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 | 44 +++++++++++++++++++++++++++++---------------
1 files changed, 29 insertions(+), 15 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 576a40b..3f692d9 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -29,6 +29,7 @@
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
@@ -42,7 +43,7 @@
#define UWB_OPEN_COUNT 1
-#define UWB_MEASUREMENT_INTERVAL 3
+#define UWB_MEASUREMENT_INTERVAL 5
#define UWB_MEASUREMENT_INTERVAL_SLEEP 60
extern uint8_t mUsartReceivePack[100];
@@ -113,7 +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,
@@ -316,6 +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)
@@ -332,10 +336,11 @@
input5v_time=1;
if(taglist_num==0)
{
- CloseUWB();
- Uwb_init();
- OpenUWB();
+// CloseUWB();
+// Uwb_init();
+// OpenUWB();
}
+ upload_apppoll();
}else{
flag_secondtask = 0;
}
@@ -426,7 +431,7 @@
}
g_com_map[MODBUS_MODE] = 0;
log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
- g_com_map[VERSION] = (1<<8)|8;
+ g_com_map[VERSION] = (1<<8)|10;
LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
@@ -604,9 +609,12 @@
}
extern uint32_t uwb_time_count;
+uint8_t GPS_UPLOAD_FLAG=0;
void upload_apppoll()
{
- uint32_t elapsed_time_jibu;
+ uint32_t elapsed_time_jibu;
+#ifdef UWB_1_5HZ
+
switch (current_state)
{
@@ -615,17 +623,20 @@
switch(elapsed_time_jibu)
{
case UWB_OPEN_COUNT:
-
- CloseUWB();
+ CloseUWB();
+// uwbled = LEDOFF;
+ UWBSendUDPTask();
+ GPS_UPLOAD_FLAG=1;
break;
case UWB_MEASUREMENT_INTERVAL:
- OpenUWB();
- state_start_time = uwb_time_count;
+ 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)
@@ -643,7 +654,7 @@
}
break;
}
-
+#endif
}
uint8_t flag_4guart_needinit=0;
@@ -700,6 +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();
@@ -709,7 +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();
@@ -743,7 +757,7 @@
flag_secondtask = 0;
SecondTask();
}
- IMUTask();
+ IMUTask();
IdleTask();
}
}
--
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