From 6905adcb1e7e19e9ee7c451491ed8c059fd5fdc4 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期六, 28 九月 2024 23:27:13 +0800
Subject: [PATCH] V1.9版本，优化误报逻辑，保证异常状态一定alarm，对alarm有10S缓冲，优化断线重连测距过滤
---
keil/include/main/main.c | 50 +++++++++++++++++++++++++++++++++++++-------------
1 files changed, 37 insertions(+), 13 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 1ad076f..b643be4 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -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;;
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
@@ -274,10 +295,12 @@
HIDO_TimerTick();
nomove_count++;
}
+uint8_t tt=1;
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
static void sleep_timer_callback(void *dev, uint32_t time)
{
IO_control_init();
+ if(tt)
UWBPoll();
//车载poll
UWB_Tag_Poll();
@@ -337,7 +360,7 @@
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;
@@ -362,9 +385,9 @@
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)|13;
+ g_com_map[VERSION] = (1<<8)|9;
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);
}
@@ -525,6 +548,7 @@
{
flag_secondtask = 0;
SecondTask();
+
}
IdleTask();
//3种情况后都要发包和休眠
--
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