From 5e7b2ec568c4fd0497564e6f45a482a4e0f33b33 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 23 七月 2025 11:12:51 +0800
Subject: [PATCH] 1.1，加入灯跟宏定义控制1hz 5hz
---
keil/include/main/main.c | 457 ++++++++++++++++++++------------------------------------
1 files changed, 164 insertions(+), 293 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 3c2af64..7c5518d 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -66,8 +66,9 @@
#include "dw_app_anchor.h"
#include "ymodem.h"
#include "mk_phy.h"
+#include "mk_pwm.h"
-#define DEBUG_MODE
+//#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
void uart_change_check(uint16_t gpio_state);
@@ -110,7 +111,14 @@
extern uint8_t pca9555writedata_polarity[10];//暂存输入极性反转寄存器所有配置的数组
uint8_t temp_pca9555writedata_input[10];//暂存上一次输入寄存器所有配置的数组
Operation_step UWB_work_state;
-
+struct PWM_CH_CFG_T usr_pwm_ch0_cfg = {
+ .prescale = 2,
+ .waveform = PWM_SEQUENTIAL,
+ .ratio = 50,
+ .phase = 0,
+ .pol_inv = 0,
+ .int_en = 0,
+};
Commend_SendDate send_struct;
struct ADC_CFG_T usr_adc_cfg = {
@@ -158,8 +166,8 @@
uint32_t lock;
trace_flush();
lock = int_lock();
- LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");
- gps_air780_power_change(0,0);//关闭gps，4G
+// LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");
+// gps_air780_power_change(0,0);//关闭gps，4G
sleep_timer_stop();
//adc_close();
power_enter_power_down_mode(1);
@@ -202,94 +210,12 @@
PCA9555_Set_One_Value_Output(ADC_MINIUS,1);//拉高
// LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
}
-//void UartInit(void)
-//{
-//board_pins_config();
-//uart_open(UART_ID1, &test_uart_cfg);
-//board_debug_console_open(TRACE_PORT_UART0);
-//uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
-//}
extern uint8_t gps_uwb_flag,gps_need_data_flag;
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,keystarttime3;
extern uint32_t get_in_num,get_out_num;
-//void MotorPoll(void)
-//{
-// if(UWB_work_state==UN_BIND) {
-// gps_uwb_flag=0;//关闭GPS
-// moter_open_uwb_flag=0;//关闭震动
-// need_open_gps_count=0;//清0计数gps
-// } 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;
-
-// }
-//
-// need_open_gps_count=0;
-// moter_open_uwb_flag=0;//关闭震动
-// gps_uwb_flag=0;//关闭GPS
-// } else if(g_com_map[ALARM_DISTANCE1]<=distance&&distance<=g_com_map[ALARM_DISTANCE2]) { //大于预警距离小于报警距离
-// need_open_gps_count++;
-// moter_open_uwb_flag=1;//开启震动
-// if(need_open_gps_count>=20) {
-// if(!flag_alam_state)
-// {
-// flag_alam_state = 1;
-// }
-// gps_uwb_flag=1;//开启gps测距流程
-// need_open_gps_count=0;
-// }
-// } else if(distance>=g_com_map[ALARM_DISTANCE2]) { //大于报警距离
-// need_open_gps_count++;
-// moter_open_uwb_flag=1;//开启震动
-// if(need_open_gps_count>=20) {
-// if(!flag_alam_state)
-// {
-// flag_alam_state = 1;
-// }
-// gps_uwb_flag=1;//开启gps测距流程
-// need_open_gps_count=0;
-// }
-//
-// }
-// if(anchordata_num==0) {
-// if(!flag_alam_state)
-// {
-// flag_alam_state = 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 IMUTask(void)
{
if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)
@@ -416,42 +342,30 @@
uint8_t Get_anchor_appdata_flag;
uint8_t Get_anchor_appdata_num;
extern uint8_t update_tag_time;
+uint8_t sleep_limit_time=1;
+uint8_t enable_sleep_count,sleep_flag;
static void sleep_timer_callback(void *dev, uint32_t time)
{
-if(secondtask_count++%2==0)
- {
- flag_secondtask = 1;
- PwtagTimeTask();
- if(update_tag_time>0)
- {
- update_tag_time--;
- if(update_tag_time==0)
- {
- NVIC_SystemReset();
- }
- }
- if(Get_anchor_appdata_flag==1)
- {
- Get_anchor_appdata_num++;
- if(Get_anchor_appdata_num>40)
- {
- g_com_map[YAOGEIANC_UPWENJIAN_FLAG]=0;
- save_com_map_to_flash();
- delay_ms(300);
- NVIC_SystemReset();
- }
- }
- }else{
- flag_secondtask = 0;
+
+ flag_secondtask = 1;
+ enable_sleep_count++;
+ if(enable_sleep_count==sleep_limit_time)
+ {
+ enable_sleep_count=0;
+ sleep_flag=1;
}
- if(delaysleep_count>0)
- delaysleep_count--;
+
+
+ g_start_send_flag=1;
+// if(delaysleep_count>0)
+// delaysleep_count--;
//GPS工作逻辑
}
static void move_handler(enum IO_PIN_T pin)
{
nomove_count=0;
+ Motion_Detection_callback();
}
static void pca_handler(enum IO_PIN_T pin)
{
@@ -506,61 +420,95 @@
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)|0;
+ g_com_map[VERSION] = (1<<8)|1;
LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
LOG_INFO(TRACE_MODULE_APP,"固件版本:4G-GPS定位手环 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);
}
-
-
-void uart_change_check(uint16_t gpio_state)
-{
- if(INPUT_5V_POSITION&gpio_state)
- {
- if(state5v==0)
- {
- state5v=1;
- state5V_prase_flag=state5v;
- gps_prase_flag=0;//解除gps解析
- uart1_change_from_gps_to_debug();//测试
- PCA9555_Set_One_Value_Output(MCU_A,1);//输出高电平切换为5V输入
- }
- }else {
- if(state5v==1)
- {
- g_com_map[MODBUS_MODE] = 0;
- state5v=0;
- state5V_prase_flag=state5v;
- gps_prase_flag=1;//恢复gps解析
- uart1_change_from_debug_to_gps();//测试
- PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
- }
- }
-}
+extern uint8_t motor_state;
+extern float motor_keeptime;
+uint8_t test1;
void IdleTask(void)
{
-//if(read_5v_input_pca())
-// {
-// if(state5v==0)
-// {
-//// state5v=1;
-//// state5V_prase_flag=state5v;
-//// gps_prase_flag=0;//解除gps解析
-//// uart1_change_from_gps_to_debug();//测试
-//// PCA9555_Set_One_Value_Output(MCU_A,1);//输出高电平切换为5V输入
-// }
-// }else {
-// if(state5v==1)
-// {
-//// g_com_map[MODBUS_MODE] = 0;
-//// state5v=0;
-//// state5V_prase_flag=state5v;
-//// gps_prase_flag=1;//恢复gps解析
-//// uart1_change_from_debug_to_gps();//测试
-//// PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
-// }
-// }
- UART0_CheckReceive();
+ if(g_com_map[MOTOR_ENABLE])
+ {
+ if(motor_keeptime>0)
+ {
+ motor_state = 2;
+ }else{
+ motor_state = 0;
+ }
+ //motor_state=2;
+ switch(motor_state)
+ {case 0:
+// if(hardware_type==NSH1)
+// {MOTOR_OFF;
+// }else if(hardware_type==GP)
+// {
+// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+// }
+// pwm_ch_enable(PWM_ID0, &usr_pwm_ch0_cfg);
+// delay_ms(10000);
+ pwm_ch_disable(PWM_ID3);
+ break;
+ case 1:
+// if(current_time<MOTOR_ONTIME)
+// {
+// if(hardware_type==NSH1)
+// {MOTOR_ON;
+// }else if(hardware_type==GP)
+// {
+// HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+// }
+// }else{
+// if(hardware_type==NSH1)
+// {MOTOR_OFF;
+// }else if(hardware_type==GP)
+// {
+// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+// }
+// }
+// pwm_ch_enable(PWM_ID0, &usr_pwm_ch0_cfg);
+ break;
+ case 2:
+// if(hardware_type==NSH1)
+// {MOTOR_ON;
+// }else if(hardware_type==GP)
+// {
+// HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+// }
+ pwm_ch_enable(PWM_ID3, &usr_pwm_ch0_cfg);
+ break;
+ case 3:
+// if(hardware_type==NSH1)
+// {MOTOR_OFF;
+// }else if(hardware_type==GP)
+// {
+// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+// }
+ break;
+ }
+ }
+ UART0_CheckReceive();
+ test1=gpio_pin_get_val(INPUT_5V_Pin);
+ if(gpio_pin_get_val(INPUT_5V_Pin))
+ {
+ if(state5v==0)
+ {
+ state5v=1;
+ sleep_flag=0;
+ sleep_limit_time=30;//新增插入串口后30s不休眠
+ enable_sleep_count=0;//重新插拔可以重置时间
+ }
+ }else{
+ if(state5v==1)
+ {
+ state5v=0;
+ sleep_limit_time=1;//新增插入串口后30s不休眠
+ enable_sleep_count=0;//重新插拔可以重置时间
+ }
+
+ }
}
int bind_check(void)
{
@@ -599,7 +547,6 @@
uint8_t index1,index2,index3;
int16_t Voltage_input;
int tt2;
-int test1,test3;
uint32_t test4;
void Chuanshuwenjian_Poll()
{
@@ -695,22 +642,28 @@
}
// }
}
+static void pwm_callback(void *dev, uint32_t status)
+{
+// uint8_t id = *(uint8_t *)dev;
+// LOG_INFO(TRACE_MODULE_APP, "PWM %x interrupt callback\r\n", id);
+
+// gpio_pin_toggle(IO_PIN_7);
+}
+static void voltage_input_handler()
+{
+
+}
extern uint8_t shengji_flag;
int main(void)
{
board_clock_run();
boot_deinit();
board_pins_config();
- board_debug_console_open_baud(TRACE_PORT_UART0,BAUD_115200);
+ board_debug_console_open_baud(TRACE_PORT_UART0,BAUD_115200);
// Reset reason
reset_cause_get();
reset_cause_clear();
Program_Init();
- sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
- sleep_timer_start(__MS_TO_32K_CNT(500));//测试
- Chuanshuwenjian_Poll();
-//注意串口一波特率改为9600了为了能和GPS通信上
- // Load calibration parameters from NVM
uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
uint32_t external_flash = (REG_READ(0x40010030) >> 28) & 0x3;
if (internal_flash || external_flash == 1)
@@ -723,155 +676,73 @@
{
board_calibration_params_default();
}
-
// Chip calibration
calib_chip();
-
// Disable watchdog timer
wdt_close(WDT_ID0);
LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
-
- // open system timer
- //sys_timer_open();
-
- // TODO 4G
-// Uart_Register(UART_ID_4G, UART_ID0);
-// Internet_Init();
-// TCPClient_Init();
-
+
+ struct PWM_CFG_T usr_pwm_cfg = {
+ .general_prescale = 15,
+ .int_en = 1,
+ .callback = pwm_callback,
+ };
+ pwm_open(&usr_pwm_cfg);
+// pwm_ch_enable(PWM_ID0, &usr_pwm_ch0_cfg);
gpio_open();
- LED_output_init();//配置adcGND引脚
-// battery_monitor_open();
-// Voltage_input=battery_monitor_get();
-// battery_monitor_close();
-
+ LED_output_init();//配置adcGND引脚
adc_open(&usr_adc_cfg);
-// IIC2_Init();
- Accelerometer_Init();
-// PCA9555_init();
- if(!read_5v_input_pca())
- {
- Set4LEDColor(BLUE,GREEN,WHITE,GREEN);
- delay_ms(500);
- Set4LEDColor(RED,WHITE,RED,WHITE);
- delay_ms(500);
- //Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
- }
- //IO_control_init();
-// io_pin_mux_set(SCL_PIN, IO_FUNC0);//测试测距波形
-// gpio_pin_set_dir(SCL_PIN , GPIO_DIR_IN, 0);
-// 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();
- //Uart1GpsRecDebugSend();
+ IIC2_Init();
+ SC7A22H_Motion_Detection_Init();
+ gpio_pin_clr(ADC_GND_ENABLE);
+ Program_Init();
uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
-
-// Initialize low power mode
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(500));//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
+
+ #ifdef _UWB_1HZ
+ sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
+ #else
+ sleep_timer_start(__MS_TO_32K_CNT(5000));//测试
+ #endif
+ board_5V_input_init(voltage_input_handler);
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
board_acceleration_detection_init(move_handler);
- pca_input_detection_init(pca_handler);//pca检测输入
- Uwb_init();
- OpenUWB();
- LOG_INFO(TRACE_MODULE_APP,"初始化_uwb_rx打开\r\n");
-
- //board_4GUsart_detection_init(_4gUsart_handler);
+ Uwb_init();
+ Dw1000_App_Init();
while (1)
{
- if(!shengji_flag)
- uwb_app_poll();
-// Lora_upanc_ing_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
-// {
-// 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)
{
flag_secondtask = 0;
SecondTask();
-
+ }
+ if(g_start_send_flag)
+ {
+ g_start_send_flag = 0;
+ gpio_pin_set(IO_PIN_7);//亮
+ SwitchTagState();
+ gpio_pin_clr(IO_PIN_7);//灭
}
// PowerTask();
-// IMUTask();
+ IMUTask();
// UserKeyTask();
IdleTask();
#ifndef DEBUG_MODE
-//if(flag_sleeptimer)
-// 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)
- if(!gps_power_state&&!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&AIR780E_IsIPIdle()&&Socket_IsSendQueueEmpty(0))||((!flag_TCP_reconnectting)&&!IfTCPConnected())||power_low_flag))
- {
-// 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();
+
+ if(sleep_flag&&state5v==0){//开始一段时间无休眠
+ trace_flush();
+ uint32_t lock = int_lock();
+ //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
+ //唤醒源设置MK8000修改
+ //board_5V_input_init(voltage_input_handler);
+ //sleep_timer_start(g_com_map[COM_INTERVAL]);
power_enter_power_down_mode(0);
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
-// test3=gpio_pin_get_val(_4G_USART_RX_Pin);
- //LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
+ uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+ //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
int_unlock(lock);
- }
-
+ }
#endif
}
}
--
Gitblit v1.9.3