_handler);               
         //   LOG_INFO(TRACE_MODULE_APP, "进入休眠");  
            flag_4guart_needinit = 1;
            trace_flush();
            uint32_t lock = int_lock();
            //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
            //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");   
            power_enter_power_down_mode(0);
                  uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
            int_unlock(lock);
        }
#endif