From 8aa343c68337975234072baae5eda592487c4271 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期六, 16 八月 2025 18:29:41 +0800
Subject: [PATCH] 防丢手环V1.0demo版本实现一对多测距和发送震动信息
---
keil/include/main/main.c | 434 ++++++++++++++++++++++++++++++++++-------------------
1 files changed, 276 insertions(+), 158 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 088603e..7d3f7ab 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -62,7 +62,7 @@
#include "HIDO_Timer.h"
#include "TCPClient.h"
-//#define DEBUG_MODE
+#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
#define TEST_UART_POLL_MODE 0
@@ -87,7 +87,7 @@
uint8_t group_id;
uint16_t tag_frequency;
uint16_t disoffset;
-uint16_t warning_distance,prewarning_distance;
+
int16_t fVoltage_mv,first_search_flag;
uint8_t bat_percent,g_start_send_flag=1;
uint8_t link_success_flag,motor_count;
@@ -106,8 +106,8 @@
SEARCH_DEV,
} Operation_step;
Operation_step UWB_work_state;
-
-
+void UWB_LED_Task(void);
+void POWER_LED_Task(void);
Commend_SendDate send_struct;
struct ADC_CFG_T usr_adc_cfg = {
.mode = ADC_MODE_CONTINUE, /* Selected single conversion mode */
@@ -145,10 +145,50 @@
.int_tx = false,
#endif
};
+
+struct UART_CFG_T test_uart_cfg_uart0 =
+{
+ .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_9600,
+#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
+ .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,
+#elif (TEST_UART_MODE == TEST_UART_DMA_MODE)
+ .dma_en = true,
+ .int_rx = false,
+ .int_tx = false,
+#endif
+};
+static void app_wdt_callback(void *dev, uint32_t status)
+{
+ ASSERT(status, "WDT TIMEOUT，程序复位");
+ //LOG_INFO(TRACE_MODULE_APP, "程序卡死，看门狗复位");
+}
+ struct WDT_CFG_T app_wdt_cfg = {
+ .timeout = 32768 * 30,
+ .rst_en = true,
+ .int_en = true,
+ .callback = app_wdt_callback,
+ };
+
int tt1,tt2;
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);
+}
+void uart0_receive_callback(void *dev, uint32_t err_code)
+{
+ uart_receive(UART_ID0,m_EUART0_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);
}
void mcu_deep_sleep(void)
{
@@ -191,11 +231,11 @@
{
power_low_flag=1;
gps_air780_power_change(gps_power_state,0);//gps原样，关闭4G
- LOG_INFO(TRACE_MODULE_APP, "电池电压低于3.3V，4G，GPS,马达停止工作\r\n");
+ LOG_INFO(TRACE_MODULE_APP, "电池电压低于,3.3V马达停止工作\r\n");
}else{
power_low_flag=0;
gps_air780_power_change(gps_power_state,1);//gps原样,开启4G
- LOG_INFO(TRACE_MODULE_APP, "电池电压正常,4G，GPS,马达正常工作\r\n");
+ LOG_INFO(TRACE_MODULE_APP, "电池电压正常,马达正常工作\r\n");
}
//tt2=gpio_pin_get_val(ADC_GND_ENABLE);
// LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
@@ -216,54 +256,20 @@
int need_open_gps_count;
uint8_t change_vibration=2;
HIDO_UINT32 u32CurTick_Motor;
+void UserKeyState_change(void);
+void click_Task(void);
void MotorPoll(void)
{
- if(!power_low_flag)//确认是否休眠下才开启功能
- { //马达震动逻辑
- if(g_com_map[MOTOR_ENABLE])
- {
- if(motor_open_air_flag||moter_open_uwb_flag)
- {motor_power_state=0;
- if(motor_open_flag)
- {
- if (motor_count>=change_vibration)
- {
- change_vibration=VIBRATION_TIME;
- motor_power_state = 1;
- motor_count=0;
- motor_open_flag=0;
- update_led_power_state();
- }
- motor_count++;
- }else {//修改
- motor_power_state = 1;
- if(motor_count>=NO_VIBRATION_TIME)
- {
- motor_power_state = 0;
- motor_count=0;
- motor_open_flag=1;
- update_led_power_state();
- }
- motor_count++;
- }
-
-
- } else {
- motor_open_flag=1;
- motor_count=0;
- motor_power_state=1;
- }
- }else{
- motor_open_flag=1;
- motor_count=0;
- motor_power_state=1;
- }
+ if(change_by_distance()&&active_flag)
+ {
+ if(motor_count++%2==0)
+ motor_power_state=0;//开启
+ else{
+ motor_power_state=1;//关闭
+ }
}else{
- motor_open_flag=1;
- motor_count=0;
- motor_power_state=1;
+ motor_power_state=1;//关闭
}
-
}
void MotorPollCheck(void)
@@ -396,23 +402,25 @@
}
void UserKeyTask(void)
{
- if(!GET_USERKEY)
- {
- if(HIDO_TimerGetTick() - keystarttime>3)
- {
- userkey_state = 1;
- keystarttime = HIDO_TimerGetTick();
- TCPHeartBeatUpload();//立即上传该包
- }
- if(HIDO_TimerGetTick() - keystarttime2>10)
- {
- g_com_map[CNT_RESTART] = 1;
- }
- }else
- {
- keystarttime = HIDO_TimerGetTick();
- keystarttime2 = HIDO_TimerGetTick();
- }
+// if(!GET_USERKEY)
+// {
+// if(HIDO_TimerGetTick() - keystarttime>3)
+// {
+// userkey_state = 1;
+// keystarttime = HIDO_TimerGetTick();
+// //TCPHeartBeatUpload();//立即上传该包
+// }
+// if(HIDO_TimerGetTick() - keystarttime2>10)
+// {
+// //g_com_map[CNT_RESTART] = 1;
+// }
+// }else
+// {
+// keystarttime = HIDO_TimerGetTick();
+// keystarttime2 = HIDO_TimerGetTick();
+// }
+UserKeyState_change();
+click_Task();
}
void MinuteTask(void)
{ gpio_pin_clr(ADC_GND_ENABLE);//先拉低
@@ -427,39 +435,43 @@
}
//UWB更新列表
TagListUpdate();
- if(!power_low_flag)
- {
- GPS_Poll();
- }else{
- gps_power_state=0;//关闭GPS
- update_led_power_state();
- //初始化GPS计数数据
- gps_need_data_flag=1;
- gps_wait_count=0;
- gps_timeout_flag=0;
- }
+ POWER_LED_Task();
+ UWB_LED_Task();
+// if(!power_low_flag)
+// {
+// GPS_Poll();
+// //gps_power_state=1;//常开GPS
+// }else{
+// gps_power_state=0;//关闭GPS
+// update_led_power_state();
+// //初始化GPS计数数据
+// gps_need_data_flag=1;
+// gps_wait_count=0;
+// gps_timeout_flag=0;
+// }
//gps_power_state=1;//测试gps长开
//UWB状态检测
+if(!power_low_flag)//低供电下不需要检测重连
+ {
+// 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;
+// }
- 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++;
if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
nomove_count++;
else{
@@ -470,23 +482,34 @@
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
uint8_t uwb_enable_flag=0;
uint8_t enable_system_function_flag;
-
-static void sleep_timer_callback(void *dev, uint32_t time)
+void POWER_LED_Task(void)
{
- // IO_control_init();
-
- if(enbale_blink_flag)
+if(enbale_blink_flag)
{
green_charge_state=0;
charge_red_on();
}
-
- if(tt)
- UWBPoll();
- //车载poll
- UWB_Tag_Poll();
-
- StatusChange();
+ charge_state_change();//充电状态判断
+ if(enbale_blink_flag)
+ {
+ delay_us(5000);
+ green_charge_state=0;
+ charge_red_off();
+ }
+}
+extern uint8_t taglist_num;
+void UWB_LED_Task(void)
+{
+ if(taglist_num!=0&&active_flag)
+ {
+ blink_led(&uwb_state);
+ }else{
+ uwb_led_off();
+ }
+}
+static void sleep_timer_callback(void *dev, uint32_t time)
+{
+ IO_control_init();
MotorPoll();
update_led_power_state();
@@ -499,21 +522,113 @@
flag_sleeptimer = 1;
- charge_state_change();//充电状态判断
-
- if(enbale_blink_flag)
- {
- green_charge_state=0;
- charge_red_off();
- }
if(delaysleep_count>0)
delaysleep_count--;
//GPS工作逻辑
}
+// 时间阈值定义
+#define LONG_PRESS_TIME 2 // 长按3秒阈值（单位：ms）
+#define TRIPLE_CLICK_TIME 2 // 三连击总时间窗口
+#define CLICK_TIMEOUT 1 // 单击确认超时
+#define NEXT_CLICK_WAIT_TIMEOUT 1 // 按键下次单击等待时间
+
+// 按键状态机
+typedef enum {
+ IDLE, // 空闲状态
+ WAIT_NEXT_RISING, // 已按下待确认
+ WAIT_NEXT_FALLING // 等待释放状态
+} ButtonState;
+volatile ButtonState sos_state = IDLE,temp_state;
static void voltage_input_handler(enum IO_PIN_T pin)
{
+}
+uint8_t long_press_flag,double_click_flag,single_click_flag;
+uint32_t current_time,first_press_time,press_duration,press_start_time,click_count,single_click_timer,rising_time,falling_time,temp_rising_time;
+uint8_t active_flag=1;
+void handle_long_press(void)
+{
+
+}
+void handle_doouble_click(void)
+{
+ if(active_flag==1)
+ {
+ active_flag=0;
+ }else{
+ active_flag=1;
+ }
+}
+void handle_single_click(void)
+{
+
+}
+void click_Task(void)
+{
+// 事件处理（按优先级顺序）
+ if (long_press_flag) {
+ handle_long_press();
+ long_press_flag = 0;
+ } else if (double_click_flag) {
+ handle_doouble_click();
+ double_click_flag = 0;
+ } else if (single_click_flag) {
+ handle_single_click();
+ single_click_flag = 0;
+ }
+}
+static void sos_fall_handler(enum IO_PIN_T pin)
+{
+sos_state=WAIT_NEXT_RISING;
+falling_time=HIDO_TimerGetTick();
+//if(!power_low_flag&&active_flag)
+}
+void UserKeyState_change(void)
+{
+if(sos_state==WAIT_NEXT_RISING)
+{
+ if(GET_USERKEY)
+ {
+ rising_time=HIDO_TimerGetTick();
+ if(rising_time-falling_time<=NEXT_CLICK_WAIT_TIMEOUT)
+ {
+ click_count++;
+ sos_state=WAIT_NEXT_FALLING;
+ if(click_count==2)
+ {
+ click_count=0;
+ sos_state=IDLE;
+ double_click_flag=1;
+ }
+ long_press_flag=0;
+ }else if(rising_time-falling_time>LONG_PRESS_TIME&&click_count==0)
+ {
+ click_count=0;
+ long_press_flag=1;
+
+ sos_state=IDLE;
+ }else{
+ click_count=0;
+ sos_state=IDLE;
+ }
+// motor_off();
+ temp_rising_time=rising_time;
+ }
+}else if(sos_state==WAIT_NEXT_FALLING)
+ {
+ if(HIDO_TimerGetTick()-temp_rising_time>NEXT_CLICK_WAIT_TIMEOUT)
+ {
+
+ if(click_count==1)
+ {
+ single_click_flag=1;
+ }
+ click_count=0;
+ sos_state=IDLE;
+ }
+
+ }
}
static void move_handler(enum IO_PIN_T pin)
{
@@ -561,6 +676,7 @@
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
+ Usart0ParseDataCallback=Usart0ParseDataHandler;
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
@@ -568,12 +684,12 @@
memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
// g_com_map[ALARM_DISTANCE1] = 40;
// g_com_map[ALARM_DISTANCE2] = 40;
- 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
+// 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
if(g_com_map[BIND_DEV_ID]==0)
{
@@ -585,17 +701,19 @@
// g_com_map[SEND_4G_SECOND]=60;
if(g_com_map[SEND_4G_MINUTE]<1)
g_com_map[SEND_4G_MINUTE]=1;
- air780e_send_second=g_com_map[SEND_4G_MINUTE]*60;
- g_com_map[MODBUS_MODE] = 0;
+
+ //air780e_send_second=g_com_map[SEND_4G_MINUTE]*60;//yuan
+ air780e_send_second=g_com_map[SEND_4G_MINUTE];
+ g_com_map[MODBUS_MODE] = 0;
log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
ip0 = (g_com_map[TCP_IP_0]>>12&0xf)*1000+(g_com_map[TCP_IP_0]>>8&0xf)*100+(g_com_map[TCP_IP_0]>>4&0xf)*10+(g_com_map[TCP_IP_0]&0xf);
ip1 = (g_com_map[TCP_IP_1]>>12&0xf)*1000+(g_com_map[TCP_IP_1]>>8&0xf)*100+(g_com_map[TCP_IP_1]>>4&0xf)*10+(g_com_map[TCP_IP_1]&0xf);
ip2 = (g_com_map[TCP_IP_2]>>12&0xf)*1000+(g_com_map[TCP_IP_2]>>8&0xf)*100+(g_com_map[TCP_IP_2]>>4&0xf)*10+(g_com_map[TCP_IP_2]&0xf);
ip3 = (g_com_map[TCP_IP_3]>>12&0xf)*1000+(g_com_map[TCP_IP_3]>>8&0xf)*100+(g_com_map[TCP_IP_3]>>4&0xf)*10+(g_com_map[TCP_IP_3]&0xf);
port = g_com_map[TCP_PORT];
- g_com_map[VERSION] = (1<<8)|12;
+ g_com_map[VERSION] = (1<<8)|0;
LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
- LOG_INFO(TRACE_MODULE_APP,"固件版本:UWB-4G车载手环 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
+ LOG_INFO(TRACE_MODULE_APP,"固件版本:UWB-4G防丢手环 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",ip0,ip1,ip2,ip3,port);
}
@@ -629,6 +747,7 @@
//UartDeinit();
}
}
+ UART0_CheckReceive();
UART_CheckReceive();
}
int bind_check(void)
@@ -669,8 +788,9 @@
int test1,test3;
uint32_t test4;
int16_t Voltage_input;
+extern uint8_t uwb_rx_flag;
int main(void)
-{
+ {
board_clock_run();
boot_deinit();
board_pins_config();
@@ -698,18 +818,21 @@
// Disable watchdog timer
wdt_close(WDT_ID0);
+ wdt_open(WDT_ID0,&app_wdt_cfg);//30s最大上限检测喂狗
LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
// open system timer
//sys_timer_open();
- // TODO 4G
- Uart_Register(UART_ID_4G, UART_ID0);
- Internet_Init();
- TCPClient_Init();
+// // TODO 4G
+// Uart_Register(UART_ID_4G, UART_ID0);
+// Internet_Init();
+ //TCPClient_Init();
+
gpio_open();
board_output_init();
+ //uart_open(UART_ID0, &test_uart_cfg_uart0);
//board_led_init();
//检测通过后改为正常adc采集模式
adc_open(&usr_adc_cfg);
@@ -718,7 +841,7 @@
Accelerometer_Init();
IO_control_init();
- gps_air780_power_change(0,1);//开启gps，4G
+ gps_air780_power_change(0,0);//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
Program_Init();
//uart_open(UART_ID1, &test_uart_cfg);
@@ -726,7 +849,7 @@
// uart1_change_from_gps_to_debug();
//Uart1GpsRecDebugSend();
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
-
+ uart_receive(UART_ID0,m_EUART0_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);
// Initialize low power mode
power_init();
//AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
@@ -737,36 +860,31 @@
gpio_pin_clr(ADC_GND_ENABLE);//先拉低
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
board_acceleration_detection_init(move_handler);
+ board_SOS_fall_detection_init(sos_fall_handler);
+ Uwb_init();
+ OpenUWB();
// LOG_INFO(TRACE_MODULE_APP, "测试进入app");
- board_4GUsart_detection_init(_4gUsart_handler);
+ //board_4GUsart_detection_init(_4gUsart_handler);
while (1)
- { tt1=gpio_pin_get_val(ADC_GND_ENABLE);
- //tt2 = gpio_pin_get_val(_4G_USART_RX_Pin);
+ {
+// tt1=gpio_pin_get_val(ADC_GND_ENABLE);
+ if(active_flag)
+ {
+ if(!uwb_rx_flag)
+ {
+ OpenUWB();
+ }
+ uwb_app_poll();
+
+ }else{
+ CloseUWB();
+ }
+
+ wdt_ping(WDT_ID0);//喂狗
+
if(!power_low_flag)//确认是否休眠下才开启功能
{
- if(flag_TCP_reconnectting||IfTCPConnected())
- {
- // LOG_INFO(TRACE_MODULE_APP, "处理4G任务\r\n");
-
-// if(flag_4guart_needinit)
-// {
-// flag_4guart_needinit = 0;
-// AIR780EUartInit();
-// }//yuan
- if(flag_4G_recdata==1)
- {
- flag_4G_recdata = 2;
-
- //LOG_INFO(TRACE_MODULE_APP, "运行Socket_RecvAll tt2 %d\r\n",tt2);
- Socket_RecvAll();
- }
- air780_led_on();
- Internet_Poll();
- HIDO_ATLitePoll();
- HIDO_TimerPoll();
- TCPClient_Poll();
- air780_led_off();
- }
+
}
if(flag_secondtask)
{
--
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