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 | 543 +++++++++++++++++++++++++++++++++++-------------------
1 files changed, 353 insertions(+), 190 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 10c2612..cd5ebe2 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -60,7 +60,9 @@
#include "Internet.h"
#include "HIDO_ATLite.h"
#include "HIDO_Timer.h"
+#include "TCPClient.h"
+//#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
#define TEST_UART_POLL_MODE 0
@@ -69,10 +71,19 @@
#define TEST_UART_MODE TEST_UART_DMA_MODE
#define NUM_SAMPLES 1
-#define BIND_TRIGGER_TIME 60000
+#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;
@@ -80,19 +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;
+ LINK_SUCCESS,
+ SEARCH_DEV,
+} Operation_step;
+Operation_step UWB_Work_State;
Commend_SendDate send_struct;
@@ -109,39 +119,39 @@
.high_pulse_time = 4,
.settle_time = 1,
};
- struct UART_CFG_T test_uart_cfg =
- {
- .parity = UART_PARITY_NONE,
- .stop = UART_STOP_BITS_1,
- .data = UART_DATA_BITS_8,
- .flow = UART_FLOW_CONTROL_NONE,
- .rx_level = UART_RXFIFO_CHAR_1,
- .tx_level = UART_TXFIFO_EMPTY,
- .baud = BAUD_115200,
+struct UART_CFG_T test_uart_cfg =
+{
+ .parity = UART_PARITY_NONE,
+ .stop = UART_STOP_BITS_1,
+ .data = UART_DATA_BITS_8,
+ .flow = UART_FLOW_CONTROL_NONE,
+ .rx_level = UART_RXFIFO_CHAR_1,
+ .tx_level = UART_TXFIFO_EMPTY,
+ .baud = BAUD_115200,
#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
- .dma_en = false,
- .int_rx = false,
- .int_tx = false,
+ .dma_en = false,
+ .int_rx = false,
+ .int_tx = false,
#elif (TEST_UART_MODE == TEST_UART_INTERUPT_MODE)
- .dma_en = false,
- .int_rx = true,
- .int_tx = true,
+ .dma_en = false,
+ .int_rx = true,
+ .int_tx = true,
#elif (TEST_UART_MODE == TEST_UART_DMA_MODE)
- .dma_en = true,
- .int_rx = false,
- .int_tx = false,
+ .dma_en = true,
+ .int_rx = false,
+ .int_tx = false,
#endif
- };
+};
static void uart_receive_callback(void *dev, uint32_t err_code)
-{
-uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+{
+ uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}
static void adc_callback(void *data, uint32_t number)
{
uint32_t *result = (uint32_t *)data;
for (uint16_t i = 0; i < number; i++)
{
-// LOG_INFO(TRACE_MODULE_APP, "The voltage measured %d mv\r\n",
+// LOG_INFO(TRACE_MODULE_APP, "The voltage measured %d mv\r\n",
// ADC_INTERNAL_VREF_MV + adc_code_to_mv((int16_t)*result, ADC_INTERNAL_VREF_MV));
fVoltage_mv=ADC_INTERNAL_VREF_MV + adc_code_to_mv((int16_t)*result, ADC_INTERNAL_VREF_MV);
fVoltage_mv=fVoltage_mv*2;
@@ -158,7 +168,7 @@
bat_percent = ((fVoltage_mv - 3300) /8);
}
}
- LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
+ LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
}
//void UartInit(void)
//{
@@ -167,122 +177,256 @@
//board_debug_console_open(TRACE_PORT_UART0);
//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;
+ flag_TCP_reconnectting = 0;
+ }else{
+ if(TCP_reconnect_timer<30)//如果TCP没有连接，每隔10分钟尝试连接30秒
+ {
+ flag_TCP_reconnectting = 1;
+ }else{
+ flag_TCP_reconnectting = 0;
+ }
+ if(TCP_reconnect_timer++>600)
+ {
+ TCP_reconnect_timer = 0;
+ }
+
+ }
+ HIDO_TimerTick();
+ nomove_count++;
+}
static void sleep_timer_callback(void *dev, uint32_t time)
{
-
- nomove_count++;
- send_messgae_count+=g_com_map[COM_INTERVAL];
- //if(send_messgae_count>=g_com_map[4G_INTERNAL]){
- //send_message_count=0;
- //send_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;
+
+ SecondTask();
+ // IO_control_init();
+// 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;
}
- 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;
- updata_led_power_state();//更新灯状态
+ motor_count++;
+ if(motor_count>=MOTOR_COUNT_TIME){
+ motor_count=0;
+ motor_power_state^=1;
+
}
- HIDO_TimerTick();
+ }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(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)
{
-
+
}
static void move_handler(enum IO_PIN_T pin)
{
-nomove_count=0;
+ nomove_count=0;
+}
+
+static void _4gUsart_handler(enum IO_PIN_T pin)
+{
+ io_pin_mux_set(_4G_USART_RX_Pin,IO_FUNC4);
+ AIR780EUartInit();
}
void Program_Init(void)
-{
-Usart1ParseDataCallback = UsartParseDataHandler;//需改为默认为gps处理，UsartParseDataHandler为升级处理当调试时候改为
-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
-memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
-warning_distance=g_com_map[STATIONARY_TIME];
-prewarning_distance=g_com_map[ALARM_DISTANCE2];
-send_struct.warnDistence=warning_distance;
-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
+{
+ Usart1ParseDataCallback = UsartParseDataHandler;//需改为默认为gps处理，UsartParseDataHandler为升级处理当调试时候改为
+ 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
+ memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
+ warning_distance=g_com_map[ALARM_DISTANCE1];
+ prewarning_distance=g_com_map[ALARM_DISTANCE2];
+ send_struct.warnDistence=warning_distance;
+ 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
}
void IdleTask(void)
{
- if(gpio_pin_get_val(INPUT_5V_Pin))
- {
-
- if(state5v==0)
- {
- state5v=1;
- state5V_prase_flag=state5v;
- gps_prase_flag=0;//解除gps解析
- uart1_change_from_gps_to_debug();
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
- //UartInit();
- }
-
- //UART_CheckSend();
- }else{
+ if(gpio_pin_get_val(INPUT_5V_Pin))
+ {
+
+ if(state5v==0)
+ {
+ state5v=1;
+ state5V_prase_flag=state5v;
+ gps_prase_flag=0;//解除gps解析
+ uart1_change_from_gps_to_debug();
+ uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
+ //UartInit();
+ }
+
+ //UART_CheckSend();
+ } else {
if(state5v==1)
{
- state5v=0;
- state5V_prase_flag=state5v;
- gps_prase_flag=1;//恢复gps解析
- uart1_change_from_debug_to_gps();
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
- //UartDeinit();
+ state5v=0;
+ state5V_prase_flag=state5v;
+ gps_prase_flag=1;//恢复gps解析
+ uart1_change_from_debug_to_gps();
+ uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
+ //UartDeinit();
}
- UART_CheckReceive();
-}
+ UART_CheckReceive();
+ }
}
int bind_check(void)
{
-if(g_com_map[BIND_DEV_ID]!=0x00)
-{
- return 1;
+ if(g_com_map[BIND_DEV_ID]!=0x00)
+ {
+ return 1;
//绑定信息为1说明设备已经被下发绑定
-}else{
- return 0;
+ } else {
+ return 0;
//绑定信息为0说明设备未被绑定
-}
+ }
}
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;
- }else{//否则进入搜索模式
- Operation_state=SEARCH_DEV;
- if(first_search_flag==0)
- first_search_flag=1;
- }
+ 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
+ UWB_Work_State=LINK_SUCCESS;
+ } else { //否则进入搜索模式
+ UWB_Work_State=SEARCH_DEV;
+ if(first_search_flag==0)
+ first_search_flag=1;
+ }
}
-
+uint8_t flag_4guart_needinit=0;
int main(void)
{
board_clock_run();
board_pins_config();
- IIC2_Init();
board_debug_console_open(TRACE_PORT_UART0);
- // Reset reason
+ // Reset reason
reset_cause_get();
reset_cause_clear();
-
+
// Load calibration parameters from NVM
uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
uint32_t external_flash = (REG_READ(0x40010030) >> 28) & 0x3;
@@ -302,101 +446,120 @@
// Disable watchdog timer
wdt_close(WDT_ID0);
- // LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
+ // LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
// open system timer
//sys_timer_open();
-
+
// TODO 4G
- Uart_Register(UART_ID_4G, UART_ID1);
- AIR780EDriver_PinRegister(AIR780E_PIN_3V8_EN, IO_PIN_5);
- AIR780EDriver_PinRegister(AIR780E_PIN_PWRKEY, IO_PIN_6);
+ Uart_Register(UART_ID_4G, UART_ID0);
Internet_Init();
-
+ TCPClient_Init();
+
gpio_open();
//board_led_init();
-
+
// adc_open(&usr_adc_cfg);
- IIC2_Init();
- Accelerometer_Init(); //加速度计初始化必须在IO_control_init之前因为复用SDA引脚
- IO_control_init();
- //adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
- uart_open(UART_ID1, &test_uart_cfg);
- gps_air780_power_change(1,1);//开启gps，4G
- Program_Init();
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+// IIC2_Init();
+// Accelerometer_Init();
+ IO_control_init();
+ 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);
// Initialize low power mode
power_init();
-// 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;
- }
- 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);
+ // 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;
+ 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(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)
{
- // TODO
- Internet_Poll();
- HIDO_ATLitePoll();
- HIDO_TimerPoll();
-
- 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;
- }
-
- //3种情况后都要发包和休眠
- //if(send_flag){
- //message_construct();
- //send_udp;
- //air780_success_state=0;//关闭4G成功发送灯
- //blink_led(&air780_success_state);//成功测距闪烁4G状态灯
- //air780_success_state=0;
- //}
-#ifdef DEBUG_MODE
- if(!gpio_pin_get_val(INPUT_5V_Pin)){
- trace_flush();
+ if(flag_TCP_reconnectting||IfTCPConnected())
+ {
+ if(flag_4guart_needinit)
+ {
+ flag_4guart_needinit = 0;
+ AIR780EUartInit();
+ }
+ Internet_Poll();
+ HIDO_ATLitePoll();
+ HIDO_TimerPoll();
+ TCPClient_Poll();
+ }
+ 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){
+ //message_construct();
+ //send_udp;
+ //air780_success_state=0;//关闭4G成功发送灯
+ //blink_led(&air780_success_state);//成功测距闪烁4G状态灯
+ //air780_success_state=0;
+ //}
+#ifndef DEBUG_MODE
+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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