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chen

2025-01-10 fa86ebd985aaf06c2257a41f04e131a74a3c79bc

 keil/include/main/main.c

@@ -193,12 +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
@@ -215,7 +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)
{
@@ -295,30 +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
@@ -331,7 +352,7 @@
        second_count = 0;
        MinuteTask();
    }
		
      //UWBOneSecondTask();
//      if(!power_low_flag)
//      Gps_change();
//      else{
@@ -345,23 +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
@@ -373,7 +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;
@@ -381,6 +402,11 @@
   if(WAKE_UP_POSITION&gpio_state)
   {
      nomove_count=0;
   }
   if(!(MAIN_RI_POSITION&gpio_state))
   {
       flag_4G_recdata = 1;
     delaysleep_count = 3;
   }
   //uart_change_check(gpio_state);
}
@@ -406,7 +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");
@@ -582,30 +608,34 @@

    // 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();
      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();
    
		
		
      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);       
     //Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);       
    }
         //IO_control_init();
//    io_pin_mux_set(SCL_PIN, IO_FUNC0);//测试测距波形
@@ -613,7 +643,6 @@
//    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();   
@@ -624,26 +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)
@@ -651,20 +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)
        {
@@ -672,8 +701,9 @@
            SecondTask();
               
        }
//            UserKeyTask();
            PowerTask();
//            IMUTask();
            UserKeyTask();
        IdleTask();
#ifndef DEBUG_MODE
//if(flag_sleeptimer)