From 950676ea7305bb90e08ec88bcac40e4c47fcefca Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期四, 15 五月 2025 11:06:38 +0800
Subject: [PATCH] 添加计步以及测距
---
keil/include/main/main.c | 97 +++++++++++++++++++++++++++++++++++-------------
1 files changed, 70 insertions(+), 27 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 231750a..b4b0ad5 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -94,12 +94,15 @@
/****************************************************************引脚宏定义**************************************************/
-#define UWB_OPEN_COUNT 1
-#define UWB_MEASUREMENT_INTERVAL 3
-#define UWB_MEASUREMENT_INTERVAL_SLEEP 60
+#define UWB_OPEN_COUNT 1 // UWB每次开启持续时间（秒）
+#define UWB_MEASUREMENT_INTERVAL 3 // 正常状态测距周期
+#define UWB_MEASUREMENT_INTERVAL_SLEEP 60 // 休眠状态测距周期
+#define INACTIVE_TIMEOUT 30 // 无步数变化超时时间（秒）
+bool uwb_is_on = false; // UWB当前状态标记
void test_Delay_us(uint16_t time);
void Lora_UploadHeartBeartPoll(void);
+void upload_apppoll();
extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
@@ -338,15 +341,14 @@
HIDO_TimerTick();
// lora_tx_flag++;
uwb_time_count++;
- if(uwb_time_count>10000)
- {
- uwb_time_count=0;
- }
+ upload_apppoll();
+ step_count = mir3da_get_step(); // 获取步数
+
if (current_state == STATE_NORMAL)
{
sleep_time++;
}
- step_count = mir3da_get_step(); // 获取步数
+
if(!read_5v_input_pca())
{
@@ -390,28 +392,43 @@
}
uint16_t sleep_time=0;
+uint32_t state_start_time_jibu=0;
void check_step_and_update_state(void)
{
if ((step_count != last_step_count))
{
// 步数有变化，重置状态为正常状态
+ last_step_count = step_count;
if(current_state == STATE_SLEEP)
{
- state_start_time = uwb_time_count;
+ state_start_time_jibu = uwb_time_count;
+ state_start_time=uwb_time_count;
}
- current_state = STATE_NORMAL;
- last_step_count = step_count;
+// if (current_state != STATE_NORMAL)
+// {
+// // 关闭可能正在运行的UWB
+// if (uwb_is_on) {
+// CloseUWB();
+// UWB_LED_OFF;
+// uwb_is_on = false;
+// }
+// current_state = STATE_NORMAL;
+// state_start_time = uwb_time_count; // 重置测距周期
+// }
+ current_state = STATE_NORMAL;
+ last_step_count = step_count;
+
}
else
{
// 步数没有变化，检查是否需要切换到休眠状态
if (current_state == STATE_NORMAL)
{
-// sleep_time = uwb_time_count - state_start_time;
- if (sleep_time >= 30)
+ uint32_t inactive_time = uwb_time_count - state_start_time_jibu;
+ if (inactive_time >= INACTIVE_TIMEOUT)
{ // 30秒后切换到休眠状态
-// current_state = STATE_SLEEP;
- sleep_time = 0;
+ current_state = STATE_SLEEP;
+ state_start_time_jibu=uwb_time_count;
}
}
}
@@ -476,9 +493,9 @@
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)|12;
LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
- LOG_INFO(TRACE_MODULE_APP,"固件版本:BGK-mk+蓝牙V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
+ LOG_INFO(TRACE_MODULE_APP,"固件版本:BGK-mk+蓝牙薄工卡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);
}
@@ -522,9 +539,15 @@
break;
}
}
- NVIC_SystemReset();
+ sys_reset(0);
+// NVIC_SystemReset();
// input5vflag=1;
}
+ else
+ {
+
+// sys_reset(0);
+ }
}
int bind_check(void)
@@ -643,6 +666,7 @@
//串口1
io_pin_mux_set(UART1_RX, IO_FUNC4);
io_pin_mux_set(UART1_TX, IO_FUNC4);
+
board_debug_console_open(TRACE_PORT_UART1,BAUD_115200);
}
void spi_init()
@@ -734,13 +758,14 @@
{
case UWB_OPEN_COUNT:
UWB_LED_OFF;
+ LORA_LED_OFF;
+ LoraReportPoll();
CloseUWB();
break;
case UWB_MEASUREMENT_INTERVAL:
- UWB_LED_ON;
- OpenUWB();
- LoraReportPoll();
+ PCA9555_Set_One_Value_Output(BT_IRQ ,0);
+ OpenUWB();
state_start_time = uwb_time_count;
break;
}
@@ -752,13 +777,14 @@
{
case UWB_OPEN_COUNT:
UWB_LED_OFF;
+ LORA_LED_OFF;
+ LoraReportPoll();
CloseUWB();
break;
case UWB_MEASUREMENT_INTERVAL_SLEEP:
- UWB_LED_ON;
- OpenUWB();
- LoraReportPoll();
+ PCA9555_Set_One_Value_Output(BT_IRQ ,0);
+ OpenUWB();
state_start_time = uwb_time_count;
break;
}
@@ -811,16 +837,33 @@
//#endif
Uwbinit();
// boot_deinit();
-
-// OpenUWB();
while (1)
{
BT_LED_OFF;
// Lora_Tx_Poll();
// uwb_app_poll();
check_step_and_update_state();
- upload_apppoll();
+
IdleTask();
IMUTask();
+// if(1)
+// {
+//// test1=gpio_pin_get_val(_4G_USART_RX_Pin);
+// uint32_t lock;
+// //flag_4guart_needinit = 1;
+//// Internet_Poll();
+//// HIDO_ATLitePoll();
+//// HIDO_TimerPoll();
+//// TCPClient_Poll();
+//
+// // delay_us(300000);
+// trace_flush();
+// lock = int_lock();
+// power_enter_power_down_mode(0);
+// uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);
+//// test3=gpio_pin_get_val(_4G_USART_RX_Pin);
+// //LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
+// int_unlock(lock);
+// }
}
}
--
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