From 3529a847eaf2057928742178cca16eee57db31d0 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期五, 15 八月 2025 19:52:47 +0800
Subject: [PATCH] 初步调好demo，会有丢失测距后回来回复测距大概率蜂鸣器一直震的现象未解决
---
keil/include/main/main.c | 317 ++++++++++++++++++++++++++++++++--------------------
1 files changed, 194 insertions(+), 123 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 42c7471..92b2c91 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -106,8 +106,8 @@
SEARCH_DEV,
} Operation_step;
Operation_step UWB_work_state;
-
-
+void UWB_LED_Task(void);
+void POWER_LED_Task(void);
Commend_SendDate send_struct;
struct ADC_CFG_T usr_adc_cfg = {
.mode = ADC_MODE_CONTINUE, /* Selected single conversion mode */
@@ -256,54 +256,23 @@
int need_open_gps_count;
uint8_t change_vibration=2;
HIDO_UINT32 u32CurTick_Motor;
+void UserKeyState_change(void);
+void click_Task(void);
void MotorPoll(void)
{
- if(!power_low_flag)//确认是否休眠下才开启功能
- { //马达震动逻辑
- if(g_com_map[MOTOR_ENABLE])
- {
- if(motor_open_air_flag||moter_open_uwb_flag)
- {motor_power_state=0;
- if(motor_open_flag)
- {
- if (motor_count>=change_vibration)
- {
- change_vibration=VIBRATION_TIME;
- motor_power_state = 1;
- motor_count=0;
- motor_open_flag=0;
- update_led_power_state();
- }
- motor_count++;
- }else {//修改
- motor_power_state = 1;
- if(motor_count>=NO_VIBRATION_TIME)
- {
- motor_power_state = 0;
- motor_count=0;
- motor_open_flag=1;
- update_led_power_state();
- }
- motor_count++;
- }
-
-
- } else {
- motor_open_flag=1;
- motor_count=0;
- motor_power_state=1;
- }
- }else{
- motor_open_flag=1;
- motor_count=0;
- motor_power_state=1;
- }
- }else{
- motor_open_flag=1;
- motor_count=0;
- motor_power_state=1;
+ if(active_flag)
+{
+ if(change_by_distance())
+ {
+ if(motor_count++%2==0)
+ motor_power_state=0;//开启
+ else{
+ motor_power_state=1;//关闭
+ }
}
-
+}else{
+ motor_power_state=1;//关闭
+ }
}
void MotorPollCheck(void)
@@ -436,23 +405,25 @@
}
void UserKeyTask(void)
{
- if(!GET_USERKEY)
- {
- if(HIDO_TimerGetTick() - keystarttime>3)
- {
- userkey_state = 1;
- keystarttime = HIDO_TimerGetTick();
- TCPHeartBeatUpload();//立即上传该包
- }
- if(HIDO_TimerGetTick() - keystarttime2>10)
- {
- g_com_map[CNT_RESTART] = 1;
- }
- }else
- {
- keystarttime = HIDO_TimerGetTick();
- keystarttime2 = HIDO_TimerGetTick();
- }
+// if(!GET_USERKEY)
+// {
+// if(HIDO_TimerGetTick() - keystarttime>3)
+// {
+// userkey_state = 1;
+// keystarttime = HIDO_TimerGetTick();
+// //TCPHeartBeatUpload();//立即上传该包
+// }
+// if(HIDO_TimerGetTick() - keystarttime2>10)
+// {
+// //g_com_map[CNT_RESTART] = 1;
+// }
+// }else
+// {
+// keystarttime = HIDO_TimerGetTick();
+// keystarttime2 = HIDO_TimerGetTick();
+// }
+UserKeyState_change();
+click_Task();
}
void MinuteTask(void)
{ gpio_pin_clr(ADC_GND_ENABLE);//先拉低
@@ -467,18 +438,20 @@
}
//UWB更新列表
TagListUpdate();
- if(!power_low_flag)
- {
- GPS_Poll();
- //gps_power_state=1;//常开GPS
- }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_count=0;
- gps_timeout_flag=0;
- }
+ POWER_LED_Task();
+ UWB_LED_Task();
+// if(!power_low_flag)
+// {
+// GPS_Poll();
+// //gps_power_state=1;//常开GPS
+// }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_count=0;
+// gps_timeout_flag=0;
+// }
//gps_power_state=1;//测试gps长开
//UWB状态检测
if(!power_low_flag)//低供电下不需要检测重连
@@ -512,23 +485,34 @@
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
uint8_t uwb_enable_flag=0;
uint8_t enable_system_function_flag;
-
-static void sleep_timer_callback(void *dev, uint32_t time)
+void POWER_LED_Task(void)
{
- // IO_control_init();
-
- if(enbale_blink_flag)
+if(enbale_blink_flag)
{
green_charge_state=0;
charge_red_on();
}
-
- if(tt)
- UWBPoll();
- //车载poll
- UWB_Tag_Poll();
-
- StatusChange();
+ charge_state_change();//充电状态判断
+ if(enbale_blink_flag)
+ {
+ delay_us(5000);
+ green_charge_state=0;
+ charge_red_off();
+ }
+}
+extern uint8_t taglist_num;
+void UWB_LED_Task(void)
+{
+ if(taglist_num!=0&&active_flag)
+ {
+ blink_led(&uwb_state);
+ }else{
+ uwb_led_off();
+ }
+}
+static void sleep_timer_callback(void *dev, uint32_t time)
+{
+ // IO_control_init();
MotorPoll();
update_led_power_state();
@@ -541,21 +525,113 @@
flag_sleeptimer = 1;
- charge_state_change();//充电状态判断
-
- if(enbale_blink_flag)
- {
- green_charge_state=0;
- charge_red_off();
- }
if(delaysleep_count>0)
delaysleep_count--;
//GPS工作逻辑
}
+// 时间阈值定义
+#define LONG_PRESS_TIME 2 // 长按3秒阈值（单位：ms）
+#define TRIPLE_CLICK_TIME 2 // 三连击总时间窗口
+#define CLICK_TIMEOUT 1 // 单击确认超时
+#define NEXT_CLICK_WAIT_TIMEOUT 1 // 按键下次单击等待时间
+
+// 按键状态机
+typedef enum {
+ IDLE, // 空闲状态
+ WAIT_NEXT_RISING, // 已按下待确认
+ WAIT_NEXT_FALLING // 等待释放状态
+} ButtonState;
+volatile ButtonState sos_state = IDLE,temp_state;
static void voltage_input_handler(enum IO_PIN_T pin)
{
+}
+uint8_t long_press_flag,double_click_flag,single_click_flag;
+uint32_t current_time,first_press_time,press_duration,press_start_time,click_count,single_click_timer,rising_time,falling_time,temp_rising_time;
+uint8_t active_flag=1;
+void handle_long_press(void)
+{
+
+}
+void handle_doouble_click(void)
+{
+ if(active_flag==1)
+ {
+ active_flag=0;
+ }else{
+ active_flag=1;
+ }
+}
+void handle_single_click(void)
+{
+
+}
+void click_Task(void)
+{
+// 事件处理（按优先级顺序）
+ if (long_press_flag) {
+ handle_long_press();
+ long_press_flag = 0;
+ } else if (double_click_flag) {
+ handle_doouble_click();
+ double_click_flag = 0;
+ } else if (single_click_flag) {
+ handle_single_click();
+ single_click_flag = 0;
+ }
+}
+static void sos_fall_handler(enum IO_PIN_T pin)
+{
+sos_state=WAIT_NEXT_RISING;
+falling_time=HIDO_TimerGetTick();
+//if(!power_low_flag&&active_flag)
+}
+void UserKeyState_change(void)
+{
+if(sos_state==WAIT_NEXT_RISING)
+{
+ if(GET_USERKEY)
+ {
+ rising_time=HIDO_TimerGetTick();
+ if(rising_time-falling_time<=NEXT_CLICK_WAIT_TIMEOUT)
+ {
+ click_count++;
+ sos_state=WAIT_NEXT_FALLING;
+ if(click_count==2)
+ {
+ click_count=0;
+ sos_state=IDLE;
+ double_click_flag=1;
+ }
+ long_press_flag=0;
+ }else if(rising_time-falling_time>LONG_PRESS_TIME&&click_count==0)
+ {
+ click_count=0;
+ long_press_flag=1;
+
+ sos_state=IDLE;
+ }else{
+ click_count=0;
+ sos_state=IDLE;
+ }
+// motor_off();
+ temp_rising_time=rising_time;
+ }
+}else if(sos_state==WAIT_NEXT_FALLING)
+ {
+ if(HIDO_TimerGetTick()-temp_rising_time>NEXT_CLICK_WAIT_TIMEOUT)
+ {
+
+ if(click_count==1)
+ {
+ single_click_flag=1;
+ }
+ click_count=0;
+ sos_state=IDLE;
+ }
+
+ }
}
static void move_handler(enum IO_PIN_T pin)
{
@@ -715,6 +791,7 @@
int test1,test3;
uint32_t test4;
int16_t Voltage_input;
+extern uint8_t uwb_rx_flag;
int main(void)
{
board_clock_run();
@@ -751,8 +828,8 @@
//sys_timer_open();
// // TODO 4G
- Uart_Register(UART_ID_4G, UART_ID0);
- Internet_Init();
+// Uart_Register(UART_ID_4G, UART_ID0);
+// Internet_Init();
//TCPClient_Init();
@@ -767,7 +844,7 @@
Accelerometer_Init();
IO_control_init();
- gps_air780_power_change(0,1);//开启gps，4G
+ gps_air780_power_change(0,0);//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
Program_Init();
//uart_open(UART_ID1, &test_uart_cfg);
@@ -786,37 +863,31 @@
gpio_pin_clr(ADC_GND_ENABLE);//先拉低
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
board_acceleration_detection_init(move_handler);
+ board_SOS_fall_detection_init(sos_fall_handler);
+ Uwb_init();
+ OpenUWB();
// LOG_INFO(TRACE_MODULE_APP, "测试进入app");
//board_4GUsart_detection_init(_4gUsart_handler);
while (1)
- { tt1=gpio_pin_get_val(ADC_GND_ENABLE);
+ {
+// tt1=gpio_pin_get_val(ADC_GND_ENABLE);
+ if(active_flag)
+ {
+ if(!uwb_rx_flag)
+ {
+ OpenUWB();
+ }
+ uwb_app_poll();
+
+ }else{
+ CloseUWB();
+ }
+
wdt_ping(WDT_ID0);//喂狗
- //tt2 = gpio_pin_get_val(_4G_USART_RX_Pin);
+
if(!power_low_flag)//确认是否休眠下才开启功能
{
-// 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();
-//// }//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_secondtask)
{
--
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