国产UWB芯片工程的仓库
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2024-11-04 9ff35110c0d55f0c5f3dbb3453301283a1e8de42 
 keil/include/main/main.c


@@ -95,7 +95,7 @@


uint8_t motor_power_state=1,uwb_state,air780_power_state,gps_success_state,red_charge_state,green_charge_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,power_low_flag;


uint8_t flag_4g_usart_rx_state = 1;  //4G 串口RX当前是 RX状态，不是GPIO状态


int input_5v_flag,air780e_flag1,air780e_flag2,air780e_flag3,air780e_flag4;


typedef enum


@@ -148,6 +148,20 @@


{


    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);


}


void mcu_deep_sleep(void)


{


            uint32_t lock;


            trace_flush();


            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 


                     sleep_timer_stop();	


                  //adc_close();


            power_enter_power_down_mode(1);


                  //LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");


                  sys_reset(0);


            int_unlock(lock);


}


static void adc_callback(void *data, uint32_t number)


{


    uint32_t *result = (uint32_t *)data;


@@ -171,7 +185,17 @@


        }


    }


      gpio_pin_set(ADC_GND_ENABLE);//在拉高


      tt2=gpio_pin_get_val(ADC_GND_ENABLE);


      if(fVoltage_mv<3300)


            {


               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,马达停止工作\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,马达正常工作\r\n");


            }


      //tt2=gpio_pin_get_val(ADC_GND_ENABLE);


  //  LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);


}


//void UartInit(void)


@@ -181,7 +205,7 @@


//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;


extern uint8_t gps_uwb_flag,gps_need_data_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,flag_fenli_alarm = 0,fenli_alarm_count,delaysleep_count,enbale_blink_flag;


int need_open_gps_count;


@@ -260,7 +284,13 @@


        }


    }


   }




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);//配置唤醒等待进入休眠


      mcu_deep_sleep();


   }


}


void MinuteTask(void)


{      gpio_pin_clr(ADC_GND_ENABLE);//先拉低


    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样


@@ -274,7 +304,16 @@


    }


    //UWB更新列表


    TagListUpdate();


      if(!power_low_flag)


      {


    GPS_Poll();


      }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_count=0;


      }


      //gps_power_state=1;//测试gps长开


    //UWB状态检测




@@ -297,6 +336,11 @@


    }


    HIDO_TimerTick();


    nomove_count++;


      if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出


    nomove_count++;


      else{


      nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;


      }


}


uint8_t tt=1;


uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;


@@ -328,7 +372,8 @@




      charge_state_change();//充电状态判断


      


    //马达震动逻辑


   if(!power_low_flag)//确认是否休眠下才开启功能


   { //马达震动逻辑


    if(g_com_map[MOTOR_ENABLE])


    {


        if(motor_open_air_flag||moter_open_uwb_flag)


@@ -345,7 +390,7 @@


    }else{


        motor_power_state=1;


    }


		


 }


      if(enbale_blink_flag)


   {


   green_charge_state=0;


@@ -525,15 +570,6 @@


      board_output_init();


    //board_led_init();


      //防止充电电流过低导致设备无法启动


//      battery_monitor_open();


//      Voltage_input=battery_monitor_get();


//      battery_monitor_close();


//      if(Voltage_input<=3270)


//      {


//      enable_system_function_flag=0;//供电不足不能启动4G和GPS


//      }else{


//      enable_system_function_flag=1;


//      }


      //检测通过后改为正常adc采集模式


    adc_open(&usr_adc_cfg);


      


@@ -547,8 +583,6 @@


      #endif


    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


      gpio_pin_clr(ADC_GND_ENABLE);//Ïȵ


    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样


         Program_Init();


    //uart_open(UART_ID1, &test_uart_cfg);


 


@@ -558,17 +592,21 @@


   


// 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


      //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);


    board_acceleration_detection_init(move_handler);


      gpio_pin_clr(ADC_GND_ENABLE);//先拉低


      adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样


      board_acceleration_detection_init(move_handler);


//       LOG_INFO(TRACE_MODULE_APP, "测试进入app");


      board_4GUsart_detection_init(_4gUsart_handler);


    while (1)


    { tt1=gpio_pin_get_val(ADC_GND_ENABLE);


         //tt2 = gpio_pin_get_val(_4G_USART_RX_Pin);


         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");


@@ -592,6 +630,7 @@


            TCPClient_Poll();


            air780_led_off();


        }


         }


        if(flag_secondtask)


        {


            flag_secondtask = 0;


@@ -599,6 +638,7 @@


               


        }


        IdleTask();


            IMUTask();


#ifndef DEBUG_MODE


//if(flag_sleeptimer)


//        if(!gps_need_data_flag&&!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。


@@ -625,15 +665,15 @@


index2=AIR780E_IsIPIdle();


index3=Socket_IsSendQueueEmpty(0);


            if(delaysleep_count==0)


        if(!gps_power_state&&!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&AIR780E_IsIPIdle()&&Socket_IsSendQueueEmpty(0))||((!flag_TCP_reconnectting)&&!IfTCPConnected())))


        if(!gps_power_state&&!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&AIR780E_IsIPIdle()&&Socket_IsSendQueueEmpty(0))||((!flag_TCP_reconnectting)&&!IfTCPConnected())||power_low_flag))


        {


//               test1=gpio_pin_get_val(_4G_USART_RX_Pin);


            uint32_t lock;


            //flag_4guart_needinit = 1;


            Internet_Poll();


            HIDO_ATLitePoll();


            HIDO_TimerPoll();


            TCPClient_Poll();


//            Internet_Poll();


//            HIDO_ATLitePoll();


//            HIDO_TimerPoll();


//            TCPClient_Poll();


            


           // delay_us(300000);


            trace_flush();