From 8f5623ddd7fd3b12561a37a81639575559cf305b Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期四, 26 十二月 2024 15:47:50 +0800
Subject: [PATCH] V1.14版本，新增查询强制定位开启标志位和下发配置gps刷新频率功能
---
keil/include/main/main.c | 217 +++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 180 insertions(+), 37 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 4da51bf..413d2cd 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -76,7 +76,8 @@
#define WARING_LIMIT_TIME 10
#define UPDATE_TIME 10
-
+#define VIBRATION_TIME 1 //单位500ms
+#define NO_VIBRATION_TIME 20 //15s
extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
@@ -91,6 +92,7 @@
uint8_t bat_percent,g_start_send_flag=1;
uint8_t link_success_flag,motor_count;
uint16_t gps_wait_count;
+extern uint8_t gps_timeout_flag;
uint8_t state5v = 1;
uint8_t motor_power_state=1,uwb_state,air780_power_state,gps_success_state,red_charge_state,green_charge_state,air780_success_state,first_motor_in_flag;
float nomove_count=0;
@@ -206,10 +208,111 @@
//uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
//}
extern uint8_t gps_uwb_flag,gps_need_data_flag;
-uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0;
+static HIDO_UINT32 l_u32MotorPollTick = 0;
+uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0,userkey_state;
+uint32_t keystarttime,keystarttime2;
+uint8_t motor_open_flag=1;
uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag,flag_fenli_alarm = 0,fenli_alarm_count,delaysleep_count,enbale_blink_flag;
int need_open_gps_count;
+uint8_t change_vibration=2;
+HIDO_UINT32 u32CurTick_Motor;
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;
+ }
+ }else{
+ motor_open_flag=1;
+ motor_count=0;
+ motor_power_state=1;
+ }
+
+}
+
+void MotorPollCheck(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>=VIBRATION_TIME)
+ {
+ motor_power_state = 1;
+ motor_count=0;
+ motor_open_flag=0;
+ update_led_power_state();
+ }
+ }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();
+ }
+ }
+
+
+ } else {
+ motor_open_flag=1;
+ motor_count=0;
+ motor_power_state=1;
+ }
+ }else{
+ motor_open_flag=1;
+ motor_count=0;
+ motor_power_state=1;
+ }
+ }else{
+ motor_open_flag=1;
+ motor_count=0;
+ motor_power_state=1;
+ }
+ update_led_power_state();
+}
+void StatusChange(void)
{
if(UWB_work_state==UN_BIND) {
gps_uwb_flag=0;//关闭GPS
@@ -291,6 +394,26 @@
mcu_deep_sleep();
}
}
+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();
+ }
+ }
void MinuteTask(void)
{ gpio_pin_clr(ADC_GND_ENABLE);//先拉低
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
@@ -307,16 +430,19 @@
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;
@@ -334,8 +460,8 @@
}
}
+ }
HIDO_TimerTick();
- nomove_count++;
if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
nomove_count++;
else{
@@ -346,21 +472,26 @@
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)
{
// IO_control_init();
+
if(enbale_blink_flag)
{
green_charge_state=0;
charge_red_on();
}
+
if(tt)
UWBPoll();
//车载poll
UWB_Tag_Poll();
- MotorPoll();
-
+ StatusChange();
+
+ MotorPoll();
+ update_led_power_state();
if(secondtask_count++%2==0)
{
flag_secondtask = 1;
@@ -371,26 +502,7 @@
flag_sleeptimer = 1;
charge_state_change();//充电状态判断
-
- 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)
- {
- if (motor_count++%3!=0)
- {
- motor_power_state = 1;
- }else {//修改
- motor_power_state = 0;
- }
- } else {
- motor_power_state=1;
- }
- }else{
- motor_power_state=1;
- }
- }
+
if(enbale_blink_flag)
{
green_charge_state=0;
@@ -416,7 +528,36 @@
flag_4G_recdata = 1;
delaysleep_count = 3;
}
-extern uint16_t ip0,ip1,ip2,ip3,port;
+void Air780E_4G_POLL(void)
+{
+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();
+ }
+ }
+}
+extern uint16_t ip0,ip1,ip2,ip3,port,air780e_send_second;
extern uint8_t gps_4g_flag;
extern uint8_t gps_need_data_flag;
void Program_Init(void)
@@ -442,16 +583,21 @@
}else{
UWB_work_state = SEARCH_DEV;
}
- if(g_com_map[SEND_4G_SECOND]<60)
- g_com_map[SEND_4G_SECOND]=60;
- g_com_map[MODBUS_MODE] = 0;
+// if(g_com_map[SEND_4G_SECOND]<60)
+// 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;//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)|11;
+ g_com_map[VERSION] = (1<<8)|14;
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,"服务器地址: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port);
@@ -569,18 +715,13 @@
gpio_open();
board_output_init();
//board_led_init();
- //防止充电电流过低导致设备无法启动
//检测通过后改为正常adc采集模式
adc_open(&usr_adc_cfg);
IIC2_Init();
Accelerometer_Init();
IO_control_init();
- #ifdef BO_XING
- 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);
- #endif
+
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
Program_Init();
@@ -638,7 +779,9 @@
}
IdleTask();
+ UserKeyTask();
IMUTask();
+
#ifndef DEBUG_MODE
//if(flag_sleeptimer)
// if(!gps_need_data_flag&&!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。
--
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