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 | 312 +++++++++++++++++++++++++++++++++-------------------
1 files changed, 198 insertions(+), 114 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 94b17c8..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();
@@ -276,8 +310,6 @@
uint8_t uwb_enable_flag=0;
uint8_t input5v_time;
extern uint8_t taglist_num;
-extern uint8_t ceshidata[500];
-extern uint8_t ceshichangdu;
uint8_t gps_ntripsend;
static void sleep_timer_callback(void *dev, uint32_t time)
{
@@ -285,6 +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)
@@ -301,43 +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)
@@ -363,6 +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;
@@ -370,31 +389,31 @@
// g_com_map[IP_3]=6;
// g_com_map[PORT]=6666;
- g_com_map[IP_0]=117;
- g_com_map[IP_1]=72;
- g_com_map[IP_2]=111;
- g_com_map[IP_3]=237;
- g_com_map[PORT]=7000;
-
- g_com_map[TCP_IP_0]=111;
- g_com_map[TCP_IP_1]=198;
- g_com_map[TCP_IP_2]=60;
- g_com_map[TCP_IP_3]=6;
- g_com_map[TCP_PORT]=1234;
+// g_com_map[IP_0]=117;
+// g_com_map[IP_1]=72;
+// g_com_map[IP_2]=111;
+// g_com_map[IP_3]=237;
+// g_com_map[PORT]=7000;
+//
+// g_com_map[TCP_IP_0]=111;
+// g_com_map[TCP_IP_1]=198;
+// g_com_map[TCP_IP_2]=60;
+// g_com_map[TCP_IP_3]=6;
+// g_com_map[TCP_PORT]=1234;
/*
RTCMMODE_NONE,
RTCMMODE_TCP,
RTCMMODE_NTRIP,
*/
- g_com_map[RTCMMODE_INDEX] = RTCMMODE_NTRIP;
+// g_com_map[RTCMMODE_INDEX] = RTCMMODE_NTRIP;
- snprintf((char *)&g_com_map[NTRIP_HOST_INDEX], 32, "140.143.212.42");
- g_com_map[NTRIP_PORT_INDEX] = HIDO_UtilStrToInt("8005");
-// snprintf((char *)&g_com_map[NTRIP_PORT_INDEX], 32, "8005");
- snprintf((char *)&g_com_map[NTRIP_USERNANME_INDEX], 32, "test005");
- snprintf((char *)&g_com_map[NTRIP_PASSWORD_INDEX], 32, "Hxzk0228");
- snprintf((char *)&g_com_map[NTRIP_SOURCENAME_INDEX], 32, "RTCM32_GNSS2");
+// snprintf((char *)&g_com_map[NTRIP_HOST_INDEX], 32, "140.143.212.42");
+// g_com_map[NTRIP_PORT_INDEX] = HIDO_UtilStrToInt("8005");
+//// snprintf((char *)&g_com_map[NTRIP_PORT_INDEX], 32, "8005");
+// snprintf((char *)&g_com_map[NTRIP_USERNANME_INDEX], 32, "test005");
+// snprintf((char *)&g_com_map[NTRIP_PASSWORD_INDEX], 32, "Hxzk0228");
+// snprintf((char *)&g_com_map[NTRIP_SOURCENAME_INDEX], 32, "RTCM32_GNSS2");
if(g_com_map[BIND_DEV_ID]==0)
@@ -412,11 +431,11 @@
}
g_com_map[MODBUS_MODE] = 0;
log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
- g_com_map[VERSION] = (1<<8)|3;
-
+ 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:4G-GPS定位工卡 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",g_com_map[IP_0],g_com_map[IP_1],g_com_map[IP_2],g_com_map[IP_3],g_com_map[PORT]);
if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
{
@@ -434,13 +453,14 @@
{
LOG_INFO(TRACE_MODULE_APP,"单点定位模式模式. \r\n");
}
+ delay_ms(500);
}
uint32_t adctick = 0;
uint8_t only_one_flag;
uint16_t chongman_time;
uint8_t bat_percent_old=100;
uint8_t input5vflag;
-uint8_t kai_4g_flag;
+extern uint8_t ota_flag;
void IdleTask(void)
{
if(read_5v_input_pca())
@@ -463,9 +483,10 @@
while(1)
{
nomove_count = 0;
- if(HIDO_TimerGetTick()-adctick>6000) //10分钟采样一次 电量
+// adctick = HIDO_TimerGetTick();
+ if(HIDO_TimerGetTick()-adctick>600) //10分钟采样一次 电量
{
- chongman_time=chongman_time+6;
+ chongman_time=chongman_time+60;
adctick = HIDO_TimerGetTick();
PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
@@ -475,7 +496,7 @@
only_one_flag=1;
chongman_time=0;
}
- if(bat_percent>=99&&chongman_time>=1800)
+ if(bat_percent>=99&&chongman_time>=180)
{
powerled = GREEN;
}else{
@@ -483,20 +504,27 @@
}
if(DBG_GetMode() == DBG_MODE_SHELL)
{
- if(kai_4g_flag==0)
- {
- kai_4g_flag=1;
-// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,1);
- //Shell_Init();
- }
- if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
- {TCPClient_Poll_1();}
- //HIDO_InputPoll();
- DBG_Poll();
- Internet_Poll();
- HIDO_TimerPoll();
- HIDO_ATLitePoll();
- TCPClient_Poll();
+ if(ota_flag==1)
+ {
+// OTA_Poll();
+// HTTPClient_Poll();
+ }
+ else
+ {
+ uwb_app_poll();
+ }
+ Internet_Poll();
+ HIDO_TimerPoll();
+ HIDO_ATLitePoll();
+ TCPClient_Poll();
+ if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
+ {TCPClient_Poll_1();}
+ if(flag_secondtask)
+ {
+ flag_secondtask = 0;
+ SecondTask();
+ }
+ UserKeyTask();
}
UART_CheckReceive();
if(flag_secondtask)
@@ -507,6 +535,13 @@
if(DBG_GetMode() == DBG_MODE_SHELL)
{
Set4LEDColor(uwbled,rtkled,led4g,powerled);
+ if(g_com_map[CNT_RESTART]==1)
+ {
+ g_com_map[CNT_RESTART]=0;
+ save_com_map_to_flash();
+ NVIC_SystemReset();
+
+ }
}
else
{
@@ -540,7 +575,7 @@
{
g_com_map[CNT_RESTART]=0;
NVIC_SystemReset();
-
+
}
if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
{
@@ -563,11 +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;
@@ -577,14 +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;
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();
@@ -602,27 +688,30 @@
}
calib_chip();
wdt_close(WDT_ID0);
+ Program_Init();
Uart_Register(UART_ID_4G, UART_ID0);
+
Uart_Register(UART_ID_DBG_GPS, UART_ID1);
DBG_Init();
- Program_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();
}
+// HTTPClient_Init();
gpio_open();
LED_output_init();//配置彩色灯引脚
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();
@@ -632,7 +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();
@@ -644,36 +735,29 @@
delay_ms(500);
Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
}
- 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
+ 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
while (1)
{
- uwb_app_poll();
+ uwb_app_poll();
Internet_Poll();
HIDO_TimerPoll();
HIDO_ATLitePoll();
TCPClient_Poll();
if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
- {TCPClient_Poll_1();}
-// if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP&&gps_ntripsend==2)
-// {
-// gps_ntripsend=0;
-// NTRIPApp_ReportGGA(YUANGPS_ParseGGA_data, YUANGPS_ParseGGA_changdu);
-// memset(YUANGPS_ParseGGA_data,0,YUANGPS_ParseGGA_changdu);
-// YUANGPS_ParseGGA_changdu=0;
-// }
+ {
+ TCPClient_Poll_1();
+ }
if(flag_secondtask)
{
flag_secondtask = 0;
SecondTask();
}
- PowerTask();
- IMUTask();
- UserKeyTask();
+ IMUTask();
IdleTask();
}
}
--
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