From 1a2264ab2e625c29f8f9454fd6238ae8598124bb Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期三, 09 四月 2025 12:01:21 +0800
Subject: [PATCH] GPS手环V1.13，修改蓝灯闪灯逻辑
---
keil/include/main/main.c | 349 +++++++++++++++++++++++++++++++++++++--------------------
1 files changed, 225 insertions(+), 124 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 008a3d0..079875b 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -90,13 +90,14 @@
int16_t fVoltage_mv,first_search_flag;
uint8_t bat_percent,g_start_send_flag=1;
uint8_t link_success_flag,motor_count;
-uint16_t gps_wait_count;
+uint16_t gps_wait_count,gps_wait_count2;
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;
+uint8_t motor_power_state=1,uwb_state,air780_power_state,gps_success_state,red_charge_state,green_charge_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 recev_error_num,send_messgae_count,send_flag,control_state,power_low_flag;
uint8_t flag_4g_usart_rx_state = 1; //4G 串口RX当前是 RX状态，不是GPIO状态
+int input_5v_flag,air780e_flag1,air780e_flag2,air780e_flag3,air780e_flag4;
typedef enum
{ UN_BIND=0,
LINK_SUCCESS,
@@ -106,7 +107,7 @@
Commend_SendDate send_struct;
-static struct ADC_CFG_T usr_adc_cfg = {
+struct ADC_CFG_T usr_adc_cfg = {
.mode = ADC_MODE_CONTINUE, /* Selected single conversion mode */
.clk_sel = ADC_CLK_HIGH, /* Selected 62.4M high speed clock */
.vref_sel = ADC_SEL_VREF_INT, /* Using internal reference voltage (1.2V)*/
@@ -146,6 +147,20 @@
{
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}
+void mcu_deep_sleep(void)
+{
+ uint32_t lock;
+ 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
+ sleep_timer_stop();
+ //adc_close();
+ power_enter_power_down_mode(1);
+ //LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");
+ sys_reset(0);
+ int_unlock(lock);
+}
static void adc_callback(void *data, uint32_t number)
{
uint32_t *result = (uint32_t *)data;
@@ -168,6 +183,17 @@
bat_percent = ((fVoltage_mv - 3300) /8);
}
}
+ if(fVoltage_mv<3300)
+ {
+ 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
+ LOG_INFO(TRACE_MODULE_APP, "电池电压正常,4G，GPS,正常工作\r\n");
+ }
+ gpio_pin_set(ADC_GND_ENABLE);//在拉高
// LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
}
//void UartInit(void)
@@ -177,69 +203,58 @@
//board_debug_console_open(TRACE_PORT_UART0);
//uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
//}
-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;
+extern uint8_t gps_uwb_flag,gps_need_data_flag;
+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;
+extern int16_t beepontime;
+extern uint8_t beep_start_flag;
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
- 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
- } 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) {
- 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(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) {
- 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;
- }
- }
+ if(beep_start_flag)
+ {
+ if(beepontime-->0)
+ {
+ motor_power_state=0;
+ }else{
+ beep_start_flag=0;
+ motor_power_state=1;
+ }
+ }
}
-void MinuteTask(void)
+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);
+ mcu_deep_sleep();
+ }
+}
+void UserKeyTask(void)
+ {
+ if(!GET_USERKEY)
+ {
+ if(HIDO_TimerGetTick() - keystarttime>3)
+ {
+ userkey_state = 1;
+ keystarttime = HIDO_TimerGetTick();
+ UDPClient_UploadGPS();
+ }
+ if(HIDO_TimerGetTick() - keystarttime2>10)
+ {
+ g_com_map[CNT_RESTART] = 1;
+ }
+ }else
+ {
+ keystarttime = HIDO_TimerGetTick();
+ keystarttime2 = HIDO_TimerGetTick();
+ }
+ }
+void MinuteTask(void)
+{ gpio_pin_clr(ADC_GND_ENABLE);//拉低
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
}
+uint8_t link_error_time;
void SecondTask(void)
{static uint8_t second_count;
if(second_count++>60)
@@ -247,14 +262,24 @@
second_count = 0;
MinuteTask();
}
- //UWB更新列表
- TagListUpdate();
- //GPS_Poll();
- GPS_Poll_1h();
+ if(!power_low_flag)
+ {Gps_change();
+ MotorPoll();
+ }else{
+ gps_power_state=0;//关闭GPS
+ update_led_power_state();
+ //初始化GPS计数数据
+ gps_need_data_flag=1;
+ gps_wait_count2=0;
+ gps_wait_count=0;
+ }
+
//UWB状态检测
-
+if(!power_low_flag)//低供电下不需要检测重连
+ {
if(IfTCPConnected())
{
+ link_error_time=0;
TCP_reconnect_timer =0;
flag_TCP_reconnectting = 0;
} else {
@@ -262,7 +287,8 @@
{
flag_TCP_reconnectting = 1;
} else {
- flag_TCP_reconnectting = 0;
+ //flag_TCP_reconnectting = 0;
+ sys_reset(4);//重连不上就复位
}
if(TCP_reconnect_timer++>600)
{
@@ -270,32 +296,43 @@
}
}
+ }
HIDO_TimerTick();
+ if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
nomove_count++;
+ else{
+ nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
+ }
}
-uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,delaysleep_count;
+uint8_t tt=1;
+uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
+uint8_t uwb_enable_flag=0;
static void sleep_timer_callback(void *dev, uint32_t time)
{
IO_control_init();
- // UWBPoll();
-
-
- //MotorPoll();
-
- if(secondtask_count++%2==0)
+ 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;
}
-
- flag_sleeptimer = 1;
-
- if(delaysleep_count>0)
- delaysleep_count--;
+ 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)
{
@@ -304,27 +341,24 @@
{
nomove_count=0;
}
-uint8_t flag_4G_recdata,flag_entersleep;
+uint8_t flag_4G_recdata;
void _4gUsart_handler(enum IO_PIN_T pin)
{
- // if(!gpio_pin_get_val(_4G_USART_RX_Pin))
- {
- LOG_INFO(TRACE_MODULE_APP, "4G RX 唤醒\r\n");
+ //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;
+extern uint8_t gps_need_data_flag,gps_open_flag;
+uint8_t bat_bercent_hex;
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
parameter_init_anchor();//g_com_map表初始化角色默认为基站
dev_id=g_com_map[DEV_ID];//这里不太对
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
+// 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;
@@ -341,17 +375,23 @@
}else{
UWB_work_state = SEARCH_DEV;
}
- if(g_com_map[SEND_4G_SECOND]<60)
- g_com_map[SEND_4G_SECOND]=60;
+ //g_com_map[SEND_4G_SECOND]
+ if(g_com_map[SEND_4G_SECOND]<30)
+ {
+ gps_open_flag=0;
+ }else{
+ gps_open_flag=1;
+ }
g_com_map[MODBUS_MODE] = 0;
+ log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
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];
- g_com_map[VERSION] = (1<<8)|6;
+ g_com_map[VERSION] = (1<<8)|13;
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,"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);
}
@@ -367,7 +407,7 @@
state5v=1;
state5V_prase_flag=state5v;
gps_prase_flag=0;//解除gps解析
- uart1_change_from_gps_to_debug();
+ 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();
}
@@ -380,7 +420,7 @@
state5v=0;
state5V_prase_flag=state5v;
gps_prase_flag=1;//恢复gps解析
- uart1_change_from_debug_to_gps();
+ 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();
}
@@ -420,7 +460,25 @@
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,tt2;
+uint8_t flag_4guart_needinit=0;
+uint8_t index1,index2,index3;
+int16_t Voltage_input;
+int tt2;
+int test1,test3;
+uint32_t test4;
+uint32_t time_count;
+
+static void app_wdt_callback(void *dev, uint32_t status)
+{
+ ASSERT(status, "WDT TIMEOUT，程序复位");
+ //LOG_INFO(TRACE_MODULE_APP, "程序卡死，看门狗复位");
+}
+ struct WDT_CFG_T app_wdt_cfg = {
+ .timeout = 32768 * 30,
+ .rst_en = true,
+ .int_en = true,
+ .callback = app_wdt_callback,
+ };
int main(void)
{
board_clock_run();
@@ -450,6 +508,7 @@
// Disable watchdog timer
wdt_close(WDT_ID0);
+ wdt_open(WDT_ID0,&app_wdt_cfg);//30s检测喂狗
LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
// open system timer
@@ -461,84 +520,126 @@
TCPClient_Init();
gpio_open();
- //board_led_init();
-
+ board_output_init();//配置adcGND引脚
+// battery_monitor_open();
+// Voltage_input=battery_monitor_get();
+// battery_monitor_close();
adc_open(&usr_adc_cfg);
+
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(0,1);//开启gps，4G
+ 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
- adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
- uart_open(UART_ID1, &test_uart_cfg);
- Program_Init();
+ gpio_pin_clr(ADC_GND_ENABLE);
+
+ Program_Init();
+ //uart_open(UART_ID1, &test_uart_cfg);
+
// 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();
- AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
+ //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
// board_5V_input_init(voltage_input_handler);
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
board_acceleration_detection_init(move_handler);
// 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);
+ board_4GUsart_detection_init(_4gUsart_handler);
+
while (1)
- {
+ {
+ test4=gpio_pin_get_val(SCL_PIN);
+ wdt_ping(WDT_ID0);//喂狗
+ if(!power_low_flag)//确认是否休眠下才开启功能
+ {
if(flag_TCP_reconnectting||IfTCPConnected())
{
- if(flag_4G_recdata==1)
+// if(flag_TCP_reconnectting)
+// {
+// link_error_time++;
+// }//后加的
+ // LOG_INFO(TRACE_MODULE_APP, "处理4G任务\r\n");
+
+// if(flag_4guart_needinit)
+// {
+// flag_4guart_needinit = 0;
+// AIR780EUartInit();
+// }//yuan
+ if(flag_4G_recdata==1)
{
flag_4G_recdata = 2;
- LOG_INFO(TRACE_MODULE_APP, "运行Socket_RecvAll\r\n");
+ //LOG_INFO(TRACE_MODULE_APP, "运行Socket_RecvAll tt2 %d\r\n",tt2);
Socket_RecvAll();
}
- air780_led_on();
-//LOG_INFO(TRACE_MODULE_APP, "处理4G\r\n");
+// air780_led_on();
Internet_Poll();
HIDO_ATLitePoll();
HIDO_TimerPoll();
TCPClient_Poll();
- air780_led_off();
+// air780_led_off();
}
+ }
if(flag_secondtask)
{
flag_secondtask = 0;
SecondTask();
+ // time_count++;
}
+ UserKeyTask();
+ IMUTask();
IdleTask();
-
#ifndef DEBUG_MODE
//if(flag_sleeptimer)
- // 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)
- if((IfTCPConnected()&&AIR780E_IsIPIdle()&&Socket_IsSendQueueEmpty(0)))
+// 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))
{
+// test1=gpio_pin_get_val(_4G_USART_RX_Pin);
uint32_t lock;
- flag_4guart_needinit = 1;
- Internet_Poll();
- HIDO_ATLitePoll();
- HIDO_TimerPoll();
- TCPClient_Poll();
+ //flag_4guart_needinit = 1;
+// Internet_Poll();
+// HIDO_ATLitePoll();
+// HIDO_TimerPoll();
+// TCPClient_Poll();
- // 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);
+// test3=gpio_pin_get_val(_4G_USART_RX_Pin);
+ //LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
int_unlock(lock);
}
+
#endif
}
}
--
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