From 4a9f1384be153a34ff058c62983193b2eaec4487 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期三, 23 十月 2024 10:28:19 +0800
Subject: [PATCH] V1.11增加充电灯逻辑和修改range接收逻辑，4g灯会有常亮bug和充电灯不间断闪烁
---
keil/include/main/main.c | 175 +++++++++++++++++++++++++++++++++++++++------------------
1 files changed, 119 insertions(+), 56 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index b2bf72e..2fab7f1 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -92,7 +92,7 @@
uint8_t link_success_flag,motor_count;
uint16_t gps_wait_count;
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;
@@ -180,7 +180,7 @@
//}
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;
+uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag,flag_fenli_alarm = 0,fenli_alarm_count,delaysleep_count;
int need_open_gps_count;
void MotorPoll(void)
{
@@ -191,11 +191,33 @@
} else { //绑定状态下
if(anchordata_num==1) {
if(distance<g_com_map[ALARM_DISTANCE1]) { //小于预警距离
+ fenli_alarm_count = 0;
+ if(flag_fenli_alarm)
+ {
+ flag_fenli_alarm = 0;
+ fenli_alarm_count = 0;
+ _4GAlarmUpload(2);
+ }
+ }
+ }
+ if(distance>g_com_map[ALARM_DISTANCE1]||anchordata_num==0)
+ {
+ if(fenli_alarm_count++>20)
+ {
+ if(!flag_fenli_alarm)
+ {
+ flag_fenli_alarm = 1;
+ _4GAlarmUpload(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
@@ -206,7 +228,6 @@
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;
@@ -218,25 +239,25 @@
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(anchordata_num==0) {
if(!flag_alam_state)
{
flag_alam_state = 1;
- _4GAlarmUpload(1);
}
- distance = -1;
+ distance = 0x1ffff;
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 MinuteTask(void)
{
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
@@ -274,12 +295,19 @@
HIDO_TimerTick();
nomove_count++;
}
-uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
+uint8_t tt=1;
+uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag,enbale_blink_flag;
static void sleep_timer_callback(void *dev, uint32_t time)
{
- IO_control_init();
+ //IO_control_init();
+ if(enbale_blink_flag)
+ {
+ green_charge_state=0;
+ charge_red_on();
+ }
UWBPoll();
-
+ //车载poll
+ UWB_Tag_Poll();
MotorPoll();
@@ -291,7 +319,9 @@
}
flag_sleeptimer = 1;
-
+
+ charge_state_change();//充电状态判断
+
//马达震动逻辑
if(g_com_map[MOTOR_ENABLE])
{
@@ -309,7 +339,14 @@
}else{
motor_power_state=1;
}
-
+
+ if(enbale_blink_flag)
+ {
+ green_charge_state=0;
+ charge_red_off();
+ }
+ if(delaysleep_count>0)
+ delaysleep_count--;
//GPS工作逻辑
}
@@ -324,19 +361,20 @@
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();
+ 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;
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;
@@ -356,14 +394,15 @@
if(g_com_map[SEND_4G_SECOND]<60)
g_com_map[SEND_4G_SECOND]=60;
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)|7;
+ g_com_map[VERSION] = (1<<8)|11;
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:UWB-4G车载手环 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);
}
@@ -433,6 +472,8 @@
uart_close(UART_ID0);//解绑原来串口0
}
uint8_t flag_4guart_needinit=0;
+uint8_t index1,index2,index3;
+int tt2;
int main(void)
{
board_clock_run();
@@ -482,7 +523,7 @@
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
+ 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
Program_Init();
@@ -500,64 +541,86 @@
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);
+ board_4GUsart_detection_init(_4gUsart_handler);
// LOG_INFO(TRACE_MODULE_APP, "测试进入app");
while (1)
- {
+ {
+ tt2 = gpio_pin_get_val(_4G_USART_RX_Pin);
if(flag_TCP_reconnectting||IfTCPConnected())
{
-
// LOG_INFO(TRACE_MODULE_APP, "处理4G任务\r\n");
- air780_led_on();
- if(flag_4guart_needinit)
+
+// if(flag_4guart_needinit)
+// {
+// flag_4guart_needinit = 0;
+// AIR780EUartInit();
+// }//yuan
+ 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();
Internet_Poll();
HIDO_ATLitePoll();
HIDO_TimerPoll();
TCPClient_Poll();
air780_led_off();
}
+
if(flag_secondtask)
{
flag_secondtask = 0;
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;
- //}
- input_5v_flag=!gpio_pin_get_val(INPUT_5V_Pin);
- air780e_flag2,air780e_flag3,air780e_flag4;
- air780e_flag1=((IfTCPConnected()&&Socket_IsSendQueueEmpty(0))||!flag_TCP_reconnectting&&!IfTCPConnected());
-
#ifndef DEBUG_MODE
//if(flag_sleeptimer)
- if(!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(!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)
+index1=IfTCPConnected();
+index2=AIR780E_IsIPIdle();
+index3=Socket_IsSendQueueEmpty(0);
+ if(!gps_power_state&&(IfTCPConnected()&&AIR780E_IsIPIdle()&&Socket_IsSendQueueEmpty(0)))
{
- 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;
+ uint32_t lock;
+ 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");
- 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);
+ // 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
}
}
--
Gitblit v1.9.3