完成免布线标签地板基本测试，修改串口为串口0，有修改为功率固件flag因中断多次触发问题，未加防抖保护，升级未测试

chen

2025-05-29 9aa8760604c398bc3a7a19b26c9e06de776f11df

 keil/include/main/main.c

@@ -79,7 +79,8 @@
#define WARING_LIMIT_TIME 10
#define UPDATE_TIME 10


#define UWB_VOL_INVALID_LED_WAIT_COUNT 5
#define UWB_VOL_VALID_LED_WAIT_COUNT 1
extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
@@ -113,7 +114,13 @@
} Operation_step;
Operation_step UWB_work_state;


typedef enum
{UWB_UNLINE=0,	
   VOLTAGE_NORMAL,
  VOLTAGE_ABNORMAL,
} UWB_State;
extern UWB_State Voltage_State;
Operation_step UWB_work_state;
Commend_SendDate send_struct;
struct ADC_CFG_T usr_adc_cfg = {
    .mode = ADC_MODE_CONTINUE,    /* Selected single conversion mode  */
@@ -153,7 +160,7 @@
};
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);
    uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}
void mcu_deep_sleep(void)
{
@@ -169,6 +176,7 @@
                  sys_reset(0);
            int_unlock(lock);
}
uint8_t power_detect_flag;
static void adc_callback(void *data, uint32_t number)
{
    uint32_t *result = (uint32_t *)data;
@@ -195,103 +203,26 @@
            {
               //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");
               power_detect_flag=1;
               LOG_INFO(TRACE_MODULE_APP, "电池电压低于3.3V，异常工作\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");
               power_detect_flag=0;
               LOG_INFO(TRACE_MODULE_APP, "电池电压正常,正常工作\r\n");
            }
      PCA9555_Set_One_Value_Output(ADC_MINIUS,1);//拉高
				
//      PCA9555_Set_One_Value_Output(ADC_MINIUS,1);//拉高
  //  LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
}
//void UartInit(void)
//{
//board_pins_config();
//uart_open(UART_ID1, &test_uart_cfg);
//board_debug_console_open(TRACE_PORT_UART0);
//uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
//}
extern uint8_t gps_uwb_flag,gps_need_data_flag;
uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0,userkey_state;
uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag,flag_fenli_alarm = 0,fenli_alarm_count,delaysleep_count,enbale_blink_flag;
int need_open_gps_count;
uint32_t keystarttime,keystarttime2,keystarttime3;
extern uint32_t get_in_num,get_out_num;
void MotorPoll(void)
{
    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
                fenli_alarm_count = 0;
                if(flag_fenli_alarm)
                {
                    flag_fenli_alarm = 0;
                    fenli_alarm_count = 0;
                    _4GAlarmUpload(2);
                }
            } 
            }
            if(distance>g_com_map[ALARM_DISTANCE1]||anchordata_num==0)
                     {
                if(fenli_alarm_count++>20)
                {
                           if(!flag_fenli_alarm)
                           {
                    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;

                }		
							
                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) {
                    if(!flag_alam_state)
                    {
                        flag_alam_state = 1;
                    }
                    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) {
                    if(!flag_alam_state)
                    {
                        flag_alam_state = 1;
                    }
                    gps_uwb_flag=1;//开启gps测距流程
                    need_open_gps_count=0;
                }
            
        } 
                  if(anchordata_num==0) {
            if(!flag_alam_state)
            {
                flag_alam_state = 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;
        }
    }
   }
uint8_t flag_4G_recdata;
extern uint8_t taglist_num;
void IMUTask(void)
{
   if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)
@@ -301,49 +232,86 @@
}
void UserKeyTask(void)
{
if(!read_userkey_input_pca())
     {
        if(HIDO_TimerGetTick() - keystarttime3>2)
        {
            userkey_state = 1;
            keystarttime3 =  HIDO_TimerGetTick();
                  //UDPClient_UploadGPS();
        }
//        if(HIDO_TimerGetTick() - keystarttime2>10)
//if(!read_userkey_input_pca())
//     {
//        if(HIDO_TimerGetTick() - keystarttime3>2)
//        {
//						
//            g_com_map[CNT_RESTART] = 1;
//            userkey_state = 1;
//            keystarttime3 =  HIDO_TimerGetTick();
//                  //UDPClient_UploadGPS();
//        }
     }else
     {
       keystarttime3 =  HIDO_TimerGetTick(); 
     }
////        if(HIDO_TimerGetTick() - keystarttime2>10)
////        {
////						
////            g_com_map[CNT_RESTART] = 1;
////        }
//     }else
//     {
//       keystarttime3 =  HIDO_TimerGetTick(); 
//     }
} 
void PowerTask(void)
{
     if(read_powerkey_input_pca())
     {
        if(HIDO_TimerGetTick() - keystarttime>2)
        {
            keystarttime =  HIDO_TimerGetTick();
                  PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
                  PCA9555_Set_One_Value_Output(GPS_LED,0);//输出低电平关闭LED
        }
//        if(HIDO_TimerGetTick() - keystarttime2>10)
//     if(read_powerkey_input_pca())
//     {
//        if(HIDO_TimerGetTick() - keystarttime>2)
//        {
//						
//            g_com_map[CNT_RESTART] = 1;
//            keystarttime =  HIDO_TimerGetTick();
//                  PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
//                  PCA9555_Set_One_Value_Output(GPS_LED,0);//输出低电平关闭LED
//        }
     }else
     {
       keystarttime =  HIDO_TimerGetTick(); 
       keystarttime2 =  HIDO_TimerGetTick(); 
     }
////        if(HIDO_TimerGetTick() - keystarttime2>10)
////        {
////						
////            g_com_map[CNT_RESTART] = 1;
////        }
//     }else
//     {
//       keystarttime =  HIDO_TimerGetTick(); 
//       keystarttime2 =  HIDO_TimerGetTick(); 
//     }
}
void MinuteTask(void)
{      
      PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
    //adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
}
void blink_test_led(enum IO_PIN_T pin_num)
{
   gpio_pin_set(pin_num);//亮
   delay_ms(500);
   gpio_pin_clr(pin_num);//灭
}
void blink_test_led_off(enum IO_PIN_T pin_num)
{
   gpio_pin_clr(pin_num);//灭
}
uint8_t wltag_uwb_timer;
void voltage_Task(void)
{
   if(taglist_num==0)
      {
      Voltage_State=UWB_UNLINE;
      }
switch(Voltage_State){
      case    VOLTAGE_NORMAL:
         if(wltag_uwb_timer++>=UWB_VOL_VALID_LED_WAIT_COUNT)
         {   wltag_uwb_timer=0;
            blink_test_led(LED_PIN);
         }
      break;
      case VOLTAGE_ABNORMAL:
         if(wltag_uwb_timer++>=UWB_VOL_INVALID_LED_WAIT_COUNT)
         {   wltag_uwb_timer=0;
            blink_test_led(LED_PIN);
         }
         case UWB_UNLINE:
            blink_test_led_off(LED_PIN);
      break;
   }
}
void led_Task(void)
{
   voltage_Task();
}
void SecondTask(void)
{static uint8_t second_count;
@@ -352,38 +320,7 @@
        second_count = 0;
        MinuteTask();
    }
      //UWBOneSecondTask();
//      if(!power_low_flag)
//      Gps_change();
//      else{
//      gps_power_state=0;//关闭GPS
//      update_led_power_state();
//      //初始化GPS计数数据
//      gps_need_data_flag=1;
//      gps_wait_count2=0;
//      gps_wait_count=0;
//      }
//    //UWB状态检测
//if(!power_low_flag)//低供电下不需要检测重连
//   {
    if(IfTCPConnected())
    {
        TCP_reconnect_timer =0;
        flag_TCP_reconnectting = 0;
    } else {
        if(TCP_reconnect_timer<30)//如果TCP没有连接，每隔10分钟尝试连接30秒
        {
            flag_TCP_reconnectting = 1;
        } else {
            flag_TCP_reconnectting = 0;
        }
        if(TCP_reconnect_timer++>600)
        {
            TCP_reconnect_timer = 0;
        }

    }
//   }
      led_Task();
    HIDO_TimerTick();
      if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
    nomove_count++;
@@ -394,7 +331,7 @@
uint8_t tt=1;
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
uint8_t uwb_enable_flag=0;
uint8_t flag_4G_recdata;

void check_input_change(void)
{
   uint16_t gpio_state;
@@ -423,14 +360,14 @@
    //GPS工作逻辑
}

static void move_handler(enum IO_PIN_T pin)
//static void move_handler(enum IO_PIN_T pin)
//{
//    nomove_count=0;
//}
uint8_t change_buffer_flag=0;
static void gpio_change_handler(enum IO_PIN_T pin)
{
    nomove_count=0;
}
static void pca_handler(enum IO_PIN_T pin)
{
   PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值
   check_input_change();
change_buffer_flag=1;
}

void _4gUsart_handler(enum IO_PIN_T pin)
@@ -512,49 +449,28 @@
}
void IdleTask(void)
{
if(read_5v_input_pca())
      {
              if(state5v==0)
        {
            state5v=1;
            state5V_prase_flag=state5v;
            gps_prase_flag=0;//解除gps解析
            uart1_change_from_gps_to_debug();//测试
                  PCA9555_Set_One_Value_Output(MCU_A,1);//输出高电平切换为5V输入
        } 
      }else {
        if(state5v==1)
        {
            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
        }
         }
      UART_CheckReceive();
}
int bind_check(void)
{
    if(g_com_map[BIND_DEV_ID]!=0x00)
    {
        return 1;
//绑定信息为1说明设备已经被下发绑定
    } else {
        return 0;
//绑定信息为0说明设备未被绑定
    }
}
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
        UWB_work_state=LINK_SUCCESS;
    } else { //否则进入搜索模式
        UWB_work_state=SEARCH_DEV;
        if(first_search_flag==0)
            first_search_flag=1;
    }
//if(read_5v_input_pca())
//      {
//              if(state5v==0)
//        {
//            state5v=1;
//            state5V_prase_flag=state5v;
//            gps_prase_flag=0;//解除gps解析
//            uart1_change_from_gps_to_debug();//测试
////                  PCA9555_Set_One_Value_Output(MCU_A,1);//输出高电平切换为5V输入
//        } 
//      }else {
//        if(state5v==1)
//        {
//            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
//        }
//         }
      UART0_CheckReceive();
}
void boot_deinit(void)
{
@@ -580,7 +496,7 @@
    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_UART0,BAUD_115200);
    // Reset reason
    reset_cause_get();
    reset_cause_clear();
@@ -609,101 +525,35 @@
    // open system timer
    //sys_timer_open();
      // TODO 4G
    Uart_Register(UART_ID_4G, UART_ID0);
    Internet_Init();
    TCPClient_Init();
    gpio_open();
      LED_output_init();//配置adcGND引脚
      IIC2_Init();
    Accelerometer_Init();
      PCA9555_init();
 
		
      AIR780E_Reset(); 
//      battery_monitor_open();
//      Voltage_input=battery_monitor_get();
//      battery_monitor_close();
      LED_output_init();//配置灯引脚和PA引脚
   
    adc_open(&usr_adc_cfg);
		
    
		
		
      if(!read_5v_input_pca())
      {
     Set4LEDColor(BLUE,GREEN,WHITE,GREEN);
     delay_ms(500);
     Set4LEDColor(RED,WHITE,RED,WHITE);
     delay_ms(500);		
     //Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);       
    }
         //IO_control_init();
//    io_pin_mux_set(SCL_PIN, IO_FUNC0);//测试测距波形
//    gpio_pin_set_dir(SCL_PIN , GPIO_DIR_IN, 0);
//    io_pull_set(SCL_PIN , IO_PULL_UP, 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_open(&usr_adc_cfg);
         Program_Init();
    //uart_open(UART_ID1, &test_uart_cfg);
   // uart1_change_from_gps_to_debug();   
    //Uart1GpsRecDebugSend();   
    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
    //uart_open(UART_ID1, &test_uart_cfg);  
    uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
   
// Initialize low power mode
   // Initialize low power mode
    power_init();
      //AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
    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(SLEEP_TIMER_NUM));//测试
 //   board_5V_input_init(voltage_input_handler);
         PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
       adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
    board_acceleration_detection_init(move_handler);
      pca_input_detection_init(pca_handler);//pca检测输入
		
//       adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
    //board_acceleration_detection_init(move_handler);
      gpio_change_detection_init(gpio_change_handler);//gpio中断检测输入切换对面免布线基站逻辑
      //board_4GUsart_detection_init(_4gUsart_handler);
      Uwb_init();
      OpenUWB();
		
		
    while (1)
    { 
         uwb_app_poll();
			
//         if(!power_low_flag)//确认是否休眠下才开启功能
//         {
        if(flag_TCP_reconnectting||IfTCPConnected())
        {
//        //    LOG_INFO(TRACE_MODULE_APP, "处理4G任务\r\n");
//           
////            if(flag_4guart_needinit)
////            {
////                flag_4guart_needinit = 0;
////                AIR780EUartInit();
////            }//yuan
                 if(flag_4G_recdata==1)
            {
                flag_4G_recdata = 2;
               
                //LOG_INFO(TRACE_MODULE_APP, "运行Socket_RecvAll tt2 %d\r\n",tt2);
                Socket_RecvAll();
            }
            Internet_Poll();
            HIDO_ATLitePoll();
            HIDO_TimerPoll();
            TCPClient_Poll();

        }
//      }
            uwb_app_poll();
        if(flag_secondtask)
        {
            flag_secondtask = 0;
            SecondTask();
					
        }
            PowerTask();
//            IMUTask();
            UserKeyTask();
//            PowerTask();
////            IMUTask();
            //UserKeyTask();
        IdleTask();
#ifndef DEBUG_MODE
//if(flag_sleeptimer)