From 9aa8760604c398bc3a7a19b26c9e06de776f11df Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期四, 29 五月 2025 18:13:05 +0800
Subject: [PATCH] 完成免布线标签地板基本测试，修改串口为串口0，有修改为功率固件flag因中断多次触发问题，未加防抖保护，升级未测试
---
keil/include/main/main.c | 416 +++++++++++++++++++----------------------------------------
1 files changed, 133 insertions(+), 283 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index d19347f..52a6fa0 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -79,7 +79,8 @@
#define WARING_LIMIT_TIME 10
#define UPDATE_TIME 10
-
+#define UWB_VOL_INVALID_LED_WAIT_COUNT 5
+#define UWB_VOL_VALID_LED_WAIT_COUNT 1
extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
@@ -113,7 +114,13 @@
} Operation_step;
Operation_step UWB_work_state;
-
+typedef enum
+{UWB_UNLINE=0,
+ VOLTAGE_NORMAL,
+ VOLTAGE_ABNORMAL,
+} UWB_State;
+extern UWB_State Voltage_State;
+Operation_step UWB_work_state;
Commend_SendDate send_struct;
struct ADC_CFG_T usr_adc_cfg = {
.mode = ADC_MODE_CONTINUE, /* Selected single conversion mode */
@@ -153,7 +160,7 @@
};
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_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}
void mcu_deep_sleep(void)
{
@@ -169,6 +176,7 @@
sys_reset(0);
int_unlock(lock);
}
+uint8_t power_detect_flag;
static void adc_callback(void *data, uint32_t number)
{
uint32_t *result = (uint32_t *)data;
@@ -195,103 +203,26 @@
{
//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停止工作\r\n");
+ power_detect_flag=1;
+ LOG_INFO(TRACE_MODULE_APP, "电池电压低于3.3V，异常工作\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,正常工作\r\n");
+ power_detect_flag=0;
+ LOG_INFO(TRACE_MODULE_APP, "电池电压正常,正常工作\r\n");
}
- PCA9555_Set_One_Value_Output(ADC_MINIUS,1);//拉高
+
+// PCA9555_Set_One_Value_Output(ADC_MINIUS,1);//拉高
// LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
}
-//void UartInit(void)
-//{
-//board_pins_config();
-//uart_open(UART_ID1, &test_uart_cfg);
-//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,gps_need_data_flag;
uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0,userkey_state;
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;
uint32_t keystarttime,keystarttime2,keystarttime3;
extern uint32_t get_in_num,get_out_num;
-void MotorPoll(void)
-{
- 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
- fenli_alarm_count = 0;
- if(flag_fenli_alarm)
- {
- flag_fenli_alarm = 0;
- fenli_alarm_count = 0;
- _4GAlarmUpload(2);
- }
- }
- }
- if(distance>g_com_map[ALARM_DISTANCE1]||anchordata_num==0)
- {
- if(fenli_alarm_count++>20)
- {
- if(!flag_fenli_alarm)
- {
- flag_fenli_alarm = 1;
- _4GAlarmUpload(1);
- }
- }
- }
- if(distance<g_com_map[ALARM_DISTANCE1]) { //小于预警距离
- if(flag_alam_state)
- {
- flag_alam_state = 0;
-
- }
-
- 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) {
- if(!flag_alam_state)
- {
- flag_alam_state = 1;
- }
- 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) {
- if(!flag_alam_state)
- {
- flag_alam_state = 1;
- }
- gps_uwb_flag=1;//开启gps测距流程
- need_open_gps_count=0;
- }
-
- }
- if(anchordata_num==0) {
- if(!flag_alam_state)
- {
- flag_alam_state = 1;
- }
- distance = 0x1ffff;
- 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;
- }
- }
- }
+uint8_t flag_4G_recdata;
+extern uint8_t taglist_num;
void IMUTask(void)
{
if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)
@@ -301,49 +232,86 @@
}
void UserKeyTask(void)
{
-if(!read_userkey_input_pca())
- {
- if(HIDO_TimerGetTick() - keystarttime3>2)
- {
- userkey_state = 1;
- keystarttime3 = HIDO_TimerGetTick();
- //UDPClient_UploadGPS();
- }
-// if(HIDO_TimerGetTick() - keystarttime2>10)
+//if(!read_userkey_input_pca())
+// {
+// if(HIDO_TimerGetTick() - keystarttime3>2)
// {
-//
-// g_com_map[CNT_RESTART] = 1;
+// userkey_state = 1;
+// keystarttime3 = HIDO_TimerGetTick();
+// //UDPClient_UploadGPS();
// }
- }else
- {
- keystarttime3 = HIDO_TimerGetTick();
- }
+//// if(HIDO_TimerGetTick() - keystarttime2>10)
+//// {
+////
+//// g_com_map[CNT_RESTART] = 1;
+//// }
+// }else
+// {
+// keystarttime3 = HIDO_TimerGetTick();
+// }
}
void PowerTask(void)
{
- if(read_powerkey_input_pca())
- {
- if(HIDO_TimerGetTick() - keystarttime>2)
- {
- keystarttime = HIDO_TimerGetTick();
- PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
- PCA9555_Set_One_Value_Output(GPS_LED,0);//输出低电平关闭LED
- }
-// if(HIDO_TimerGetTick() - keystarttime2>10)
+// if(read_powerkey_input_pca())
+// {
+// if(HIDO_TimerGetTick() - keystarttime>2)
// {
-//
-// g_com_map[CNT_RESTART] = 1;
+// keystarttime = HIDO_TimerGetTick();
+// PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
+// PCA9555_Set_One_Value_Output(GPS_LED,0);//输出低电平关闭LED
// }
- }else
- {
- keystarttime = HIDO_TimerGetTick();
- keystarttime2 = HIDO_TimerGetTick();
- }
+//// if(HIDO_TimerGetTick() - keystarttime2>10)
+//// {
+////
+//// g_com_map[CNT_RESTART] = 1;
+//// }
+// }else
+// {
+// keystarttime = HIDO_TimerGetTick();
+// keystarttime2 = HIDO_TimerGetTick();
+// }
}
void MinuteTask(void)
{
- PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
- adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+ //adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+}
+void blink_test_led(enum IO_PIN_T pin_num)
+{
+ gpio_pin_set(pin_num);//亮
+ delay_ms(500);
+ gpio_pin_clr(pin_num);//灭
+}
+void blink_test_led_off(enum IO_PIN_T pin_num)
+{
+ gpio_pin_clr(pin_num);//灭
+}
+uint8_t wltag_uwb_timer;
+void voltage_Task(void)
+{
+ if(taglist_num==0)
+ {
+ Voltage_State=UWB_UNLINE;
+ }
+switch(Voltage_State){
+ case VOLTAGE_NORMAL:
+ if(wltag_uwb_timer++>=UWB_VOL_VALID_LED_WAIT_COUNT)
+ { wltag_uwb_timer=0;
+ blink_test_led(LED_PIN);
+ }
+ break;
+ case VOLTAGE_ABNORMAL:
+ if(wltag_uwb_timer++>=UWB_VOL_INVALID_LED_WAIT_COUNT)
+ { wltag_uwb_timer=0;
+ blink_test_led(LED_PIN);
+ }
+ case UWB_UNLINE:
+ blink_test_led_off(LED_PIN);
+ break;
+ }
+}
+void led_Task(void)
+{
+ voltage_Task();
}
void SecondTask(void)
{static uint8_t second_count;
@@ -352,38 +320,7 @@
second_count = 0;
MinuteTask();
}
- //UWBOneSecondTask();
-// if(!power_low_flag)
-// Gps_change();
-// 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_count2=0;
-// gps_wait_count=0;
-// }
-// //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;
- }
-
- }
-// }
+ led_Task();
HIDO_TimerTick();
if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
nomove_count++;
@@ -394,7 +331,7 @@
uint8_t tt=1;
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
uint8_t uwb_enable_flag=0;
-uint8_t flag_4G_recdata;
+
void check_input_change(void)
{
uint16_t gpio_state;
@@ -423,14 +360,14 @@
//GPS工作逻辑
}
-static void move_handler(enum IO_PIN_T pin)
+//static void move_handler(enum IO_PIN_T pin)
+//{
+// nomove_count=0;
+//}
+uint8_t change_buffer_flag=0;
+static void gpio_change_handler(enum IO_PIN_T pin)
{
- nomove_count=0;
-}
-static void pca_handler(enum IO_PIN_T pin)
-{
- PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值
- check_input_change();
+change_buffer_flag=1;
}
void _4gUsart_handler(enum IO_PIN_T pin)
@@ -512,49 +449,28 @@
}
void IdleTask(void)
{
-if(read_5v_input_pca())
- {
- if(state5v==0)
- {
- state5v=1;
- state5V_prase_flag=state5v;
- gps_prase_flag=0;//解除gps解析
- uart1_change_from_gps_to_debug();//测试
- PCA9555_Set_One_Value_Output(MCU_A,1);//输出高电平切换为5V输入
- }
- }else {
- if(state5v==1)
- {
- g_com_map[MODBUS_MODE] = 0;
- state5v=0;
- state5V_prase_flag=state5v;
- gps_prase_flag=1;//恢复gps解析
- uart1_change_from_debug_to_gps();//测试
- PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
- }
- }
- UART_CheckReceive();
-}
-int bind_check(void)
-{
- 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;
-//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
- 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;
- }
+//if(read_5v_input_pca())
+// {
+// if(state5v==0)
+// {
+// state5v=1;
+// state5V_prase_flag=state5v;
+// gps_prase_flag=0;//解除gps解析
+// uart1_change_from_gps_to_debug();//测试
+//// PCA9555_Set_One_Value_Output(MCU_A,1);//输出高电平切换为5V输入
+// }
+// }else {
+// if(state5v==1)
+// {
+// g_com_map[MODBUS_MODE] = 0;
+// state5v=0;
+// state5V_prase_flag=state5v;
+// gps_prase_flag=1;//恢复gps解析
+// uart1_change_from_debug_to_gps();//测试
+//// PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
+// }
+// }
+ UART0_CheckReceive();
}
void boot_deinit(void)
{
@@ -580,7 +496,7 @@
board_clock_run();
boot_deinit();
board_pins_config();
- board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_115200);
+ board_debug_console_open_baud(TRACE_PORT_UART0,BAUD_115200);
// Reset reason
reset_cause_get();
reset_cause_clear();
@@ -609,101 +525,35 @@
// open system timer
//sys_timer_open();
// TODO 4G
- Uart_Register(UART_ID_4G, UART_ID0);
- Internet_Init();
- TCPClient_Init();
gpio_open();
- LED_output_init();//配置adcGND引脚
- IIC2_Init();
- Accelerometer_Init();
- PCA9555_init();
-
-
- AIR780E_Reset();
-// battery_monitor_open();
-// Voltage_input=battery_monitor_get();
-// battery_monitor_close();
+ LED_output_init();//配置灯引脚和PA引脚
- adc_open(&usr_adc_cfg);
-
-
-
-
- if(!read_5v_input_pca())
- {
- Set4LEDColor(BLUE,GREEN,WHITE,GREEN);
- delay_ms(500);
- Set4LEDColor(RED,WHITE,RED,WHITE);
- delay_ms(500);
- //Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
- }
- //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_IN, 0);
-// io_pull_set(SCL_PIN , IO_PULL_UP, 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_open(&usr_adc_cfg);
Program_Init();
- //uart_open(UART_ID1, &test_uart_cfg);
- // uart1_change_from_gps_to_debug();
- //Uart1GpsRecDebugSend();
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+ //uart_open(UART_ID1, &test_uart_cfg);
+ uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
-// Initialize low power mode
+ // 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
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);
- PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
- adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
- board_acceleration_detection_init(move_handler);
- pca_input_detection_init(pca_handler);//pca检测输入
-
+// adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+ //board_acceleration_detection_init(move_handler);
+ gpio_change_detection_init(gpio_change_handler);//gpio中断检测输入切换对面免布线基站逻辑
//board_4GUsart_detection_init(_4gUsart_handler);
Uwb_init();
OpenUWB();
-
-
while (1)
{
- uwb_app_poll();
-
-// 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();
- }
- Internet_Poll();
- HIDO_ATLitePoll();
- HIDO_TimerPoll();
- TCPClient_Poll();
-
- }
-// }
+ uwb_app_poll();
if(flag_secondtask)
{
flag_secondtask = 0;
SecondTask();
-
}
- PowerTask();
-// IMUTask();
- UserKeyTask();
+// PowerTask();
+//// IMUTask();
+ //UserKeyTask();
IdleTask();
#ifndef DEBUG_MODE
//if(flag_sleeptimer)
--
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