ChinaUWBProject.git

			@@ -62,6 +62,7 @@
			#include "HIDO_Timer.h"
			#include "TCPClient.h"
			#include "PCA9555.h"
			#include "WS2812.h"

			#define DEBUG_MODE
			extern int simple_main(void);
			@@ -192,12 +193,12 @@
			}
			if(fVoltage_mv<3300)
			{
			power_low_flag=1;
			gps_air780_power_change(gps_power_state,0);//gps原样，关闭4G
			//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
			//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");
			}
			PCA9555_Set_One_Value_Output(ADC_MINIUS,1);//拉高
			@@ -214,7 +215,7 @@
			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;
			uint32_t keystarttime,keystarttime2,keystarttime3;
			extern uint32_t get_in_num,get_out_num;
			void MotorPoll(void)
			{
			@@ -294,30 +295,51 @@
			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);
			{//power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)ACCLERATE_DETECT_Pin, POWER_WAKEUP_LEVEL_HIGH);
			mcu_deep_sleep();
			}
			}
			void UserKeyTask(void)
			{
			if(!GET_USERKEY)
			{
			if(!read_userkey_input_pca())
			{
			if(HIDO_TimerGetTick() - keystarttime>3)
			if(HIDO_TimerGetTick() - keystarttime3>2)
			{
			userkey_state = 1;
			keystarttime = HIDO_TimerGetTick();
			UDPClient_UploadGPS();
			keystarttime3 = HIDO_TimerGetTick();
			//UDPClient_UploadGPS();
			}
			if(HIDO_TimerGetTick() - keystarttime2>10)
			// 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)
			{
			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
			}
			// 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
			@@ -330,7 +352,7 @@
			second_count = 0;
			MinuteTask();
			}

			//UWBOneSecondTask();
			// if(!power_low_flag)
			// Gps_change();
			// else{
			@@ -344,23 +366,23 @@
			// //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;
			// }
			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;
			}

			// }
			}
			// }
			HIDO_TimerTick();
			if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
			@@ -372,6 +394,7 @@
			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;
			@@ -380,39 +403,26 @@
			{
			nomove_count=0;
			}
			uart_change_check(gpio_state);
			if(!(MAIN_RI_POSITION&gpio_state))
			{
			flag_4G_recdata = 1;
			delaysleep_count = 3;
			}
			//uart_change_check(gpio_state);
			}
			static void sleep_timer_callback(void *dev, uint32_t time)
			{
			//IO_control_init();
			if(enbale_blink_flag)
			{
			green_charge_state=0;
			charge_red_on();
			}

			charge_state_change();//充电状态判断
			if(secondtask_count++%2==0)
			{
			flag_secondtask = 1;
			}else{
			flag_secondtask = 0;
			}
			if(enbale_blink_flag)
			{
			//delay_us(5000);
			green_charge_state=0;
			charge_red_off();
			}
			if(delaysleep_count>0)
			delaysleep_count--;
			//GPS工作逻辑
			}

			static void voltage_input_handler(enum IO_PIN_T pin)
			{

			}
			static void move_handler(enum IO_PIN_T pin)
			{
			nomove_count=0;
			@@ -422,7 +432,7 @@
			PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值
			check_input_change();
			}
			uint8_t flag_4G_recdata;

			void _4gUsart_handler(enum IO_PIN_T pin)
			{
			//LOG_INFO(TRACE_MODULE_APP, "4G RX 唤醒\r\n");
			@@ -502,32 +512,27 @@
			}
			void IdleTask(void)
			{
			// if(gpio_pin_get_val(INPUT_5V_Pin))
			// {

			// 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
			// // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
			// //UartInit();
			// }

			// //UART_CheckSend();
			// } 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
			// // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
			// //UartDeinit();
			// }
			// }
			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)
			@@ -603,31 +608,41 @@

			// open system timer
			//sys_timer_open();

			// TODO 4G
			// TODO 4G
			Uart_Register(UART_ID_4G, UART_ID0);
			// Internet_Init();
			// TCPClient_Init();

			Internet_Init();
			TCPClient_Init();
			gpio_open();
			//board_output_init();//配置adcGND引脚
			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();

			adc_open(&usr_adc_cfg);

			IIC2_Init();
			Accelerometer_Init();
			PCA9555_init();
			//IO_control_init();



			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
			gpio_pin_clr(ADC_GND_ENABLE);

			Program_Init();
			//uart_open(UART_ID1, &test_uart_cfg);
			// uart1_change_from_gps_to_debug();
			@@ -638,26 +653,27 @@
			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
			//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

			//board_4GUsart_detection_init(_4gUsart_handler);
			Uwb_init();
			OpenUWB();

			//board_4GUsart_detection_init(_4gUsart_handler);

			while (1)
			{
			uwb_app_poll();
			//test4=gpio_pin_get_val(SCL_PIN);
			//UWBPoll();

			// if(!power_low_flag)//确认是否休眠下才开启功能
			// {
			// if(flag_TCP_reconnectting\|\|IfTCPConnected())
			// {
			if(flag_TCP_reconnectting\|\|IfTCPConnected())
			{
			// // LOG_INFO(TRACE_MODULE_APP, "处理4G任务\r\n");
			//
			//// if(flag_4guart_needinit)
			@@ -665,20 +681,19 @@
			//// 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();
			// }
			//// air780_led_on();
			// Internet_Poll();
			// HIDO_ATLitePoll();
			// HIDO_TimerPoll();
			// TCPClient_Poll();
			//// air780_led_off();
			// }
			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();

			}
			// }
			if(flag_secondtask)
			{
			@@ -686,8 +701,9 @@
			SecondTask();

			}
			// UserKeyTask();
			PowerTask();
			// IMUTask();
			UserKeyTask();
			IdleTask();
			#ifndef DEBUG_MODE
			//if(flag_sleeptimer)