From 59a4e01d92da432e9736b24c085089cd31963833 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期三, 21 五月 2025 15:19:22 +0800
Subject: [PATCH] 修改了串口读取的bug，现在是通过飞线控制的 PCA蓝牙IRQ拉低，修改灯的闪灯逻辑，
---
keil/include/main/main.c | 160 +++++++++++++++++++++++++++++++++++++----------------
1 files changed, 111 insertions(+), 49 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 5012677..f1b2324 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -101,6 +101,7 @@
bool uwb_is_on = false; // UWB当前状态标记
void test_Delay_us(uint16_t time);
+int LEDTask(uint8_t Uwb_led,uint8_t Bt_led,uint8_t Lora_led,uint8_t Power_led);
void Lora_UploadHeartBeartPoll(void);
void upload_apppoll();
extern uint8_t mUsartReceivePack[100];
@@ -170,10 +171,10 @@
.int_tx = false,
#endif
};
-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);
-}
+//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);
+//}
static void adc_callback(void *data, uint32_t number)
{
@@ -334,6 +335,8 @@
extern uint8_t lora_tx_flag;
extern uint16_t sleep_time;
uint8_t input5v_time;
+extern uint8_t uwbled,btled,loraled,powerled;
+uint8_t jibu_flag;
static void sleep_timer_callback(void *dev, uint32_t time)
{
input5v_time=1;
@@ -341,34 +344,26 @@
HIDO_TimerTick();
// lora_tx_flag++;
uwb_time_count++;
-// upload_apppoll();
-
+ jibu_flag=1;
+ upload_apppoll();
if (current_state == STATE_NORMAL)
{
sleep_time++;
}
-
-
if(!read_5v_input_pca())
{
if(bat_percent>15)
{
- led_state=!led_state;
- if(led_state)
- GREEN_LED_ON;
- else
- {
- GREEN_LED_OFF;
- }
-
+ powerled=1;
}
else
{
- RED_LED_ON;
- GREEN_LED_OFF;
+ powerled=0;
}
- }
+ }
+
+
input5v_time=1;
//马达震动逻辑
if(g_com_map[MOTOR_ENABLE])
@@ -393,12 +388,14 @@
}
uint16_t sleep_time=0;
uint32_t state_start_time_jibu=0;
+uint8_t exercise_state=0;
void check_step_and_update_state(void)
{
if ((step_count != last_step_count))
{
// 步数有变化，重置状态为正常状态
last_step_count = step_count;
+
if(current_state == STATE_SLEEP)
{
state_start_time_jibu = uwb_time_count;
@@ -416,6 +413,7 @@
// state_start_time = uwb_time_count; // 重置测距周期
// }
current_state = STATE_NORMAL;
+ exercise_state=1;
last_step_count = step_count;
}
@@ -423,11 +421,12 @@
{
// 步数没有变化，检查是否需要切换到休眠状态
if (current_state == STATE_NORMAL)
- {
+ {
uint32_t inactive_time = uwb_time_count - state_start_time_jibu;
if (inactive_time >= INACTIVE_TIMEOUT)
{ // 30秒后切换到休眠状态
current_state = STATE_SLEEP;
+ exercise_state=2;
state_start_time_jibu=uwb_time_count;
}
}
@@ -442,7 +441,11 @@
{
uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);
}
-
+
+void uart1_receive_callback()
+{
+ uart_receive(UART_ID1,m_EUART_DMA_RXBuf_1,USART_RX_BUF_SIZE,uart1_receive_callback);
+}
static void voltage_input_handler(enum IO_PIN_T pin)
{
@@ -461,13 +464,14 @@
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
+ Usart0ParseDataCallback = UsartParseDataHandler_1;
parameter_init_anchor();//g_com_map表初始化角色默认为基站
- g_com_map[DEV_ID]=0x1234;
+// g_com_map[DEV_ID]=0x0721;
g_com_map[STATIONARY_TIME] = 10;
// g_com_map[GROUP_ID]=1;
dev_id=g_com_map[DEV_ID];//这里不太对
group_id=g_com_map[GROUP_ID];//组ID
- group_id=0x04;
+// group_id=0x04;
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;
@@ -493,7 +497,7 @@
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)|12;
+ 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:BGK-mk+蓝牙薄工卡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);
@@ -504,6 +508,7 @@
void IdleTask(void)
{
UART0_CheckReceive();
+ UART_CheckReceive();
if(read_5v_input_pca())
{
chongman_time=0;
@@ -613,8 +618,8 @@
RED_LED_OFF;
BT_LED_OFF;
PCA9555_Set_One_Value_Output(BT_EN,0);
- PCA9555_Set_One_Value_Config(BT_IRQ,0); //设置BT_IRQ为输出拉低
- PCA9555_Set_One_Value_Output(BT_IRQ,0);
+// PCA9555_Set_One_Value_Config(BT_IRQ,0); //设置BT_IRQ为输出拉低
+// PCA9555_Set_One_Value_Output(BT_IRQ,0);
sleep_timer_stop();
power_enter_power_down_mode(1);
sys_reset(0);
@@ -622,7 +627,7 @@
}
void IMUTask(void)
{
- if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==2)
+ if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)
{
power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)PCA_INPUT_DETECT, POWER_WAKEUP_LEVEL_LOW);
mcu_deep_sleep();
@@ -668,6 +673,7 @@
io_pin_mux_set(UART1_TX, IO_FUNC4);
board_debug_console_open(TRACE_PORT_UART1,BAUD_115200);
+ uart_receive(UART_ID1,m_EUART_DMA_RXBuf_1,USART_RX_BUF_SIZE,uart1_receive_callback);//开启dma
}
void spi_init()
{
@@ -746,6 +752,8 @@
check_input_change();
}
extern uint32_t uwb_time_count;
+uint8_t uwbled,btled,loraled,powerled;
+uint8_t send_count=0;
void upload_apppoll()
{
uint32_t elapsed_time_jibu;
@@ -757,18 +765,20 @@
switch(elapsed_time_jibu)
{
case UWB_OPEN_COUNT:
- UWB_LED_OFF;
- LORA_LED_OFF;
- LoraReportPoll();
- CloseUWB();
+ CloseUWB();
+ LoraReportPoll();
break;
case UWB_MEASUREMENT_INTERVAL:
- PCA9555_Set_One_Value_Output(BT_IRQ ,0);
- CloseUWB();
- Uwbinit();
- OpenUWB();
- state_start_time = uwb_time_count;
+ LEDTask(uwbled,btled,loraled,powerled);
+ LEDTask(0,0,0,2);
+ PCA9555_Set_One_Value_Output(IO_KONG,0);
+ delay_us(10000);
+ PCA9555_Set_One_Value_Output(IO_KONG,1);
+ CloseUWB();
+ Uwbinit();
+ OpenUWB();
+ state_start_time = uwb_time_count;
break;
}
break;
@@ -778,22 +788,69 @@
switch(elapsed_time_jibu)
{
case UWB_OPEN_COUNT:
- UWB_LED_OFF;
- LORA_LED_OFF;
- LoraReportPoll();
- CloseUWB();
+ CloseUWB();
+ LoraReportPoll();
+
+
break;
case UWB_MEASUREMENT_INTERVAL_SLEEP:
- PCA9555_Set_One_Value_Output(BT_IRQ ,0);
- CloseUWB();
- Uwbinit();
- OpenUWB();
- state_start_time = uwb_time_count;
+ LEDTask(uwbled,btled,loraled,powerled);
+ LEDTask(0,0,0,2);
+ PCA9555_Set_One_Value_Output(IO_KONG,0);
+ delay_us(10000);
+ PCA9555_Set_One_Value_Output(IO_KONG,1);
+ CloseUWB();
+ Uwbinit();
+ OpenUWB();
+ state_start_time = uwb_time_count;
+
+
break;
}
break;
}
+
+}
+int LEDTask(uint8_t Uwb_led,uint8_t Bt_led,uint8_t Lora_led,uint8_t Power_led)
+{
+ if(Uwb_led==1)
+ {
+ UWB_LED_ON;
+ }else
+ {
+ UWB_LED_OFF;
+ }
+
+ if(Bt_led==1)
+ {
+ BT_LED_ON;
+ }else
+ {
+ BT_LED_OFF;
+ }
+ if(Lora_led==1)
+ {
+ LORA_LED_ON;
+ }else
+ {
+ LORA_LED_OFF;
+ }
+
+ if(powerled==1)
+ {
+ GREEN_LED_ON;
+ GREEN_LED_OFF;;
+ }
+ else if(powerled==0)
+ {
+ RED_LED_ON;
+ RED_LED_OFF;
+
+ }
+
+// PCA9555_Set_One_Value_Output(BT_IRQ ,0);
+
}
uint8_t io14_state;
@@ -844,14 +901,19 @@
// boot_deinit();
while (1)
{
- step_count = mir3da_get_step(); // 获取步数
- BT_LED_OFF;
+ if(jibu_flag)
+ {
+ jibu_flag=0;
+ step_count = mir3da_get_step(); // 获取步数
+ }
+
// Lora_Tx_Poll();
-// uwb_app_poll();
+ uwb_app_poll();
check_step_and_update_state();
- upload_apppoll();
+// upload_apppoll();
IdleTask();
IMUTask();
+
// if(1)
// {
//// test1=gpio_pin_get_val(_4G_USART_RX_Pin);
--
Gitblit v1.9.3