From 891a65ef76618a265c4254e45c1928d9c241a7ce Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期一, 26 八月 2024 09:39:00 +0800
Subject: [PATCH] 加入gps工作流程，马达震动流程
---
keil/include/main/main.c | 277 +++++++++++++++++++++++++++++++++++++++----------------
1 files changed, 196 insertions(+), 81 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index b36dfdb..cd5ebe2 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -72,9 +72,18 @@
#define NUM_SAMPLES 1
#define BIND_TRIGGER_TIME 60000
+#define MOTOR_COUNT_TIME 1
+#define WARING_LIMIT_TIME 10
+#define UPDATE_TIME 10
+#define GPS_OPEN_TIME_OUT 240
+#define GPS_RESTART_TIME1 1200
+#define GPS_RESTART_TIME2 120
+#define SEARCH_TIMESTEMP 120
extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
+extern int distance;
+extern uint8_t anchordata_num;
uint32_t dev_id;
uint8_t group_id;
uint16_t tag_frequency;
@@ -82,19 +91,18 @@
uint16_t warning_distance,prewarning_distance;
int16_t fVoltage_mv,first_search_flag;
uint8_t bat_percent,g_start_send_flag=1;
-int link_success_flag;
+int link_success_flag,motor_count,gps_wait_count;
uint8_t state5v,link_error_count;
-uint8_t gps_power_state,motor_power_state=1,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state;
+uint8_t gps_power_state,motor_power_state=1,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state,first_motor_in_flag;
float nomove_count=0;
static uint32_t sample[NUM_SAMPLES] = {0};
-uint8_t recev_error_num,send_messgae_count,send_flag,control_state;
-
+uint8_t recev_error_num,send_messgae_count,send_flag,control_state,gps_need_data_flag,gps_timeout_flag,search_open_flag;
typedef enum
{ UN_BIND=0,
LINK_SUCCESS,
SEARCH_DEV,
} Operation_step;
-Operation_step Operation_state;
+Operation_step UWB_Work_State;
Commend_SendDate send_struct;
@@ -170,8 +178,47 @@
//uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
//}
uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1;
+uint8_t gps_enable_flag,gps_uwb_flag,gps_air_flag,motor_open_air_flag,moter_open_uwb_flag;
+int need_open_gps_count;
void SecondTask(void)
{
+ //UWB更新列表
+ TagListUpdate();
+ g_com_map[ALARM_DISTANCE1]=30;//测试
+ g_com_map[ALARM_DISTANCE2]=40;
+ //UWB状态检测
+ 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
+ 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){
+ 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){
+ gps_uwb_flag=1;//开启gps测距流程
+ need_open_gps_count=0;
+ }
+ }
+ }else if(anchordata_num==0){
+
+ 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;
+ }
+}
if(IfTCPConnected())
{
TCP_reconnect_timer =0;
@@ -197,31 +244,94 @@
SecondTask();
// IO_control_init();
- uwb_led_on();
- delay_us(1000);
- uwb_led_off();
+// uwb_led_on();
+// delay_us(1000);
+// uwb_led_off();
// send_messgae_count+=g_com_map[COM_INTERVAL];
// //if(send_messgae_count>=g_com_map[4G_INTERNAL]){
// //send_message_count=0;
// //send_flag=1;
// //}
+ //马达震动逻辑
+ if(motor_open_air_flag||moter_open_uwb_flag){
+ if(first_motor_in_flag==0){
+ first_motor_in_flag=1;
+ motor_power_state=0;
+ motor_count=0;
+ }
+ motor_count++;
+ if(motor_count>=MOTOR_COUNT_TIME){
+ motor_count=0;
+ motor_power_state^=1;
+
+ }
+ }else{
+ motor_power_state=1;
+ motor_count=0;
+ first_motor_in_flag=0;
+ }
+ //GPS工作逻辑
+ if(gps_air_flag||gps_uwb_flag){
+ gps_power_state=1;//开启GPS
+ if(!gps_timeout_flag){
+ if(gps_need_data_flag){
+ gps_wait_count++;
+ if(gps_wait_count>=GPS_OPEN_TIME_OUT){//超时切换工作状态
+ gps_timeout_flag=1;//串口添加改变timeout逻辑
+ gps_wait_count=0;
+ gps_need_data_flag=0;//切换为关闭模式
+ }
+ }else{
+ gps_wait_count++;
+ gps_power_state=0;//关闭GPS
+ if(gps_wait_count>GPS_RESTART_TIME2){
+ gps_need_data_flag=1;
+ gps_wait_count=0;
+ }
+ }
+ }else{//超时工作状态
+ if(gps_need_data_flag){
+ gps_wait_count++;
+ if(gps_wait_count>=GPS_OPEN_TIME_OUT){//超时切换工作状态
+ gps_timeout_flag=1;
+ gps_need_data_flag=0;
+ gps_wait_count=0;
+ }
+ }else{
+ gps_wait_count++;
+ gps_power_state=0;//关闭GPS
+ if(gps_wait_count>GPS_RESTART_TIME1){
+ gps_need_data_flag=1;
+ gps_wait_count=0;
+ }
+ }
+
+ }
+ }else{
+ gps_power_state=0;//关闭gps
+ gps_wait_count=0;
+ gps_timeout_flag=0;
+ gps_need_data_flag=1;
+ }
-// if(Operation_state==LINK_SUCCESS) { //成功时清0错误计数
-// link_error_count=0;
-// g_start_send_flag=1;
-// }
-// if(Operation_state==SEARCH_DEV) {
-//// if(first_search_flag){//当第一次连接断开产生时才开始计数
-// //link_error_count=0;
-//// }
-// link_error_count++;
-// if(link_error_count==60)
-// link_error_count=0;
-// //link_error_count+=g_com_map[COM_INTERVAL];
-// //if(link_error_count>=g_com_map[4G_INTERNAL])
-// //link_error_count=0;
-// update_led_power_state();//更新灯状态
-// }
+ if(UWB_Work_State==LINK_SUCCESS) { //成功时清0错误计数
+ link_error_count=0;
+ g_start_send_flag=1;
+ }
+ if(UWB_Work_State==SEARCH_DEV) {
+// if(first_search_flag){//当第一次连接断开产生时才开始计数
+ //link_error_count=0;
+// }
+ link_error_count++;
+ if(link_error_count==SEARCH_TIMESTEMP){
+ link_error_count=0;
+ search_open_flag=1;
+ }
+ //link_error_count+=g_com_map[COM_INTERVAL];
+ //if(link_error_count>=g_com_map[4G_INTERNAL])
+ //link_error_count=0;
+ update_led_power_state();//更新灯状态
+ }
}
static void voltage_input_handler(enum IO_PIN_T pin)
@@ -299,9 +409,9 @@
void check_if_in_search(void)
{
if(link_success_flag==1) { //如果第一次测距收包成功那么则进入连接测距模式
- Operation_state=LINK_SUCCESS;
+ UWB_Work_State=LINK_SUCCESS;
} else { //否则进入搜索模式
- Operation_state=SEARCH_DEV;
+ UWB_Work_State=SEARCH_DEV;
if(first_search_flag==0)
first_search_flag=1;
}
@@ -312,7 +422,7 @@
{
board_clock_run();
board_pins_config();
- board_debug_console_open(TRACE_PORT_UART1);
+ board_debug_console_open(TRACE_PORT_UART0);
// Reset reason
reset_cause_get();
reset_cause_clear();
@@ -350,33 +460,36 @@
//board_led_init();
// adc_open(&usr_adc_cfg);
- IIC2_Init();
- Accelerometer_Init();
+// IIC2_Init();
+// Accelerometer_Init();
IO_control_init();
- // gps_air780_power_change(0,1);//开启gps，4G
+ io_pin_mux_set(SCL_PIN, IO_FUNC0);//测试测距波形
+ gpio_pin_set_dir(SCL_PIN , GPIO_DIR_OUT, 0);
+ io_pull_set(SCL_PIN , IO_PULL_DOWN, 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
//adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
- // uart_open(UART_ID1, &test_uart_cfg);
- // Program_Init();
- // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+ uart_open(UART_ID1, &test_uart_cfg);
+ Program_Init();
+ uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
// Initialize low power mode
power_init();
// LOG_INFO(TRACE_MODULE_APP, "测试数据");
-// g_com_map[BIND_DEV_ID]=0x1122;//测试
-// if(bind_check())//绑定后才提前开启测距
-// { link_success_flag=temp_main();//上机开启接收2s绑定成功则进行下面轮询测距流程,不成功则1分后再次开启2s接收
-// check_if_in_search();
-// } else {
-// send_struct.bindState=false;
-// Operation_state=UN_BIND;
-// }
+ g_com_map[BIND_DEV_ID]=0x1122;//测试
+ if(bind_check())//绑定后才提前开启测距
+ { link_success_flag=temp_main();//上机开启接收2s绑定成功则进行下面轮询测距流程,不成功则1分后再次开启2s接收
+ check_if_in_search();
+ } else {
+ send_struct.bindState=false;
+ UWB_Work_State=UN_BIND;
+ }
sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
//sleep_timer_start(__MS_TO_32K_CNT(g_com_map[COM_INTERVAL]));//测试
- sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
- //board_5V_input_init(voltage_input_handler);
- board_acceleration_detection_init(move_handler);
-
- AIR780E_Reset(); //4G模块重启，耗时1.5秒
+ sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
+// board_5V_input_init(voltage_input_handler);
+// board_acceleration_detection_init(move_handler);
+
+ //AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
while (1)
{
if(flag_TCP_reconnectting||IfTCPConnected())
@@ -391,39 +504,40 @@
HIDO_TimerPoll();
TCPClient_Poll();
}
-// switch(Operation_state) {
-// case LINK_SUCCESS:
-// { //连接成功进行轮询测距
-// if(g_start_send_flag) {
-// g_start_send_flag = 0;
-// uwb_led_on();
-// simple_main();
-// uwb_led_off();
-// IdleTask();
-// } else {
-// IdleTask();
-// }
-// }
-// break;
-// case SEARCH_DEV:
-// { //接包不成功或者通讯失败进入搜索模式
-// if(link_error_count==0||first_search_flag) {
-// first_search_flag=0;
-// uwb_led_on();
-// link_success_flag=temp_main();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
-// uwb_led_off();
-// if(link_success_flag)
-// Operation_state=LINK_SUCCESS;
-// }
-// IdleTask();
-// }
-// break;
-// case UN_BIND:
-// { uwb_led_off();//关闭uwb指示灯
-// IdleTask();
-// }
-// break;
-// }
+ switch(UWB_Work_State) {
+ case LINK_SUCCESS:
+ { //连接成功进行轮询测距
+ if(g_start_send_flag) {
+ g_start_send_flag = 0;
+ uwb_led_on();
+ simple_main();
+ uwb_led_off();
+ IdleTask();
+ } else {
+ IdleTask();
+ }
+ }
+ break;
+ case SEARCH_DEV:
+ { //接包不成功或者通讯失败进入搜索模式
+ if(search_open_flag||first_search_flag) {
+ first_search_flag=0;
+ search_open_flag=0;
+ uwb_led_on();
+ link_success_flag=temp_main();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
+ uwb_led_off();
+ if(link_success_flag)
+ UWB_Work_State=LINK_SUCCESS;
+ }
+ IdleTask();
+ }
+ break;
+ case UN_BIND:
+ { uwb_led_off();//关闭uwb指示灯
+ IdleTask();
+ }
+ break;
+ }
//3种情况后都要发包和休眠
//if(send_flag){
@@ -434,15 +548,16 @@
//air780_success_state=0;
//}
#ifndef DEBUG_MODE
-if(!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(!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&Socket_IsSendQueueEmpty(0))||!flag_TCP_reconnectting&&!IfTCPConnected())&&!gps_power_state) //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。
{
board_4GUsart_detection_init(_4gUsart_handler);
// LOG_INFO(TRACE_MODULE_APP, "进入休眠");
flag_4guart_needinit = 1;
trace_flush();
uint32_t lock = int_lock();
- //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
+ //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
power_enter_power_down_mode(0);
+ uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
int_unlock(lock);
}
#endif
--
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