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 | 455 +++++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 381 insertions(+), 74 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index d38c7de..f1b2324 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -94,8 +94,16 @@
/****************************************************************引脚宏定义**************************************************/
+#define UWB_OPEN_COUNT 1 // UWB每次开启持续时间（秒）
+#define UWB_MEASUREMENT_INTERVAL 3 // 正常状态测距周期
+#define UWB_MEASUREMENT_INTERVAL_SLEEP 60 // 休眠状态测距周期
+#define INACTIVE_TIMEOUT 30 // 无步数变化超时时间（秒）
+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];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
@@ -148,7 +156,7 @@
.flow = UART_FLOW_CONTROL_NONE,
.rx_level = UART_RXFIFO_CHAR_1,
.tx_level = UART_TXFIFO_EMPTY,
- .baud = BAUD_115200,
+ .baud = BAUD_921600,
#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
.dma_en = false,
.int_rx = false,
@@ -163,10 +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)
{
@@ -190,7 +198,17 @@
bat_percent = ((fVoltage_mv - 3300) /8);
}
}
- // LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
+ 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");
+ }
+ PCA9555_Set_One_Value_Output(PWR_GND,1);//拉高
}
//static void timer_callback(void *dev, uint32_t time)
//{
@@ -265,7 +283,8 @@
}
void MinuteTask(void)
{
- adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+ PCA9555_Set_One_Value_Output(PWR_GND,0);//拉低
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
}
void SecondTask(void)
{static uint8_t second_count;
@@ -275,7 +294,7 @@
MinuteTask();
}
//UWB更新列表
- TagListUpdate();
+// TagListUpdate();
//GPS_Poll();
gps_power_state=1;//测试gps长开
//UWB状态检测
@@ -298,37 +317,54 @@
}
// HIDO_TimerTick();
- nomove_count++;
+
}
-uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
-uint8_t lora_wg_up=0;
+// 定义状态
+typedef enum {
+ STATE_NORMAL, // 正常状态，3秒测距上传一次
+ STATE_SLEEP // 休眠状态，1分钟测距上传一次
+} CountState_t;
+// 全局变量
+uint32_t uwb_time_count = 0; // 定时器计数值
+uint32_t step_count = 0; // 步数计数
+uint32_t last_step_count = 0; // 上一次步数
+CountState_t current_state = STATE_NORMAL; // 当前状态
+uint32_t state_start_time = 0; // 状态开始时间
+uint8_t led_state;
+uint8_t stationary_flag;
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)
{
- g_start_send_flag=1;
+ input5v_time=1;
+// g_start_send_flag=1;
HIDO_TimerTick();
- // #ifdef DEBUG_BOXING
-//// gpio_pin_clr(IO_PIN_5);//测试
- // gpio_pin_set(IO_PIN_5);//测试
- // lora_wg_up=1;
-
- lora_tx_flag=1;
-// lora_qiehuan++;
-// IO_control_init();
-// UWBPoll();
-//
-//
-// MotorPoll();
+// lora_tx_flag++;
+ uwb_time_count++;
+ jibu_flag=1;
+ upload_apppoll();
-// if(secondtask_count++%2==0)
-// {
-// flag_secondtask = 1;
-// }else{
-// flag_secondtask = 0;
-// }
+ if (current_state == STATE_NORMAL)
+ {
+ sleep_time++;
+ }
+ if(!read_5v_input_pca())
+ {
+ if(bat_percent>15)
+ {
+ powerled=1;
+ }
+ else
+ {
+ powerled=0;
+ }
+ }
-// flag_sleeptimer = 1;
+ input5v_time=1;
//马达震动逻辑
if(g_com_map[MOTOR_ENABLE])
{
@@ -346,21 +382,70 @@
}else{
motor_power_state=1;
}
-
- //GPS工作逻辑
+ nomove_count++;
+
}
-
-void phy_timer_callback(uint32_t time)
+uint16_t sleep_time=0;
+uint32_t state_start_time_jibu=0;
+uint8_t exercise_state=0;
+void check_step_and_update_state(void)
{
- lora_tx_flag++;
+ 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;
+ state_start_time=uwb_time_count;
+ }
+// if (current_state != STATE_NORMAL)
+// {
+// // 关闭可能正在运行的UWB
+// if (uwb_is_on) {
+// CloseUWB();
+// UWB_LED_OFF;
+// uwb_is_on = false;
+// }
+// current_state = STATE_NORMAL;
+// state_start_time = uwb_time_count; // 重置测距周期
+// }
+ current_state = STATE_NORMAL;
+ exercise_state=1;
+ last_step_count = step_count;
+
+ }
+ else
+ {
+ // 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;
+ }
+ }
+ }
}
+//void phy_timer_callback(uint32_t time)
+//{
+// lora_tx_flag++;
+//}
void uart0_receive_callback()
{
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)
{
@@ -379,12 +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
- g_com_map[LORA_POWER]=22;
+// 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;
@@ -410,17 +497,62 @@
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)|11;
+ 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V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
+ 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);
}
-
-
+uint32_t adctick = 0;
+uint16_t chongman_time;
void IdleTask(void)
{
UART0_CheckReceive();
+ UART_CheckReceive();
+if(read_5v_input_pca())
+ {
+ chongman_time=0;
+ RED_LED_OFF;
+ GREEN_LED_OFF;
+ UWB_LED_OFF;
+ BT_LED_OFF;
+ LORA_LED_OFF;
+ 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(PWR_GND,0);//拉低
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+ }
+ if(bat_percent>=99&&chongman_time>=600)
+ {
+ GREEN_LED_ON;
+ RED_LED_OFF;
+ }
+ else
+ {
+// RED_LED_ON;
+ GREEN_LED_OFF;
+ }
+
+ if(!read_5v_input_pca())
+ {
+ break;
+ }
+ }
+ sys_reset(0);
+// NVIC_SystemReset();
+// input5vflag=1;
+ }
+ else
+ {
+
+// sys_reset(0);
+ }
}
int bind_check(void)
@@ -448,11 +580,16 @@
{
//将boot中串口返回普通gpio
// UART0 TX/RX
- io_pin_mux_set(IO_PIN_5, IO_FUNC0);
- io_pin_mux_set(IO_PIN_6, IO_FUNC0);
+ io_pin_mux_set(UART0_RX, IO_FUNC0);
+ io_pin_mux_set(UART0_TX, IO_FUNC0);
+
+ gpio_pin_set_dir(UART0_RX , GPIO_DIR_OUT, 0);
+ gpio_pin_set_dir(UART0_TX , GPIO_DIR_OUT, 0);
// UART1 RX/TX
- io_pin_mux_set(IO_PIN_10, IO_FUNC0);
- io_pin_mux_set(IO_PIN_9, IO_FUNC0);
+ io_pin_mux_set(UART1_RX, IO_FUNC0);
+ io_pin_mux_set(UART1_TX, IO_FUNC0);
+
+
uart_close(UART_ID1);//解绑原来串口1
uart_close(UART_ID0);//解绑原来串口0
}
@@ -466,6 +603,36 @@
}
}
+}
+void mcu_deep_sleep(void)
+{
+ uint32_t lock;
+ trace_flush();
+ lock = int_lock();
+ boot_deinit();
+ LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
+ //关闭蓝牙 灯
+ LORA_LED_OFF;
+ GREEN_LED_OFF;
+ UWB_LED_OFF;
+ 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);
+ sleep_timer_stop();
+ power_enter_power_down_mode(1);
+ sys_reset(0);
+ int_unlock(lock);
+}
+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)PCA_INPUT_DETECT, POWER_WAKEUP_LEVEL_LOW);
+ mcu_deep_sleep();
+
+ }
}
#define TEST_SPI_MASTER 0
#define TEST_SPI_POLL_MODE 0
@@ -486,20 +653,27 @@
io_pin_mux_set(LORA_DIO, IO_FUNC0);
-// //ADC
-// io_pin_mux_set(ADC_PIN, IO_FUNC1);
-// io_pull_set(ADC_PIN, IO_HIGH_Z, IO_PULL_UP_NONE);
+ //ADC
+ io_pin_mux_set(ADC_PIN, IO_FUNC1);
+ io_pull_set(ADC_PIN, IO_HIGH_Z, IO_PULL_UP_NONE);
//串口0
io_pin_mux_set(UART0_RX, IO_FUNC4);
io_pin_mux_set(UART0_TX, IO_FUNC4);
-
- board_debug_console_open(TRACE_PORT_UART0);
+ uart_open(UART_ID0, &test_uart_cfg);
+// io_pin_mux_set(UART0_RX, IO_FUNC0);
+// gpio_pin_set_dir(UART0_RX , GPIO_DIR_OUT, 0);
+// io_pin_mux_set(UART0_TX, IO_FUNC0);
+// gpio_pin_set_dir(UART0_TX , GPIO_DIR_OUT, 0);
+// board_debug_console_open(TRACE_PORT_UART0);
uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);//开启dma
//串口1
io_pin_mux_set(UART1_RX, IO_FUNC4);
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()
{
@@ -564,17 +738,12 @@
RadioIrqProcess();
}
-
-
-
-
-
void Board_LORA_NVIC_Init(GPIO_IRQ_HANDLER_T irq_handler) //LORA 中断配置
{
// io_pin_mux_set(_4G_USART_RX_Pin,IO_FUNC0);//把原先io 变为普通GPIO
gpio_pin_set_dir(LORA_DIO , GPIO_DIR_IN, 0);
io_pull_set(LORA_DIO, IO_HIGH_Z, IO_PULL_UP_NONE);
- gpio_enable_irq(LORA_DIO, GPIO_IRQ_TYPE_RISING_EDGE, irq_handler);
+ gpio_enable_irq(LORA_DIO, GPIO_IRQ_TYPE_RISING_EDGE, irq_handler);
}
extern uint8_t pca9555writedata_input[10];//暂存输入寄存器所有配置的数组
static void pca_handler(enum IO_PIN_T pin)
@@ -582,17 +751,118 @@
PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值
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;
+
+ switch (current_state)
+ {
+ case STATE_NORMAL:
+ elapsed_time_jibu = uwb_time_count - state_start_time;
+ switch(elapsed_time_jibu)
+ {
+ case UWB_OPEN_COUNT:
+ CloseUWB();
+ LoraReportPoll();
+ break;
+
+ case UWB_MEASUREMENT_INTERVAL:
+ 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;
+
+ case STATE_SLEEP:
+ elapsed_time_jibu = uwb_time_count - state_start_time;
+ switch(elapsed_time_jibu)
+ {
+ case UWB_OPEN_COUNT:
+ CloseUWB();
+ LoraReportPoll();
+
+
+ break;
+
+ case UWB_MEASUREMENT_INTERVAL_SLEEP:
+ 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;
uint16_t lora_freq=0;
uint16_t lora_up_count=0;
-uint8_t TXBuffer[8]={0,1,2,3,4,5,6,7};
-uint8_t test_buf[10]={0,1,1,1,1,1,1,1,1,1};
+//uint8_t TXBuffer[8]={0,1,2,3,4,5,6,7};
+//uint8_t test_buf[10]={0,1,1,1,1,1,1,1,1,1};
int main(void)
-
{
board_clock_run();
- // boot_deinit();
- // board_debug_console_open(TRACE_PORT_UART1);
+ boot_deinit();
+
// Reset reason
reset_cause_get();
reset_cause_clear();
@@ -602,29 +872,66 @@
wdt_close(WDT_ID0);
gpio_open();
Board_gpio_init();
+
//board_led_init();
spi_init();
+
+
Board_LORA_NVIC_Init(Lora_irq_handler);
pca_input_detection_init(pca_handler);
IIC2_Init();
Accelerometer_Init();
- PCA9555_init();
- Lora_1268_Init();
-// SwitchLoraSettings(473,7,0);
- Program_Init();
+ PCA9555_init();
+ adc_open(&usr_adc_cfg);
+ Lora_1268_Init();
+ SwitchLoraSettings(478,7,22);
+ Program_Init();
+ power_init();
sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
-
-
-
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);
+//#ifdef DEBUG_BOXING
+// io_pin_mux_set(BOXING_PIN,IO_FUNC0);
+// gpio_pin_set_dir(BOXING_PIN,GPIO_DIR_OUT,0);
+// io_pull_set(BOXING_PIN,IO_PULL_DOWN,IO_PULL_UP_LEVEL4);
+//#endif
Uwbinit();
- OpenUWB();
-
+// OpenUWB();
+// boot_deinit();
while (1)
{
- Lora_Tx_Poll();
-// uwb_app_poll();
+ if(jibu_flag)
+ {
+ jibu_flag=0;
+ step_count = mir3da_get_step(); // 获取步数
+ }
+
+// Lora_Tx_Poll();
+ uwb_app_poll();
+ check_step_and_update_state();
+// upload_apppoll();
IdleTask();
+ IMUTask();
+
+// if(1)
+// {
+//// test1=gpio_pin_get_val(_4G_USART_RX_Pin);
+// uint32_t lock;
+// //flag_4guart_needinit = 1;
+//// Internet_Poll();
+//// HIDO_ATLitePoll();
+//// HIDO_TimerPoll();
+//// TCPClient_Poll();
+//
+// // delay_us(300000);
+// trace_flush();
+// lock = int_lock();
+// power_enter_power_down_mode(0);
+// uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_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);
+// }
}
}
--
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