开发差不多完成，等新板子来了测一下充电跟休眠那块的逻辑。目前4g跟gps上传那块跟urtf4的差不多。

WXK

2025-02-24 cc919e4e5e2395b61b86f922a07440f47ae2ad0a

 keil/include/main/main.c

@@ -64,10 +64,9 @@
#include "PCA9555.h"
#include "WS2812.h"

#define DEBUG_MODE
//#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
void uart_change_check(uint16_t gpio_state);
#define TEST_UART_POLL_MODE 0
#define TEST_UART_INTERUPT_MODE 1
#define TEST_UART_DMA_MODE 2
@@ -161,7 +160,9 @@
            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 
//                  gps_air780_power_change(0,0);//关闭gps，4G 
            PCA9555_Set_One_Value_Output(GPS_POWER,0);//关闭gps，4G 
            PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭gps，4G 
                     sleep_timer_stop();   
                  //adc_close();
            power_enter_power_down_mode(1);
@@ -211,7 +212,8 @@
uint32_t keystarttime,keystarttime2,keystarttime3;
extern uint32_t get_in_num,get_out_num;
uint8_t flag_4G_recdata;

uint8_t ledonflag;
uint32_t ledontime;
void IMUTask(void)
{
   if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)
@@ -245,9 +247,15 @@
     {
        if(HIDO_TimerGetTick() - keystarttime>2)
        {
              rtkled=WHITE;
              uwbled=WHITE;
              led4g=WHITE;
              powerled=WHITE;
              Set4LEDColor(uwbled,rtkled,led4g,powerled);
            delay_ms(500);
            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
            PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
            PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
        }
//        if(HIDO_TimerGetTick() - keystarttime2>10)
//        {
@@ -278,7 +286,7 @@
////                flag_4guart_needinit = 0;
////                AIR780EUartInit();
////            }//yuan
                 if(flag_4G_recdata==1)
         if(flag_4G_recdata==1)
            {
                flag_4G_recdata = 2;
               
@@ -323,18 +331,41 @@
    }
//   }
    HIDO_TimerTick();
      if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
//      if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
    nomove_count++;
      else{
      nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
      }
//      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;

void check_input_change(void)
static void sleep_timer_callback(void *dev, uint32_t time)
{
if(secondtask_count++%2==0)
    {
        flag_secondtask = 1;
        if(!read_5v_input_pca())
        {
        if(bat_percent>15)
        {
            powerled = BLUE;
        }else{
             powerled = RED;
        }
        ledonflag=1;
//        ledontime=HIDO_TimerGetTick();
        Set4LEDColor(uwbled,rtkled,led4g,powerled); 
        }
    }else{
        flag_secondtask = 0;
    }
 if(delaysleep_count>0)
     delaysleep_count--;
}
static void pca_handler(enum IO_PIN_T pin)
{
   PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值
   uint16_t gpio_state;
   gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];
   if(WAKE_UP_POSITION&gpio_state)
@@ -346,29 +377,10 @@
       flag_4G_recdata = 1;
     delaysleep_count = 3;
   }
   //uart_change_check(gpio_state);
}
static void sleep_timer_callback(void *dev, uint32_t time)
{
if(secondtask_count++%2==0)
    {
        flag_secondtask = 1;
    }else{
        flag_secondtask = 0;
    }
 if(delaysleep_count>0)
     delaysleep_count--;
    //GPS工作逻辑
}

//static void move_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();
    if((PWR_ON_POSITION&gpio_state))
   {
        PowerTask();
   }
}

void _4gUsart_handler(enum IO_PIN_T pin)
@@ -379,7 +391,7 @@
}
extern uint16_t ip0,ip1,ip2,ip3,port;
extern uint8_t gps_4g_flag;
extern uint8_t gps_need_data_flag,gps_open_flag;
uint8_t gps_need_data_flag,gps_open_flag;
void Program_Init(void)
{
    Usart1ParseDataCallback = UsartParseDataHandler;//需改为默认为gps处理，UsartParseDataHandler为升级处理当调试时候改为
@@ -422,56 +434,93 @@
    LOG_INFO(TRACE_MODULE_APP,"固件版本:4G-GPS定位手环 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);
}


void uart_change_check(uint16_t gpio_state)
{
   if(INPUT_5V_POSITION&gpio_state)
      {
              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
        }
         }
}
uint32_t adctick = 0;
uint8_t only_one_flag;
uint16_t chongman_time;
uint8_t bat_percent_old=100;
uint8_t input5vflag;
void IdleTask(void)
{
if(read_5v_input_pca())
      {
              if(state5v==0)
            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
            } 
//            chongman_time=0;
//            only_one_flag=0;
//            uwbled=0;
//            rtkled=0;
//            led4g=0;
//            powerled=0;
//            while(read_5v_input_pca())
//            {
//                nomove_count = 0;
//                if(HIDO_TimerGetTick()-adctick>6000)  //10分钟采样一次 电量
//                {
//                    chongman_time=chongman_time+6;
//                    adctick = HIDO_TimerGetTick();
//                    PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
//                    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
//                }
//                if(bat_percent>=99&&!only_one_flag)
//                {
//                only_one_flag=1;
//                chongman_time=0;
//                }
//                if(bat_percent>=99&&chongman_time>=1800)
//                {
//                    powerled = GREEN;
//                }else{
//                    powerled = RED;
//                }
//                UART_CheckReceive();
//                delay_ms(100);
//                Internet_Poll();
//                Set4LEDColor(0,0,0,powerled);
//            }
//            NVIC_SystemReset();
            input5vflag=1;
      }
        else 
        {
            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
            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
            }
//            input5vflag=0;
        }
         }
      UART_CheckReceive();
        if(g_com_map[CNT_RESTART]==1)
        {
            g_com_map[CNT_RESTART]=0;
//            printf("%s URTRestart",__debug_info__);
//            URTRestart(); 
            NVIC_SystemReset();
            
        }
        if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
        {
//            printf("%s URTRestart",__debug_info__);
//            URTRestart();
//              //  SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
            NVIC_SystemReset();
        }
        HIDO_TimerPoll();
        if(ledonflag==1)
        {
        ledonflag=0;
        Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF); 
        }
}
void boot_deinit(void)
{
@@ -540,13 +589,13 @@
   
    adc_open(&usr_adc_cfg);
      
      if(!read_5v_input_pca())
      {
     Set4LEDColor(BLUE,GREEN,WHITE,GREEN);
    if(!read_5v_input_pca())
    {
     Set4LEDColor(BLUE,GREEN,WHITE,RED);
     delay_ms(500);
     Set4LEDColor(RED,WHITE,RED,WHITE);
     delay_ms(500);      
     //Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);       
     Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);       
    }
//    io_pin_mux_set(SCL_PIN, IO_FUNC0);//测试测距波形
//    gpio_pin_set_dir(SCL_PIN , GPIO_DIR_IN, 0);
@@ -572,58 +621,62 @@
      OpenUWB();
    while (1)
    { 
            uwb_app_poll();
            Air780eTask();
      uwb_app_poll();
//      Air780eTask();
        Internet_Poll();
        HIDO_TimerPoll();
        HIDO_ATLitePoll();
        TCPClient_Poll();
        if(flag_secondtask)
        {
            flag_secondtask = 0;
            SecondTask();
        }
            PowerTask();
//            IMUTask();
            UserKeyTask();
      PowerTask();
      IMUTask();
      UserKeyTask();
        IdleTask();
#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。
////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。
////        {
////                 if(!flag_4guart_needinit)
////            {
////                           LOG_INFO(TRACE_MODULE_APP, "4G RX 中断打开\r\n");
////                             board_4GUsart_detection_init(_4gUsart_handler);

////            }
////               flag_sleeptimer =0;
//            //LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
////                flag_4guart_needinit = 1;

////        trace_flush();
////        uint32_t lock = int_lock();
////        //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
////        power_enter_power_down_mode(0);
////        int_unlock(lock);
////        }//yuan

//            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())||power_low_flag)) 
//        {
//                 if(!flag_4guart_needinit)
//            {
//                           LOG_INFO(TRACE_MODULE_APP, "4G RX 中断打开\r\n");
//                             board_4GUsart_detection_init(_4gUsart_handler);

//            }
//               flag_sleeptimer =0;
            //LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
//                flag_4guart_needinit = 1;

//        trace_flush();
//        uint32_t lock = int_lock();
//        //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
//        power_enter_power_down_mode(0);
//        int_unlock(lock);
//        }//yuan

            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())||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();
            
           // delay_us(300000);
            trace_flush();
            lock = int_lock();            
            power_enter_power_down_mode(0);
                  uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_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);
        }
////               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_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_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);
//        }

#endif
    }