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 | 297 ++++++++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 240 insertions(+), 57 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index b67bf86..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;
@@ -91,11 +92,12 @@
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;
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,power_low_flag;
uint8_t flag_4g_usart_rx_state = 1; //4G 串口RX当前是 RX状态，不是GPIO状态
int input_5v_flag,air780e_flag1,air780e_flag2,air780e_flag3,air780e_flag4;
typedef enum
@@ -148,6 +150,20 @@
{
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}
+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");
+ gps_air780_power_change(0,0);//关闭gps，4G
+ sleep_timer_stop();
+ //adc_close();
+ power_enter_power_down_mode(1);
+ //LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");
+ sys_reset(0);
+ int_unlock(lock);
+}
static void adc_callback(void *data, uint32_t number)
{
uint32_t *result = (uint32_t *)data;
@@ -171,7 +187,17 @@
}
}
gpio_pin_set(ADC_GND_ENABLE);//在拉高
- tt2=gpio_pin_get_val(ADC_GND_ENABLE);
+ if(fVoltage_mv<3300)
+ {
+ 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");
+ }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");
+ }
+ //tt2=gpio_pin_get_val(ADC_GND_ENABLE);
// LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
}
//void UartInit(void)
@@ -181,11 +207,112 @@
//board_debug_console_open(TRACE_PORT_UART0);
//uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
//}
-extern uint8_t gps_uwb_flag;
-uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0;
+extern uint8_t gps_uwb_flag,gps_need_data_flag;
+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
@@ -260,7 +387,33 @@
}
}
}
-
+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);//配置唤醒等待进入休眠
+ 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
@@ -274,10 +427,22 @@
}
//UWB更新列表
TagListUpdate();
+ 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;
@@ -295,28 +460,38 @@
}
}
+ }
HIDO_TimerTick();
+ if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
nomove_count++;
+ else{
+ nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
+ }
}
uint8_t tt=1;
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;
@@ -327,25 +502,7 @@
flag_sleeptimer = 1;
charge_state_change();//充电状态判断
-
- //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;
@@ -371,7 +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)
@@ -397,16 +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);
@@ -524,31 +715,15 @@
gpio_open();
board_output_init();
//board_led_init();
- //防止充电电流过低导致设备无法启动
-// battery_monitor_open();
-// Voltage_input=battery_monitor_get();
-// battery_monitor_close();
-// if(Voltage_input<=3270)
-// {
-// enable_system_function_flag=0;//供电不足不能启动4G和GPS
-// }else{
-// enable_system_function_flag=1;
-// }
//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
- gpio_pin_clr(ADC_GND_ENABLE);//先�
- adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
Program_Init();
//uart_open(UART_ID1, &test_uart_cfg);
@@ -558,17 +733,21 @@
// 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
+ //AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
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);
+ 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);
// LOG_INFO(TRACE_MODULE_APP, "测试进入app");
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);
+ 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");
@@ -592,6 +771,7 @@
TCPClient_Poll();
air780_led_off();
}
+ }
if(flag_secondtask)
{
flag_secondtask = 0;
@@ -599,6 +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。
@@ -625,15 +808,15 @@
index2=AIR780E_IsIPIdle();
index3=Socket_IsSendQueueEmpty(0);
if(delaysleep_count==0)
- if(!gps_power_state&&!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&AIR780E_IsIPIdle()&&Socket_IsSendQueueEmpty(0))||((!flag_TCP_reconnectting)&&!IfTCPConnected())))
+ if(!gps_power_state&&!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&AIR780E_IsIPIdle()&&Socket_IsSendQueueEmpty(0))||((!flag_TCP_reconnectting)&&!IfTCPConnected())||power_low_flag))
{
// test1=gpio_pin_get_val(_4G_USART_RX_Pin);
uint32_t lock;
//flag_4guart_needinit = 1;
- Internet_Poll();
- HIDO_ATLitePoll();
- HIDO_TimerPoll();
- TCPClient_Poll();
+// Internet_Poll();
+// HIDO_ATLitePoll();
+// HIDO_TimerPoll();
+// TCPClient_Poll();
// delay_us(300000);
trace_flush();
--
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