From 8217c70984ac4feb7bfc952e4f6e944bf824527d Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期二, 06 五月 2025 16:51:53 +0800
Subject: [PATCH] Merge branch 'MK大工卡-低精度GPS-1/5HZ' of http://47.108.70.204:60062/r/ChinaUWBProject into MK大工卡-低精度GPS-1/5HZ
---
keil/include/main/main.c | 254 +++++++++++++++++++++++++++-----------------------
1 files changed, 137 insertions(+), 117 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 14172ef..3f692d9 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -28,6 +28,8 @@
//#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
+void boot_deinit(void);
+void upload_apppoll();
#define TEST_UART_POLL_MODE 0
#define TEST_UART_INTERUPT_MODE 1
#define TEST_UART_DMA_MODE 2
@@ -39,6 +41,10 @@
#define WARING_LIMIT_TIME 10
#define UPDATE_TIME 10
+
+#define UWB_OPEN_COUNT 1
+#define UWB_MEASUREMENT_INTERVAL 5
+#define UWB_MEASUREMENT_INTERVAL_SLEEP 60
extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
@@ -71,8 +77,20 @@
LINK_SUCCESS,
SEARCH_DEV,
} Operation_step;
-Operation_step UWB_work_state;
+Operation_step UWB_work_state;
+// 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;
+
+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
Commend_SendDate send_struct;
struct ADC_CFG_T usr_adc_cfg = {
@@ -96,7 +114,7 @@
.flow = UART_FLOW_CONTROL_NONE,
.rx_level = UART_RXFIFO_CHAR_1,
.tx_level = UART_TXFIFO_EMPTY,
- .baud = BAUD_115200,
+ .baud = BAUD_9600,
#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
.dma_en = false,
.int_rx = false,
@@ -115,21 +133,31 @@
{
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}
+uint8_t deep_sleep_falg=1;
void mcu_deep_sleep(void)
{
- uint32_t lock;
- trace_flush();
- lock = int_lock();
-// LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");
+// 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
+ deep_sleep_falg=0;
+ PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
PCA9555_Set_One_Value_Output(GPS_POWER,0);//关闭gps，4G
+ PCA9555_Set_One_Value_Config(MAIN_RI,0);//配置4G唤醒引脚为输入
+// PCA9555_Set_One_Value_Output(MAIN_RI,1);
+ boot_deinit();
+ CloseUWB();
PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭gps，4G
- sleep_timer_stop();
- //adc_close();
- power_enter_power_down_mode(1);
-// LOG_INFO(TRACE_MODULE_APP, "从休眠出来\r\n");
- sys_reset(0);
- int_unlock(lock);
+
+// sleep_timer_stop();
+// //adc_close();
+// power_enter_power_down_mode(1);
+// delay_us(200000);
+
+// sys_reset(0);
+//// LOG_INFO(TRACE_MODULE_APP, "从休眠出来\r\n");
+// int_unlock(lock);
}
static void adc_callback(void *data, uint32_t number)
{
@@ -144,7 +172,7 @@
{
bat_percent = 0;
}
- else if(fVoltage_mv > 4100)
+ else if(fVoltage_mv > 4200)
{
bat_percent = 100;
}
@@ -174,10 +202,12 @@
uint8_t flag_4G_recdata;
uint8_t ledonflag;
uint32_t ledontime;
+extern uint8_t flag_first_TCPconnect;
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)ACCLERATE_DETECT_Pin, POWER_WAKEUP_LEVEL_HIGH);
+ power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)PCA_INPUT_DETECT, POWER_WAKEUP_LEVEL_LOW);
mcu_deep_sleep();
}
}
@@ -185,10 +215,12 @@
{
if(!read_userkey_input_pca())
{
- if(HIDO_TimerGetTick() - keystarttime3>2)
+ delay_ms(1000);
+ if(!read_userkey_input_pca())
{
userkey_state = 1;
keystarttime3 = HIDO_TimerGetTick();
+ flag_first_TCPconnect = 1;
//UDPClient_UploadGPS();
}
// if(HIDO_TimerGetTick() - keystarttime2>10)
@@ -205,7 +237,8 @@
{
if(read_powerkey_input_pca())
{
- if(HIDO_TimerGetTick() - keystarttime>2)
+ delay_ms(1000);
+ if(read_powerkey_input_pca())
{
rtkled=WHITE;
uwbled=WHITE;
@@ -233,12 +266,13 @@
}
void MinuteTask(void)
{
- PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
+ PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
+ delay_ms(100);
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
}
void SecondTask(void)
{static uint8_t second_count;
- if(second_count++>60)
+ if(second_count++>120)
{
second_count = 0;
MinuteTask();
@@ -283,6 +317,9 @@
{
input5v_time=1;
flag_secondtask = 1;
+ #ifdef UWB_1_5HZ
+ uwb_time_count++;
+ #endif
if(!read_5v_input_pca())
{
if(bat_percent>15)
@@ -299,43 +336,26 @@
input5v_time=1;
if(taglist_num==0)
{
- CloseUWB();
- Uwb_init();
- OpenUWB();
+// CloseUWB();
+// Uwb_init();
+// OpenUWB();
}
+ upload_apppoll();
}else{
flag_secondtask = 0;
}
- if(gps_ntripsend==1)
- {
- gps_ntripsend=2;
- }
+
if(delaysleep_count>0)
delaysleep_count--;
}
-uint8_t test11,test21,test31,test41,test51;
+
static void pca_handler(enum IO_PIN_T pin)
{
PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值
- uint16_t gpio_state;
- gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];
- test41++;
- if(WAKE_UP_POSITION&gpio_state)
- {
- nomove_count=0;
- test11++;
- }
-// if(!(MAIN_RI_POSITION&gpio_state))
-// {
-// flag_4G_recdata = 1;
-// delaysleep_count = 3;
-// test21++;
-// }
- if((PWR_ON_POSITION&gpio_state))
- {
- PowerTask();
- test31++;
- }
+ check_input_change();
+// uint16_t gpio_state;
+// gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];
+
}
void _4gUsart_handler(enum IO_PIN_T pin)
@@ -361,6 +381,7 @@
send_struct.alarmDistence=prewarning_distance;//更新报警距离
memcpy(&send_struct.gunLableId,&g_com_map[BIND_DEV_ID],2);//更新绑定ID
send_struct.tagId=dev_id;//更新设备ID
+ tag_frequency = 1000/g_com_map[COM_INTERVAL];
// g_com_map[IP_0]=111;
// g_com_map[IP_1]=198;
@@ -410,8 +431,8 @@
}
g_com_map[MODBUS_MODE] = 0;
log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
- g_com_map[VERSION] = (1<<8)|5;
-
+ g_com_map[VERSION] = (1<<8)|10;
+
LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
LOG_INFO(TRACE_MODULE_APP,"固件版本:4G-GPS定位工卡 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
@@ -463,7 +484,7 @@
{
nomove_count = 0;
// adctick = HIDO_TimerGetTick();
- if(HIDO_TimerGetTick()-adctick>60) //10分钟采样一次 电量
+ if(HIDO_TimerGetTick()-adctick>600) //10分钟采样一次 电量
{
chongman_time=chongman_time+60;
adctick = HIDO_TimerGetTick();
@@ -475,7 +496,7 @@
only_one_flag=1;
chongman_time=0;
}
- if(bat_percent>=99&&chongman_time>=600)
+ if(bat_percent>=99&&chongman_time>=180)
{
powerled = GREEN;
}else{
@@ -519,6 +540,7 @@
g_com_map[CNT_RESTART]=0;
save_com_map_to_flash();
NVIC_SystemReset();
+
}
}
else
@@ -553,7 +575,7 @@
{
g_com_map[CNT_RESTART]=0;
NVIC_SystemReset();
-
+
}
if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
{
@@ -576,11 +598,63 @@
// UART0 TX/RX
io_pin_mux_set(IO_PIN_5, IO_FUNC0);
io_pin_mux_set(IO_PIN_6, IO_FUNC0);
+ gpio_pin_set_dir(IO_PIN_5 , GPIO_DIR_OUT, 0);
+ gpio_pin_set_dir(IO_PIN_6 , 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);
+
uart_close(UART_ID1);//解绑原来串口1
uart_close(UART_ID0);//解绑原来串口0
+}
+
+extern uint32_t uwb_time_count;
+uint8_t GPS_UPLOAD_FLAG=0;
+void upload_apppoll()
+{
+ uint32_t elapsed_time_jibu;
+#ifdef UWB_1_5HZ
+
+
+ switch (current_state)
+ {
+ case STATE_NORMAL:
+ elapsed_time_jibu = uwb_time_count - state_start_time;
+ switch(elapsed_time_jibu)
+ {
+ case UWB_OPEN_COUNT:
+ CloseUWB();
+// uwbled = LEDOFF;
+ UWBSendUDPTask();
+ GPS_UPLOAD_FLAG=1;
+ break;
+
+ case UWB_MEASUREMENT_INTERVAL:
+ OpenUWB();
+// uwbled = WHITE;
+ 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();
+ break;
+
+ case UWB_MEASUREMENT_INTERVAL_SLEEP:
+
+ OpenUWB();
+ state_start_time = uwb_time_count;
+ break;
+ }
+ break;
+ }
+#endif
}
uint8_t flag_4guart_needinit=0;
@@ -590,61 +664,13 @@
int test1,test3;
uint32_t test4;
extern uint8_t receive_flag;
-//extern uint8_t YUANGPS_ParseGGA_data[256];
-//extern uint8_t YUANGPS_ParseGGA_changdu;
-//static HIDO_CHAR url[256 + 1];
-//void OTA_MODE(void)
-//{
-// if(g_com_map[OTA_FLAG])
-// {
-// Uart_Register(UART_ID_4G, UART_ID0);
-// Uart_Register(UART_ID_DBG_GPS, UART_ID1);
-// DBG_Init();
-// DBG_SetMode(DBG_MODE_SHELL);
-// Internet_Init();
-// // TCPClient_Init();
-// HTTPClient_Init();
-// gpio_open();
-// LED_output_init();//配置彩色灯引脚
-// IIC2_Init();
-// // Accelerometer_Init();
-// PCA9555_init();
-// uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
-// power_init();
-// sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
-// sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
-// pca_input_detection_init(pca_handler);//pca检测输入
-// 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
-// memcpy((HIDO_UINT8 *)url,g_com_map+OTA_URL_INDEX,g_com_map[OTA_URL_CHANGDU]);
-// OTA_Start((HIDO_UINT8 *)url);
-//
-//// g_com_map[OTA_FLAG]=0;
-//// save_com_map_to_flash();
-//// delay_us(100000);
-//// NVIC_SystemReset(); //软复位回到bootloader
-//
-//
-// while (1)
-// {
-// OTA_Poll();
-// HTTPClient_Poll();
-// Internet_Poll();
-// HIDO_TimerPoll();
-// HIDO_ATLitePoll();
-//// IdleTask();
-// }
-// }
-//}
int main(void)
{
+ __enable_irq();
board_clock_run();
boot_deinit();
board_pins_config();
- board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_115200);
+ board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_115200);
// Reset reason
reset_cause_get();
reset_cause_clear();
@@ -664,16 +690,17 @@
wdt_close(WDT_ID0);
Program_Init();
Uart_Register(UART_ID_4G, UART_ID0);
+
Uart_Register(UART_ID_DBG_GPS, UART_ID1);
DBG_Init();
Internet_Init();
TCPClient_Init();
- if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
- {
- NTRIPClient_Init();
- NTRIPApp_Init();
- }
+// if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
+// {
+// NTRIPClient_Init();
+// NTRIPApp_Init();
+// }
if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
{
TCPClient_Init_1();
@@ -684,6 +711,7 @@
IIC2_Init();
Accelerometer_Init();
PCA9555_init();
+ WT588E02B_Init();
adc_open(&usr_adc_cfg);
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
power_init();
@@ -693,7 +721,9 @@
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
pca_input_detection_init(pca_handler);//pca检测输入
Uwb_init();
- OpenUWB();
+ #ifdef UWB_CK
+ OpenUWB();
+ #endif
// DBG_SetMode(DBG_MODE_SHELL);
// Shell_Init();
@@ -713,15 +743,7 @@
PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
while (1)
{
- if(ota_flag==1)
- {
-// OTA_Poll();
-// HTTPClient_Poll();
- }
- else
- {
- uwb_app_poll();
- }
+ uwb_app_poll();
Internet_Poll();
HIDO_TimerPoll();
HIDO_ATLitePoll();
@@ -735,9 +757,7 @@
flag_secondtask = 0;
SecondTask();
}
- PowerTask();
- IMUTask();
- UserKeyTask();
+ IMUTask();
IdleTask();
}
}
--
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