国产UWB芯片工程的仓库
blame | 历史 | 补丁 | 提交 | 提交对比 | 忽略空白
chen
2024-10-31 b45fe21c1ae4689bb551efea21cee6e46a780380 
 keil/include/main/main.c


@@ -90,12 +90,12 @@


int16_t fVoltage_mv,first_search_flag;


uint8_t bat_percent,g_start_send_flag=1;


uint8_t link_success_flag,motor_count;


uint16_t gps_wait_count;


uint16_t gps_wait_count,gps_wait_count2;


uint8_t state5v = 1;


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


@@ -147,6 +147,20 @@


{


    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;


@@ -169,6 +183,15 @@


            bat_percent = ((fVoltage_mv - 3300) /8);


        }


    }


            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


            }


      gpio_pin_set(ADC_GND_ENABLE);//在拉高


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


}


@@ -179,8 +202,8 @@


//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;


uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0,userkey_state,deep_sleep_flag;


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;


@@ -261,12 +284,10 @@


   }


void IMUTask(void)


{


if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)


    { 


       deep_sleep_flag=1;


    }else{


          deep_sleep_flag=0;


      }


   if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)


   {


      mcu_deep_sleep();


   }


}


void UserKeyTask(void)


 {


@@ -299,10 +320,16 @@


        second_count = 0;


        MinuteTask();


    }


    //UWB更新列表


    TagListUpdate();


      if(!power_low_flag)


      Gps_change();


    //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_count2=0;


      gps_wait_count=0;


      }


    //UWB状态检测




    if(IfTCPConnected())


@@ -323,14 +350,18 @@




    }


    HIDO_TimerTick();


      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;


uint8_t uwb_enable_flag=0;


static void sleep_timer_callback(void *dev, uint32_t time)


{


   // IO_control_init();


    IO_control_init();


      if(enbale_blink_flag)


   {


   green_charge_state=0;


@@ -345,6 +376,7 @@


    }


      if(enbale_blink_flag)


   {


      delay_us(5000);


   green_charge_state=0;


   charge_red_off();


   }      


@@ -394,6 +426,7 @@


    }else{


        UWB_work_state = SEARCH_DEV;


    }


      //g_com_map[SEND_4G_SECOND]


    if(g_com_map[SEND_4G_SECOND]<30)


      {


      gps_open_flag=0;


@@ -480,7 +513,7 @@


}


uint8_t flag_4guart_needinit=0;


uint8_t index1,index2,index3;




int16_t Voltage_input;


int tt2;


int test1,test3;


uint32_t test4;


@@ -526,6 +559,9 @@




    gpio_open();


      board_output_init();//配置adcGND引脚


//      battery_monitor_open();


//      Voltage_input=battery_monitor_get();


//      battery_monitor_close();


    adc_open(&usr_adc_cfg);


      


    IIC2_Init();


@@ -534,10 +570,10 @@


    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 


    //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);


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


   


         Program_Init();


    //uart_open(UART_ID1, &test_uart_cfg);


 


@@ -547,19 +583,20 @@


   


// 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);


		


       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)


    { test4=gpio_pin_get_val(SCL_PIN);


//         if(!deep_sleep_flag)//确认是否休眠下才开启功能


//         {


		


         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");


@@ -583,7 +620,7 @@


            TCPClient_Poll();


//            air780_led_off();


        }


//      }


      }


        if(flag_secondtask)


        {


            flag_secondtask = 0;


@@ -620,11 +657,10 @@


//               test1=gpio_pin_get_val(_4G_USART_RX_Pin);


            uint32_t lock;


            //flag_4guart_needinit = 1;


            Internet_Poll();


            HIDO_ATLitePoll();


            HIDO_TimerPoll();


            TCPClient_Poll();


         //   power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)_4G_USART_RX_Pin, POWER_WAKEUP_LEVEL_LOW);


//            Internet_Poll();


//            HIDO_ATLitePoll();


//            HIDO_TimerPoll();


//            TCPClient_Poll();


            


           // delay_us(300000);


            trace_flush();