添加计步以及测距

zhangbo

2025-05-15 950676ea7305bb90e08ec88bcac40e4c47fcefca

 keil/include/main/main.c

@@ -94,12 +94,15 @@


/****************************************************************引脚宏定义**************************************************/
#define UWB_OPEN_COUNT 1
#define UWB_MEASUREMENT_INTERVAL 3
#define UWB_MEASUREMENT_INTERVAL_SLEEP 60
#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);
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;
@@ -338,15 +341,14 @@
     HIDO_TimerTick();
//     lora_tx_flag++;
     uwb_time_count++;
     if(uwb_time_count>10000)
      {
       uwb_time_count=0;
      }
     upload_apppoll();
      step_count = mir3da_get_step(); // 获取步数

      if (current_state == STATE_NORMAL)
     {
       sleep_time++;
      }
      step_count = mir3da_get_step(); // 获取步数
		

      if(!read_5v_input_pca())
    {
@@ -390,28 +392,43 @@
      
}
uint16_t sleep_time=0;
uint32_t state_start_time_jibu=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;
        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)
               {
//            sleep_time = uwb_time_count - state_start_time;
            if (sleep_time >= 30)
            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;
                sleep_time = 0;
                current_state = STATE_SLEEP;
                       state_start_time_jibu=uwb_time_count;
            }
          }
     }
@@ -476,9 +493,9 @@
    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)|12;
    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);
}

@@ -522,8 +539,14 @@
                break;
                }
            }
            NVIC_SystemReset();
                     sys_reset(0);
//            NVIC_SystemReset();
//            input5vflag=1;
      }
   else
   {
	
//    sys_reset(0);
      }
}

@@ -643,6 +666,7 @@
     //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);
}
void spi_init()
@@ -734,13 +758,14 @@
                  {
                     case UWB_OPEN_COUNT:
                                 UWB_LED_OFF;
                             LORA_LED_OFF;
                             LoraReportPoll();
                                 CloseUWB();   
                     break;
                     
                     case UWB_MEASUREMENT_INTERVAL:
                                 UWB_LED_ON;
                              PCA9555_Set_One_Value_Output(BT_IRQ ,0);	
                                 OpenUWB();   
                                 LoraReportPoll();
                      state_start_time = uwb_time_count;                     
                     break;                  
                  }
@@ -752,13 +777,14 @@
                  {
                     case UWB_OPEN_COUNT:
                                 UWB_LED_OFF;
                             LORA_LED_OFF;
                             LoraReportPoll();
                                 CloseUWB();   
                     break;
                     
                     case UWB_MEASUREMENT_INTERVAL_SLEEP:
                                 UWB_LED_ON;
                              PCA9555_Set_One_Value_Output(BT_IRQ ,0);
                                 OpenUWB();   
                                 LoraReportPoll();
                      state_start_time = uwb_time_count;                     
                     break;                  
                  }
@@ -811,16 +837,33 @@
//#endif
    Uwbinit();
//      boot_deinit();

//      OpenUWB();
    while (1)
    { 
         BT_LED_OFF;
//       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);
//       }
    }
}