From 0c4a7b78eee22326538b29c9a2ddf1c9e6ba0ae4 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期五, 20 九月 2024 11:17:44 +0800
Subject: [PATCH] 1小时上传，测试成功，GPS数据正常变化
---
keil/include/main/main.c | 201 +++++++++++++++++++++++++++++---------------------
1 files changed, 116 insertions(+), 85 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index c62a079..b75f289 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -91,7 +91,7 @@
uint8_t bat_percent,g_start_send_flag=1;
uint8_t link_success_flag,motor_count;
uint16_t gps_wait_count;
-uint8_t state5v;
+uint8_t state5v = 1;
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};
@@ -142,7 +142,7 @@
.int_tx = false,
#endif
};
-static void uart_receive_callback(void *dev, uint32_t err_code)
+void uart_receive_callback(void *dev, uint32_t err_code)
{
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}
@@ -177,8 +177,8 @@
//board_debug_console_open(TRACE_PORT_UART0);
//uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
//}
-extern gps_uwb_flag;
-uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1;
+extern uint8_t gps_uwb_flag;
+uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0;
uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag;
int need_open_gps_count;
void MotorPoll(void)
@@ -190,6 +190,11 @@
} else { //绑定状态下
if(anchordata_num==1) {
if(distance<g_com_map[ALARM_DISTANCE1]) { //小于预警距离
+ if(flag_alam_state)
+ {
+ flag_alam_state = 0;
+ _4GAlarmUpload(2);
+ }
need_open_gps_count=0;
moter_open_uwb_flag=0;//关闭震动
gps_uwb_flag=0;//关闭GPS
@@ -197,6 +202,11 @@
need_open_gps_count++;
moter_open_uwb_flag=1;//开启震动
if(need_open_gps_count>=20) {
+ if(!flag_alam_state)
+ {
+ flag_alam_state = 1;
+ _4GAlarmUpload(1);
+ }
gps_uwb_flag=1;//开启gps测距流程
need_open_gps_count=0;
}
@@ -204,25 +214,43 @@
need_open_gps_count++;
moter_open_uwb_flag=1;//开启震动
if(need_open_gps_count>=20) {
+ if(!flag_alam_state)
+ {
+ flag_alam_state = 1;
+ _4GAlarmUpload(1);
+ }
gps_uwb_flag=1;//开启gps测距流程
need_open_gps_count=0;
}
}
} else if(anchordata_num==0) {
-
+ if(!flag_alam_state)
+ {
+ flag_alam_state = 1;
+ _4GAlarmUpload(1);
+ }
+ distance = -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;
}
}
}
-void SecondTask(void)
+void MinuteTask(void)
{
+ //adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+}
+void SecondTask(void)
+{static uint8_t second_count;
+ if(second_count++>60)
+ {
+ second_count = 0;
+ MinuteTask();
+ }
//UWB更新列表
TagListUpdate();
- GPS_Poll();
- g_com_map[ALARM_DISTANCE1]=30;//测试
- g_com_map[ALARM_DISTANCE2]=40;
+ //GPS_Poll();
+ GPS_Poll_1h();
//UWB状态检测
if(IfTCPConnected())
@@ -245,12 +273,15 @@
HIDO_TimerTick();
nomove_count++;
}
-uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
+uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,delaysleep_count;
static void sleep_timer_callback(void *dev, uint32_t time)
{
- IO_control_init();
- UWBPoll();
- // MotorPoll();
+ //IO_control_init();
+ // UWBPoll();
+
+
+ //MotorPoll();
+
if(secondtask_count++%2==0)
{
flag_secondtask = 1;
@@ -260,21 +291,11 @@
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;
- }
-
+ if(delaysleep_count>0)
+ delaysleep_count--;
//GPS工作逻辑
-
+
+update_led_power_state();//更新灯状态测试
}
static void voltage_input_handler(enum IO_PIN_T pin)
{
@@ -284,14 +305,20 @@
{
nomove_count=0;
}
-uint8_t flag_4G_recdata;
-static void _4gUsart_handler(enum IO_PIN_T pin)
+uint8_t flag_4G_recdata,flag_entersleep;
+void _4gUsart_handler(enum IO_PIN_T pin)
{
- LOG_INFO(TRACE_MODULE_APP, "4G RX 唤醒\r\n");
- // flag_4G_recdata = 1;
- // AIR780EUartInit();
+ // if(!gpio_pin_get_val(_4G_USART_RX_Pin))
+ {
+ LOG_INFO(TRACE_MODULE_APP, "4G RX 唤醒\r\n");
+ flag_4G_recdata = 1;
+ delaysleep_count = 3;
+ }
+
+
}
extern uint16_t ip0,ip1,ip2,ip3,port;
+extern uint8_t gps_4g_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
@@ -300,15 +327,15 @@
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);
- g_com_map[ALARM_DISTANCE1] = 40;
- g_com_map[ALARM_DISTANCE2] = 40;
+// 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;
@@ -317,16 +344,16 @@
}
if(g_com_map[SEND_4G_SECOND]<60)
g_com_map[SEND_4G_SECOND]=60;
-
+ g_com_map[MODBUS_MODE] = 0;
ip0 = (g_com_map[TCP_IP_0]>>12&0xf)*1000+(g_com_map[TCP_IP_0]>>8&0xf)*100+(g_com_map[TCP_IP_0]>>4&0xf)*10+(g_com_map[TCP_IP_0]&0xf);
ip1 = (g_com_map[TCP_IP_1]>>12&0xf)*1000+(g_com_map[TCP_IP_1]>>8&0xf)*100+(g_com_map[TCP_IP_1]>>4&0xf)*10+(g_com_map[TCP_IP_1]&0xf);
ip2 = (g_com_map[TCP_IP_2]>>12&0xf)*1000+(g_com_map[TCP_IP_2]>>8&0xf)*100+(g_com_map[TCP_IP_2]>>4&0xf)*10+(g_com_map[TCP_IP_2]&0xf);
ip3 = (g_com_map[TCP_IP_3]>>12&0xf)*1000+(g_com_map[TCP_IP_3]>>8&0xf)*100+(g_com_map[TCP_IP_3]>>4&0xf)*10+(g_com_map[TCP_IP_3]&0xf);
- port = (g_com_map[TCP_PORT]>>12&0xf)*1000+(g_com_map[TCP_PORT]>>8&0xf)*100+(g_com_map[TCP_PORT]>>4&0xf)*10+(g_com_map[TCP_PORT]&0xf);
- g_com_map[VERSION] = (1<<8)|1;
- LOG_INFO("设备ID: %x .\r\n",dev_id);
- LOG_INFO("固件版本:UWB-4G手环 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
- LOG_INFO("服务器地址: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port);
+ port = g_com_map[TCP_PORT];
+ g_com_map[VERSION] = (1<<8)|6;
+ LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
+ LOG_INFO(TRACE_MODULE_APP,"固件版本:UWB-4G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);
}
@@ -342,7 +369,7 @@
state5V_prase_flag=state5v;
gps_prase_flag=0;//解除gps解析
uart1_change_from_gps_to_debug();
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
+ // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
//UartInit();
}
@@ -350,11 +377,12 @@
} 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();
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
+ // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
//UartDeinit();
}
}
@@ -393,13 +421,14 @@
uart_close(UART_ID1);//解绑原来串口1
uart_close(UART_ID0);//解绑原来串口0
}
-uint8_t flag_4guart_needinit=0;
+uint8_t flag_4guart_needinit=0,tt2;
+extern uint8_t gps_need_data_flag;
int main(void)
{
board_clock_run();
- boot_deinit();
+ boot_deinit();
board_pins_config();
- board_debug_console_open(TRACE_PORT_UART0);
+ board_debug_console_open(TRACE_PORT_UART1);
// Reset reason
reset_cause_get();
reset_cause_clear();
@@ -423,12 +452,12 @@
// Disable watchdog timer
wdt_close(WDT_ID0);
- // LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
+ LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
// open system timer
//sys_timer_open();
- // TODO 4G
+// // TODO 4G
Uart_Register(UART_ID_4G, UART_ID0);
Internet_Init();
TCPClient_Init();
@@ -436,45 +465,55 @@
gpio_open();
//board_led_init();
-// adc_open(&usr_adc_cfg);
+// adc_open(&usr_adc_cfg);
IIC2_Init();
Accelerometer_Init();
IO_control_init();
+ #ifdef DEBUG_BOXING
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
+ #endif
+ 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
- adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
- uart_open(UART_ID1, &test_uart_cfg);
+// adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+ //uart_open(UART_ID1, &test_uart_cfg);
Program_Init();
+ // uart1_change_from_gps_to_debug();
+ //Uart1GpsRecDebugSend();
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");
-
-
+ AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
+ //gps_air780_power_change(0,0);//测试
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);
board_acceleration_detection_init(move_handler);
-// LOG_INFO(TRACE_MODULE_APP, "测试进入app");
- AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
+//// LOG_INFO(TRACE_MODULE_APP, "测试进入app");
+ board_4GUsart_detection_init(_4gUsart_handler);
+// tt2 = gpio_pin_get_val(_4G_USART_RX_Pin);
while (1)
{
if(flag_TCP_reconnectting||IfTCPConnected())
{
- // LOG_INFO(TRACE_MODULE_APP, "处理4G任务\r\n");
- if(flag_4guart_needinit)
+ if(flag_4G_recdata==1)
{
- flag_4guart_needinit = 0;
- AIR780EUartInit();
+ flag_4G_recdata = 2;
+
+ LOG_INFO(TRACE_MODULE_APP, "运行Socket_RecvAll\r\n");
+ Socket_RecvAll();
}
+ air780_led_on();
+//LOG_INFO(TRACE_MODULE_APP, "处理4G\r\n");
Internet_Poll();
HIDO_ATLitePoll();
HIDO_TimerPoll();
TCPClient_Poll();
+ air780_led_off();
}
if(flag_secondtask)
{
@@ -482,33 +521,25 @@
SecondTask();
}
IdleTask();
- //3种情况后都要发包和休眠
- //if(send_flag){
- //message_construct();
- //send_udp;
- //air780_success_state=0;//关闭4G成功发送灯
- //blink_led(&air780_success_state);//成功测距闪烁4G状态灯
- //air780_success_state=0;
- //}
+
#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(!gpio_pin_get_val(INPUT_5V_Pin))//AIR780E_IsIPIdle() Socket_IsSendQueueEmpty(0)
+ // if(flag_4G_recdata!=2)
+ //if(((IfTCPConnected()&&AIR780E_IsIPIdle()&&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(delaysleep_count==0&&!gps_need_data_flag) //GPS工作状态不休眠，4G接收中断唤醒后，延迟2秒再休眠
+ if(((IfTCPConnected()&&AIR780E_IsIPIdle()&&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);
+ uint32_t lock;
+
+ // power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)_4G_USART_RX_Pin, POWER_WAKEUP_LEVEL_LOW);
+ //LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
+ // 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);
+ int_unlock(lock);
}
#endif
}
--
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