From 2bda5756b312bfd5e6e7633f1b94bad36f81559b Mon Sep 17 00:00:00 2001
From: 钟印成 <zhyinch@gmail.com>
Date: 星期三, 26 三月 2025 23:05:26 +0800
Subject: [PATCH] 修改状态机不跑BUG
---
keil/include/main/main.c | 413 +++++++++++++++++++++++++++++++---------------------------
1 files changed, 219 insertions(+), 194 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 94b17c8..3d0b7c3 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -370,31 +370,31 @@
// g_com_map[IP_3]=6;
// g_com_map[PORT]=6666;
- g_com_map[IP_0]=117;
- g_com_map[IP_1]=72;
- g_com_map[IP_2]=111;
- g_com_map[IP_3]=237;
- g_com_map[PORT]=7000;
-
- g_com_map[TCP_IP_0]=111;
- g_com_map[TCP_IP_1]=198;
- g_com_map[TCP_IP_2]=60;
- g_com_map[TCP_IP_3]=6;
- g_com_map[TCP_PORT]=1234;
+// g_com_map[IP_0]=117;
+// g_com_map[IP_1]=72;
+// g_com_map[IP_2]=111;
+// g_com_map[IP_3]=237;
+// g_com_map[PORT]=7000;
+//
+// g_com_map[TCP_IP_0]=111;
+// g_com_map[TCP_IP_1]=198;
+// g_com_map[TCP_IP_2]=60;
+// g_com_map[TCP_IP_3]=6;
+// g_com_map[TCP_PORT]=1234;
/*
RTCMMODE_NONE,
RTCMMODE_TCP,
RTCMMODE_NTRIP,
*/
- g_com_map[RTCMMODE_INDEX] = RTCMMODE_NTRIP;
+// g_com_map[RTCMMODE_INDEX] = RTCMMODE_NTRIP;
- snprintf((char *)&g_com_map[NTRIP_HOST_INDEX], 32, "140.143.212.42");
- g_com_map[NTRIP_PORT_INDEX] = HIDO_UtilStrToInt("8005");
-// snprintf((char *)&g_com_map[NTRIP_PORT_INDEX], 32, "8005");
- snprintf((char *)&g_com_map[NTRIP_USERNANME_INDEX], 32, "test005");
- snprintf((char *)&g_com_map[NTRIP_PASSWORD_INDEX], 32, "Hxzk0228");
- snprintf((char *)&g_com_map[NTRIP_SOURCENAME_INDEX], 32, "RTCM32_GNSS2");
+// snprintf((char *)&g_com_map[NTRIP_HOST_INDEX], 32, "140.143.212.42");
+// g_com_map[NTRIP_PORT_INDEX] = HIDO_UtilStrToInt("8005");
+//// snprintf((char *)&g_com_map[NTRIP_PORT_INDEX], 32, "8005");
+// snprintf((char *)&g_com_map[NTRIP_USERNANME_INDEX], 32, "test005");
+// snprintf((char *)&g_com_map[NTRIP_PASSWORD_INDEX], 32, "Hxzk0228");
+// snprintf((char *)&g_com_map[NTRIP_SOURCENAME_INDEX], 32, "RTCM32_GNSS2");
if(g_com_map[BIND_DEV_ID]==0)
@@ -416,146 +416,145 @@
LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
- 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",g_com_map[IP_0],g_com_map[IP_1],g_com_map[IP_2],g_com_map[IP_3],g_com_map[PORT]);
- if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
- {
- LOG_INFO(TRACE_MODULE_APP,"TCP_RTCM模式,服务器地址: %d.%d.%d.%d:%d.\r\n",g_com_map[TCP_IP_0],g_com_map[TCP_IP_1],g_com_map[TCP_IP_2],g_com_map[TCP_IP_3],g_com_map[TCP_PORT]);
- }
- else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
- {
- LOG_INFO(TRACE_MODULE_APP,"NtripHost:%s.\r\n",(char *)&g_com_map[NTRIP_HOST_INDEX]);
- LOG_INFO(TRACE_MODULE_APP,"NtripPort:%d.\r\n",g_com_map[NTRIP_PORT_INDEX]);
- LOG_INFO(TRACE_MODULE_APP,"NtripUsername:%s.\r\n",(char *)&g_com_map[NTRIP_USERNANME_INDEX]);
- LOG_INFO(TRACE_MODULE_APP,"NtripPassword:%s.\r\n",(char *)&g_com_map[NTRIP_PASSWORD_INDEX]);
- LOG_INFO(TRACE_MODULE_APP,"NtripSourcename:%s.\r\n",(char *)&g_com_map[NTRIP_SOURCENAME_INDEX]);
- }
- else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NONE)
- {
- LOG_INFO(TRACE_MODULE_APP,"单点定位模式模式. \r\n");
- }
+ LOG_INFO(TRACE_MODULE_APP,"跳转OTA升级固件启动成功\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",g_com_map[IP_0],g_com_map[IP_1],g_com_map[IP_2],g_com_map[IP_3],g_com_map[PORT]);
+ delay_ms(500);
}
uint32_t adctick = 0;
uint8_t only_one_flag;
uint16_t chongman_time;
uint8_t bat_percent_old=100;
uint8_t input5vflag;
-uint8_t kai_4g_flag;
+extern uint8_t ota_flag;
void IdleTask(void)
{
-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
- }
- chongman_time=0;
- only_one_flag=0;
- uwbled=0;
- rtkled=0;
- led4g=0;
- powerled=0;
-// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
- while(1)
- {
- nomove_count = 0;
- if(HIDO_TimerGetTick()-adctick>6000) //10分钟采样一次 电量
- {
- chongman_time=chongman_time+6;
- adctick = HIDO_TimerGetTick();
- PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
- adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
- }
- if(bat_percent>=99&&!only_one_flag)
- {
- only_one_flag=1;
- chongman_time=0;
- }
- if(bat_percent>=99&&chongman_time>=1800)
- {
- powerled = GREEN;
- }else{
- powerled = RED;
- }
- if(DBG_GetMode() == DBG_MODE_SHELL)
- {
- if(kai_4g_flag==0)
- {
- kai_4g_flag=1;
-// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,1);
- //Shell_Init();
- }
- if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
- {TCPClient_Poll_1();}
- //HIDO_InputPoll();
- DBG_Poll();
- Internet_Poll();
- HIDO_TimerPoll();
- HIDO_ATLitePoll();
- TCPClient_Poll();
- }
- UART_CheckReceive();
- if(flag_secondtask)
- {
- flag_secondtask = 0;
- SecondTask();
- }
- if(DBG_GetMode() == DBG_MODE_SHELL)
- {
- Set4LEDColor(uwbled,rtkled,led4g,powerled);
- }
- else
- {
- Set4LEDColor(0,0,0,powerled);
- }
- if(input5v_time)
- {
- if(!read_5v_input_pca())
- {
- break;
- }
- }
- }
- NVIC_SystemReset();
- input5vflag=1;
- }
- 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();
- if(g_com_map[CNT_RESTART]==1)
- {
- g_com_map[CNT_RESTART]=0;
- NVIC_SystemReset();
-
- }
- if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
- {
- NVIC_SystemReset();
- }
- HIDO_TimerPoll();
- if(ledonflag==1)
- {
- ledonflag=0;
- uwbled=0;
- rtkled=0;
- led4g=0;
- powerled=0;
- Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
- }
+//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
+// }
+// chongman_time=0;
+// only_one_flag=0;
+// uwbled=0;
+// rtkled=0;
+// led4g=0;
+// powerled=0;
+//// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
+// while(1)
+// {
+// nomove_count = 0;
+//// adctick = HIDO_TimerGetTick();
+// if(HIDO_TimerGetTick()-adctick>60) //10分钟采样一次 电量
+// {
+// chongman_time=chongman_time+60;
+// adctick = HIDO_TimerGetTick();
+// PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
+// adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+// }
+// if(bat_percent>=99&&!only_one_flag)
+// {
+// only_one_flag=1;
+// chongman_time=0;
+// }
+// if(bat_percent>=99&&chongman_time>=600)
+// {
+// powerled = GREEN;
+// }else{
+// powerled = RED;
+// }
+// if(DBG_GetMode() == DBG_MODE_SHELL)
+// {
+// if(ota_flag==1)
+// {
+//// OTA_Poll();
+//// HTTPClient_Poll();
+// }
+// else
+// {
+// uwb_app_poll();
+// }
+// Internet_Poll();
+// HIDO_TimerPoll();
+// HIDO_ATLitePoll();
+// TCPClient_Poll();
+// if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
+// {TCPClient_Poll_1();}
+// if(flag_secondtask)
+// {
+// flag_secondtask = 0;
+// SecondTask();
+// }
+// UserKeyTask();
+// }
+// UART_CheckReceive();
+// if(flag_secondtask)
+// {
+// flag_secondtask = 0;
+// SecondTask();
+// }
+// if(DBG_GetMode() == DBG_MODE_SHELL)
+// {
+// Set4LEDColor(uwbled,rtkled,led4g,powerled);
+// if(g_com_map[CNT_RESTART]==1)
+// {
+// g_com_map[CNT_RESTART]=0;
+// save_com_map_to_flash();
+// NVIC_SystemReset();
+// }
+// }
+// else
+// {
+// Set4LEDColor(0,0,0,powerled);
+// }
+// if(input5v_time)
+// {
+// if(!read_5v_input_pca())
+// {
+// break;
+// }
+// }
+// }
+// NVIC_SystemReset();
+// input5vflag=1;
+// }
+// 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();
+// if(g_com_map[CNT_RESTART]==1)
+// {
+// g_com_map[CNT_RESTART]=0;
+// NVIC_SystemReset();
+//
+// }
+// if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
+// {
+// NVIC_SystemReset();
+// }
+// HIDO_TimerPoll();
+// if(ledonflag==1)
+// {
+// ledonflag=0;
+// uwbled=0;
+// rtkled=0;
+// led4g=0;
+// powerled=0;
+// Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
+// }
}
void boot_deinit(void)
{
@@ -579,6 +578,53 @@
extern uint8_t receive_flag;
extern uint8_t YUANGPS_ParseGGA_data[256];
extern uint8_t YUANGPS_ParseGGA_changdu;
+static HIDO_CHAR url[256 + 1]="http://123.57.87.125:7001/hfs/MK8000-4G工卡V1.2.Bin";
+//void OTA_MODE(void)
+//{
+// if(g_com_map[OTA_FLAG])
+// {
+// Uart_Register(UART_ID_4G, UART_ID0);
+// Uart_Register(UART_ID_DBG_GPS, UART_ID1);
+// DBG_Init();
+// DBG_SetMode(DBG_MODE_SHELL);
+// Internet_Init();
+// // TCPClient_Init();
+// HTTPClient_Init();
+// gpio_open();
+// LED_output_init();//配置彩色灯引脚
+// IIC2_Init();
+// // Accelerometer_Init();
+// PCA9555_init();
+// uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+// power_init();
+// sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
+// sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
+// pca_input_detection_init(pca_handler);//pca检测输入
+// 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
+// memcpy((HIDO_UINT8 *)url,g_com_map+OTA_URL_INDEX,g_com_map[OTA_URL_CHANGDU]);
+// OTA_Start((HIDO_UINT8 *)url);
+//
+//// g_com_map[OTA_FLAG]=0;
+//// save_com_map_to_flash();
+//// delay_us(100000);
+//// NVIC_SystemReset(); //软复位回到bootloader
+//
+//
+// while (1)
+// {
+// OTA_Poll();
+// HTTPClient_Poll();
+// Internet_Poll();
+// HIDO_TimerPoll();
+// HIDO_ATLitePoll();
+//// IdleTask();
+// }
+// }
+//}
int main(void)
{
board_clock_run();
@@ -602,22 +648,14 @@
}
calib_chip();
wdt_close(WDT_ID0);
+ Program_Init();
Uart_Register(UART_ID_4G, UART_ID0);
Uart_Register(UART_ID_DBG_GPS, UART_ID1);
DBG_Init();
- Program_Init();
Internet_Init();
- TCPClient_Init();
- if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
- {
- NTRIPClient_Init();
- NTRIPApp_Init();
- }
- if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
- {
- TCPClient_Init_1();
- }
+// TCPClient_Init();
+ HTTPClient_Init();
gpio_open();
LED_output_init();//配置彩色灯引脚
IIC2_Init();
@@ -631,49 +669,36 @@
PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
pca_input_detection_init(pca_handler);//pca检测输入
- Uwb_init();
- OpenUWB();
-// DBG_SetMode(DBG_MODE_SHELL);
-// Shell_Init();
-
- if(!read_5v_input_pca())
- {
- Set4LEDColor(BLUE,GREEN,WHITE,RED);
- delay_ms(500);
- Set4LEDColor(RED,WHITE,RED,WHITE);
- delay_ms(500);
- Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
- }
- 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
+ DBG_SetMode(DBG_MODE_SHELL);
+ 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
+
+// memcpy(/*(HIDO_UINT8 *)*/url,(void *)APP_CONFIG_IAP_PARAM_MAP,256);
+ OTA_Start((HIDO_UINT8 *)url);
+ LOG_INFO(TRACE_MODULE_APP,"获取固件地址为:%s\r\n",url);
while (1)
{
- uwb_app_poll();
+ OTA_Poll();
+ HTTPClient_Poll();
Internet_Poll();
HIDO_TimerPoll();
HIDO_ATLitePoll();
- TCPClient_Poll();
- if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
- {TCPClient_Poll_1();}
-// if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP&&gps_ntripsend==2)
+// TCPClient_Poll();
+// if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
// {
-// gps_ntripsend=0;
-// NTRIPApp_ReportGGA(YUANGPS_ParseGGA_data, YUANGPS_ParseGGA_changdu);
-// memset(YUANGPS_ParseGGA_data,0,YUANGPS_ParseGGA_changdu);
-// YUANGPS_ParseGGA_changdu=0;
-// }
+// TCPClient_Poll_1();
+// }
if(flag_secondtask)
{
flag_secondtask = 0;
SecondTask();
}
- PowerTask();
- IMUTask();
- UserKeyTask();
- IdleTask();
+// PowerTask();
+// IMUTask();
+// UserKeyTask();
+// IdleTask();
}
}
--
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