Merge branch '安邦测距手环' of http://47.108.70.204:60062/r/ChinaUWBProject into ...

yincheng.zhong

2024-08-27 fc78430a35be252a1cd5a29b5b66290a68cd9ca3

 keil/include/main/main.c

@@ -60,7 +60,9 @@
#include "Internet.h"
#include "HIDO_ATLite.h"
#include "HIDO_Timer.h"
#include "TCPClient.h"

//#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
#define TEST_UART_POLL_MODE 0
@@ -70,9 +72,16 @@

#define NUM_SAMPLES 1
#define BIND_TRIGGER_TIME 60000
#define MOTOR_COUNT_TIME 1
#define WARING_LIMIT_TIME 10
#define UPDATE_TIME 10


extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
extern int distance;
extern uint8_t anchordata_num;
uint32_t dev_id;
uint8_t group_id;
uint16_t tag_frequency;
@@ -80,19 +89,20 @@
uint16_t warning_distance,prewarning_distance;
int16_t fVoltage_mv,first_search_flag;
uint8_t bat_percent,g_start_send_flag=1;
int link_success_flag;
uint8_t state5v,link_error_count;
uint8_t gps_power_state,motor_power_state=1,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state;
uint8_t link_success_flag,motor_count;
uint16_t gps_wait_count;
uint8_t state5v;
uint8_t motor_power_state=1,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_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 flag_4g_usart_rx_state = 1;  //4G 串口RX当前是 RX状态，不是GPIO状态
typedef enum
{      UN_BIND=0,
        LINK_SUCCESS,
        SEARCH_DEV,
} Operation_step;
Operation_step Operation_state;
Operation_step UWB_work_state;


Commend_SendDate send_struct;
@@ -167,33 +177,104 @@
//board_debug_console_open(TRACE_PORT_UART0);
//uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
//}
static void sleep_timer_callback(void *dev, uint32_t time)
extern gps_uwb_flag;
uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1;
uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag;
int need_open_gps_count;
void MotorPoll(void)
{
    if(UWB_work_state==UN_BIND) {
        gps_uwb_flag=0;//关闭GPS
        moter_open_uwb_flag=0;//关闭震动
        need_open_gps_count=0;//清0计数gps
    } else { //绑定状态下
        if(anchordata_num==1) {
            if(distance<g_com_map[ALARM_DISTANCE1]) { //小于预警距离
                need_open_gps_count=0;
                moter_open_uwb_flag=0;//关闭震动
                gps_uwb_flag=0;//关闭GPS
            } else if(g_com_map[ALARM_DISTANCE1]<=distance&&distance<=g_com_map[ALARM_DISTANCE2]) { //大于预警距离小于报警距离
                need_open_gps_count++;
                moter_open_uwb_flag=1;//开启震动
                if(need_open_gps_count>=20) {
                    gps_uwb_flag=1;//开启gps测距流程
                    need_open_gps_count=0;
                }
            } else if(distance>=g_com_map[ALARM_DISTANCE2]) { //大于报警距离
                need_open_gps_count++;
                moter_open_uwb_flag=1;//开启震动
                if(need_open_gps_count>=20) {
                    gps_uwb_flag=1;//开启gps测距流程
                    need_open_gps_count=0;
                }
            }
        } else if(anchordata_num==0) {

    nomove_count++;
    send_messgae_count+=g_com_map[COM_INTERVAL];
    //if(send_messgae_count>=g_com_map[4G_INTERNAL]){
    //send_message_count=0;
    //send_flag=1;
    //}

    if(Operation_state==LINK_SUCCESS) { //成功时清0错误计数
        link_error_count=0;
        g_start_send_flag=1;
            gps_uwb_flag=1;//开启gps测距流程
            moter_open_uwb_flag=1;//开启震动
            need_open_gps_count=0;
        }
    }
    if(Operation_state==SEARCH_DEV) {
//      if(first_search_flag){//当第一次连接断开产生时才开始计数
        //link_error_count=0;
//      }
        link_error_count++;
        if(link_error_count==60)
            link_error_count=0;
        //link_error_count+=g_com_map[COM_INTERVAL];
        //if(link_error_count>=g_com_map[4G_INTERNAL])
        //link_error_count=0;
        update_led_power_state();//更新灯状态
}
void SecondTask(void)
{
    //UWB更新列表
    TagListUpdate();
    GPS_Poll();
    g_com_map[ALARM_DISTANCE1]=30;//测试
    g_com_map[ALARM_DISTANCE2]=40;
    //UWB状态检测

    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();
    nomove_count++;
}
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
static void sleep_timer_callback(void *dev, uint32_t time)
{
    IO_control_init();
    UWBPoll();
 //   MotorPoll();
    if(secondtask_count++%2==0)
    {
        flag_secondtask = 1;
    }else{
        flag_secondtask = 0;
    }

    flag_sleeptimer = 1;

    //马达震动逻辑
    if(motor_open_air_flag||moter_open_uwb_flag)
    {
       if (motor_count++%2==0)
       {
        motor_power_state = 1;
       }else{
        motor_power_state = 0;
       }
    } else {
        motor_power_state=1;
    }

    //GPS工作逻辑

}
static void voltage_input_handler(enum IO_PIN_T pin)
{
@@ -203,6 +284,13 @@
{
    nomove_count=0;
}
uint8_t flag_4G_recdata;
static void _4gUsart_handler(enum IO_PIN_T pin)
{
    LOG_INFO(TRACE_MODULE_APP, "4G RX 唤醒\r\n");
    // flag_4G_recdata = 1;
    // AIR780EUartInit();
}
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
@@ -211,12 +299,22 @@
    group_id=g_com_map[GROUP_ID];//组ID
    tag_frequency = 1000/g_com_map[COM_INTERVAL];//测距频率这个存的是测距时间
    memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
    warning_distance=g_com_map[STATIONARY_TIME];
    g_com_map[ALARM_DISTANCE1] = 40;
    g_com_map[ALARM_DISTANCE2
    ] = 40;
    warning_distance=g_com_map[ALARM_DISTANCE1];
    prewarning_distance=g_com_map[ALARM_DISTANCE2];
    send_struct.warnDistence=warning_distance;
    send_struct.alarmDistence=prewarning_distance;//更新报警距离
    memcpy(&send_struct.gunLableId,&g_com_map[BIND_DEV_ID],2);//更新绑定ID
    send_struct.tagId=dev_id;//更新设备ID
    g_com_map[BIND_DEV_ID] = 0x1234;
    if(g_com_map[BIND_DEV_ID]==0)
    {
        UWB_work_state = UN_BIND;
    }else{
        UWB_work_state = SEARCH_DEV;
    }
}


@@ -264,20 +362,20 @@
void check_if_in_search(void)
{
    if(link_success_flag==1) { //如果第一次测距收包成功那么则进入连接测距模式
        Operation_state=LINK_SUCCESS;
        UWB_work_state=LINK_SUCCESS;
    } else { //否则进入搜索模式
        Operation_state=SEARCH_DEV;
        UWB_work_state=SEARCH_DEV;
        if(first_search_flag==0)
            first_search_flag=1;
    }
}


uint8_t flag_4guart_needinit=0;
int main(void)
{
    board_clock_run();
    board_pins_config();
    board_debug_console_open(TRACE_PORT_UART1);
    board_debug_console_open(TRACE_PORT_UART0);
    // Reset reason
    reset_cause_get();
    reset_cause_clear();
@@ -309,6 +407,7 @@
    // TODO 4G
    Uart_Register(UART_ID_4G, UART_ID0);
    Internet_Init();
    TCPClient_Init();

    gpio_open();
    //board_led_init();
@@ -317,69 +416,48 @@
    IIC2_Init();
    Accelerometer_Init();
    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_OUT, 0);
    io_pull_set(SCL_PIN , IO_PULL_DOWN, IO_PULL_UP_LEVEL4);
    gps_air780_power_change(1,1);//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
    //adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
   // uart_open(UART_ID1, &test_uart_cfg);
    gps_air780_power_change(1,1);//开启gps，4G
    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
    uart_open(UART_ID1, &test_uart_cfg);
    Program_Init();
    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
// Initialize low power mode
    power_init();
LOG_INFO(TRACE_MODULE_APP, "测试数据");
//         g_com_map[BIND_DEV_ID]=0x1122;//测试
    if(bind_check())//绑定后才提前开启测距
    {   link_success_flag=temp_main();//上机开启接收2s绑定成功则进行下面轮询测距流程,不成功则1分后再次开启2s接收
        check_if_in_search();
    } else {
        send_struct.bindState=false;
        Operation_state=UN_BIND;
    }
    //  LOG_INFO(TRACE_MODULE_APP, "测试数据");
   

    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(1000));//测试
    board_5V_input_init(voltage_input_handler);
    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);

    //AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
    while (1)
    {
        // TODO
        Internet_Poll();
         HIDO_ATLitePoll();
        HIDO_TimerPoll();

        switch(Operation_state) {
        case LINK_SUCCESS:
        {   //连接成功进行轮询测距
            if(g_start_send_flag) {
                g_start_send_flag = 0;
                uwb_led_on();
                simple_main();
                uwb_led_off();
                IdleTask();
            } else {
                IdleTask();
        if(flag_TCP_reconnectting||IfTCPConnected())
        {
            //   LOG_INFO(TRACE_MODULE_APP, "处理4G任务\r\n");
            if(flag_4guart_needinit)
            {
                flag_4guart_needinit = 0;
                AIR780EUartInit();
            }
            Internet_Poll();
            HIDO_ATLitePoll();
            HIDO_TimerPoll();
            TCPClient_Poll();
        }
        break;
        case SEARCH_DEV:
        {   //接包不成功或者通讯失败进入搜索模式
            if(link_error_count==0||first_search_flag) {
                first_search_flag=0;
                uwb_led_on();
                link_success_flag=temp_main();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
                uwb_led_off();
                if(link_success_flag)
                    Operation_state=LINK_SUCCESS;
            }
            IdleTask();
        if(flag_secondtask)
        {
            flag_secondtask = 0;
            SecondTask();
        }
        break;
        case UN_BIND:
        {   uwb_led_off();//关闭uwb指示灯
            IdleTask();
        }
        break;
        }

        IdleTask();
        //3种情况后都要发包和休眠
        //if(send_flag){
        //message_construct();
@@ -388,13 +466,25 @@
        //blink_led(&air780_success_state);//成功测距闪烁4G状态灯
        //air780_success_state=0;
        //}
#ifdef DEBUG_MODE
        if(!gpio_pin_get_val(INPUT_5V_Pin)) {
            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);
#ifndef DEBUG_MODE
//if(flag_sleeptimer)
    //    if(!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&Socket_IsSendQueueEmpty(0))||!flag_TCP_reconnectting&&!IfTCPConnected())&&!flag_4G_recdata) //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);
        }
#endif
    }