From 9b59e87d8280de129c18421b5d12cf96d0ea904e Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期二, 03 九月 2024 10:28:06 +0800
Subject: [PATCH] V1.6 给客户测试
---
keil/include/main/main.c | 126 ++++++++++++++++++++++++++++++------------
1 files changed, 90 insertions(+), 36 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index e88bda8..51d52b1 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -91,7 +91,7 @@
uint8_t bat_percent,g_start_send_flag=1;
uint8_t link_success_flag,motor_count;
uint16_t gps_wait_count;
-uint8_t state5v;
+uint8_t state5v = 1;
uint8_t motor_power_state=1,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state,first_motor_in_flag;
float nomove_count=0;
static uint32_t sample[NUM_SAMPLES] = {0};
@@ -142,7 +142,7 @@
.int_tx = false,
#endif
};
-static void uart_receive_callback(void *dev, uint32_t err_code)
+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);
}
@@ -168,7 +168,7 @@
bat_percent = ((fVoltage_mv - 3300) /8);
}
}
- LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
+ // LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
}
//void UartInit(void)
//{
@@ -177,8 +177,8 @@
//board_debug_console_open(TRACE_PORT_UART0);
//uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
//}
-extern gps_uwb_flag;
-uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1;
+extern uint8_t gps_uwb_flag;
+uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0;
uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag;
int need_open_gps_count;
void MotorPoll(void)
@@ -190,6 +190,11 @@
} else { //绑定状态下
if(anchordata_num==1) {
if(distance<g_com_map[ALARM_DISTANCE1]) { //小于预警距离
+ if(flag_alam_state)
+ {
+ flag_alam_state = 0;
+ _4GAlarmUpload(2);
+ }
need_open_gps_count=0;
moter_open_uwb_flag=0;//关闭震动
gps_uwb_flag=0;//关闭GPS
@@ -197,6 +202,11 @@
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;
+ _4GAlarmUpload(1);
+ }
gps_uwb_flag=1;//开启gps测距流程
need_open_gps_count=0;
}
@@ -204,25 +214,42 @@
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;
+ _4GAlarmUpload(1);
+ }
gps_uwb_flag=1;//开启gps测距流程
need_open_gps_count=0;
}
}
} else if(anchordata_num==0) {
-
+ if(!flag_alam_state)
+ {
+ flag_alam_state = 1;
+ _4GAlarmUpload(1);
+ }
+ distance = -1;
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;
}
}
}
-void SecondTask(void)
+void MinuteTask(void)
{
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+}
+void SecondTask(void)
+{static uint8_t second_count;
+ if(second_count++>60)
+ {
+ second_count = 0;
+ MinuteTask();
+ }
//UWB更新列表
TagListUpdate();
GPS_Poll();
- g_com_map[ALARM_DISTANCE1]=30;//测试
- g_com_map[ALARM_DISTANCE2]=40;
//UWB状态检测
if(IfTCPConnected())
@@ -250,7 +277,10 @@
{
IO_control_init();
UWBPoll();
- // MotorPoll();
+
+
+ MotorPoll();
+
if(secondtask_count++%2==0)
{
flag_secondtask = 1;
@@ -261,18 +291,23 @@
flag_sleeptimer = 1;
//马达震动逻辑
- if(motor_open_air_flag||moter_open_uwb_flag)
+ if(g_com_map[MOTOR_ENABLE])
{
- if (motor_count++%2==0)
- {
- motor_power_state = 1;
- }else{
- motor_power_state = 0;
- }
- } else {
+ if(motor_open_air_flag||moter_open_uwb_flag)
+ {
+ if (motor_count++%2==0)
+ {
+ motor_power_state = 1;
+ }else{
+ motor_power_state = 0;
+ }
+ } else {
+ motor_power_state=1;
+ }
+ }else{
motor_power_state=1;
}
-
+
//GPS工作逻辑
}
@@ -291,6 +326,8 @@
// flag_4G_recdata = 1;
// AIR780EUartInit();
}
+extern uint16_t ip0,ip1,ip2,ip3,port;
+extern uint8_t gps_4g_flag;
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
@@ -299,21 +336,33 @@
group_id=g_com_map[GROUP_ID];//组ID
tag_frequency = 1000/g_com_map[COM_INTERVAL];//测距频率这个存的是测距时间
memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
- g_com_map[ALARM_DISTANCE1] = 40;
- g_com_map[ALARM_DISTANCE2] = 40;
+// 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
- g_com_map[BIND_DEV_ID] = 0x1234;
+
if(g_com_map[BIND_DEV_ID]==0)
{
UWB_work_state = UN_BIND;
}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;
+ 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)|6;
+ LOG_INFO("设备ID: %x .\r\n",dev_id);
+ LOG_INFO("固件版本:UWB-4G手环 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
+ LOG_INFO("服务器地址: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port);
}
@@ -329,7 +378,7 @@
state5V_prase_flag=state5v;
gps_prase_flag=0;//解除gps解析
uart1_change_from_gps_to_debug();
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
+ // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
//UartInit();
}
@@ -337,11 +386,12 @@
} 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();
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
+ // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
//UartDeinit();
}
}
@@ -384,9 +434,9 @@
int main(void)
{
board_clock_run();
- boot_deinit();
+ boot_deinit();
board_pins_config();
- board_debug_console_open(TRACE_PORT_UART0);
+ board_debug_console_open(TRACE_PORT_UART1);
// Reset reason
reset_cause_get();
reset_cause_clear();
@@ -410,7 +460,7 @@
// Disable watchdog timer
wdt_close(WDT_ID0);
- // LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
+ LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
// open system timer
//sys_timer_open();
@@ -423,36 +473,39 @@
gpio_open();
//board_led_init();
-// adc_open(&usr_adc_cfg);
+ adc_open(&usr_adc_cfg);
IIC2_Init();
Accelerometer_Init();
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_OUT, 0);
io_pull_set(SCL_PIN , IO_PULL_DOWN, IO_PULL_UP_LEVEL4);
- gps_air780_power_change(1,1);//开启gps，4G
+ 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_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
uart_open(UART_ID1, &test_uart_cfg);
Program_Init();
+ // uart1_change_from_gps_to_debug();
+ //Uart1GpsRecDebugSend();
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+
// Initialize low power mode
power_init();
- // LOG_INFO(TRACE_MODULE_APP, "测试数据");
-
-
+ 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_5V_input_init(voltage_input_handler);
board_acceleration_detection_init(move_handler);
// LOG_INFO(TRACE_MODULE_APP, "测试进入app");
- //AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
+
while (1)
{
if(flag_TCP_reconnectting||IfTCPConnected())
{
- // LOG_INFO(TRACE_MODULE_APP, "处理4G任务\r\n");
+
+ // LOG_INFO(TRACE_MODULE_APP, "处理4G任务\r\n");
+ air780_led_on();
if(flag_4guart_needinit)
{
flag_4guart_needinit = 0;
@@ -462,6 +515,7 @@
HIDO_ATLitePoll();
HIDO_TimerPoll();
TCPClient_Poll();
+ air780_led_off();
}
if(flag_secondtask)
{
@@ -479,7 +533,7 @@
//}
#ifndef DEBUG_MODE
//if(flag_sleeptimer)
- // if(!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&Socket_IsSendQueueEmpty(0))||!flag_TCP_reconnectting&&!IfTCPConnected())&&!flag_4G_recdata) //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。
+ // if(!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。
{
// if(!flag_4guart_needinit)
{
--
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