From 5e02aaa74bd161d42cd3a48dc5d6f89491ea29ef Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期二, 31 十二月 2024 16:17:51 +0800
Subject: [PATCH] 新测距算法加入，稳定测距版本
---
keil/include/main/main.c | 60 +++++++++++++++++++++++++++++++++++++++++-------------------
1 files changed, 41 insertions(+), 19 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index e267301..233a8b8 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -193,12 +193,12 @@
}
if(fVoltage_mv<3300)
{
- power_low_flag=1;
- gps_air780_power_change(gps_power_state,0);//gps原样，关闭4G
+ //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
+ //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(ADC_MINIUS,1);//拉高
@@ -215,7 +215,7 @@
uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0,userkey_state;
uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag,flag_fenli_alarm = 0,fenli_alarm_count,delaysleep_count,enbale_blink_flag;
int need_open_gps_count;
-uint32_t keystarttime,keystarttime2;
+uint32_t keystarttime,keystarttime2,keystarttime3;
extern uint32_t get_in_num,get_out_num;
void MotorPoll(void)
{
@@ -300,25 +300,46 @@
}
}
void UserKeyTask(void)
- {
- if(!GET_USERKEY)
+{
+if(!read_userkey_input_pca())
{
- if(HIDO_TimerGetTick() - keystarttime>3)
+ if(HIDO_TimerGetTick() - keystarttime3>2)
{
userkey_state = 1;
- keystarttime = HIDO_TimerGetTick();
- UDPClient_UploadGPS();
+ keystarttime3 = HIDO_TimerGetTick();
+ //UDPClient_UploadGPS();
}
- if(HIDO_TimerGetTick() - keystarttime2>10)
+// if(HIDO_TimerGetTick() - keystarttime2>10)
+// {
+//
+// g_com_map[CNT_RESTART] = 1;
+// }
+ }else
+ {
+ keystarttime3 = HIDO_TimerGetTick();
+ }
+}
+void PowerTask(void)
+{
+ if(read_powerkey_input_pca())
+ {
+ if(HIDO_TimerGetTick() - keystarttime>2)
{
- g_com_map[CNT_RESTART] = 1;
+ keystarttime = HIDO_TimerGetTick();
+ PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
+ PCA9555_Set_One_Value_Output(GPS_LED,0);//输出低电平关闭LED
}
+// if(HIDO_TimerGetTick() - keystarttime2>10)
+// {
+//
+// g_com_map[CNT_RESTART] = 1;
+// }
}else
{
keystarttime = HIDO_TimerGetTick();
keystarttime2 = HIDO_TimerGetTick();
}
- }
+}
void MinuteTask(void)
{
PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
@@ -331,7 +352,7 @@
second_count = 0;
MinuteTask();
}
-
+ //UWBOneSecondTask();
// if(!power_low_flag)
// Gps_change();
// else{
@@ -605,7 +626,7 @@
delay_ms(500);
Set4LEDColor(RED,WHITE,RED,WHITE);
delay_ms(500);
- Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
+ //Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
}
//IO_control_init();
// io_pin_mux_set(SCL_PIN, IO_FUNC0);//测试测距波形
@@ -613,7 +634,6 @@
// io_pull_set(SCL_PIN , IO_PULL_UP, IO_PULL_UP_LEVEL4);
//gps_air780_power_change(0,1);//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
- gpio_pin_clr(ADC_GND_ENABLE);
Program_Init();
//uart_open(UART_ID1, &test_uart_cfg);
// uart1_change_from_gps_to_debug();
@@ -624,8 +644,8 @@
power_init();
//AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
- sleep_timer_start(__MS_TO_32K_CNT(g_com_map[COM_INTERVAL]));//测试
- //sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
+ //sleep_timer_start(__MS_TO_32K_CNT(g_com_map[COM_INTERVAL]));//测试
+ sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
// board_5V_input_init(voltage_input_handler);
PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
@@ -638,6 +658,7 @@
while (1)
{
uwb_app_poll();
+
//test4=gpio_pin_get_val(SCL_PIN);
//UWBPoll();
// if(!power_low_flag)//确认是否休眠下才开启功能
@@ -672,8 +693,9 @@
SecondTask();
}
-// UserKeyTask();
+ PowerTask();
// IMUTask();
+ UserKeyTask();
IdleTask();
#ifndef DEBUG_MODE
//if(flag_sleeptimer)
--
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