From ae0b42614c7f3de6f13c2ebacd3c1b46662ed9e9 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期一, 23 六月 2025 17:26:33 +0800
Subject: [PATCH] 现场试用版
---
keil/include/main/main.c | 157 +++++++++++++++++++++++++--------------------------
1 files changed, 77 insertions(+), 80 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 323c301..fcc738c 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -62,15 +62,11 @@
#include "HIDO_Timer.h"
#include "TCPClient.h"
#include "mk_spi.h"
-//#include "pan_port.h"
#include "mk_timer.h"
-//#include "pan_param.h"
-//#include "pan_rf.h"
#include "lora_1268.h"
-//#include "pan_rf.h"
#include "PCA9555.h"
#include "mk_phy.h"
-#include "HIDO_Timer.h"
+
#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
@@ -98,7 +94,7 @@
#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);
int LEDTask(uint8_t Uwb_led,uint8_t Bt_led,uint8_t Lora_led,uint8_t Power_led);
@@ -171,10 +167,10 @@
.int_tx = false,
#endif
};
-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);
-}
+//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);
+//}
static void adc_callback(void *data, uint32_t number)
{
@@ -337,6 +333,7 @@
uint8_t input5v_time;
extern uint8_t uwbled,btled,loraled,powerled;
uint8_t jibu_flag;
+uint8_t jishu_flag;
static void sleep_timer_callback(void *dev, uint32_t time)
{
input5v_time=1;
@@ -345,32 +342,16 @@
// lora_tx_flag++;
uwb_time_count++;
jibu_flag=1;
- upload_apppoll();
+ jishu_flag=1;
+// upload_apppoll();
if (current_state == STATE_NORMAL)
{
sleep_time++;
}
-
+
- if(!read_5v_input_pca())
- {
- if(bat_percent>15)
- {
- uint8_t state=0;
- state=!state;
- if(state==1)
- GREEN_LED_ON;
- else
- GREEN_LED_OFF;
-
-
- }
- else
- {
- powerled=0;
- }
- }
+
input5v_time=1;
//马达震动逻辑
if(g_com_map[MOTOR_ENABLE])
@@ -448,7 +429,11 @@
{
uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);
}
-
+
+void uart1_receive_callback()
+{
+ uart_receive(UART_ID1,m_EUART_DMA_RXBuf_1,USART_RX_BUF_SIZE,uart1_receive_callback);
+}
static void voltage_input_handler(enum IO_PIN_T pin)
{
@@ -467,13 +452,11 @@
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
+ Usart0ParseDataCallback = UsartParseDataHandler_1;
parameter_init_anchor();//g_com_map表初始化角色默认为基站
- g_com_map[DEV_ID]=0x1234;
g_com_map[STATIONARY_TIME] = 10;
-// g_com_map[GROUP_ID]=1;
dev_id=g_com_map[DEV_ID];//这里不太对
group_id=g_com_map[GROUP_ID];//组ID
- group_id=0x04;
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;
@@ -499,10 +482,11 @@
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)|12;
+ g_com_map[VERSION] = (1<<8)|13;
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);
+ LOG_INFO(TRACE_MODULE_APP,"小组ID: %d .\r\n",group_id);
+// LOG_INFO(TRACE_MODULE_APP,"服务器地址: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port);
}
uint32_t adctick = 0;
@@ -510,10 +494,11 @@
void IdleTask(void)
{
UART0_CheckReceive();
+ UART_CheckReceive();
if(read_5v_input_pca())
{
chongman_time=0;
- RED_LED_OFF;
+ RED_LED_ON;
GREEN_LED_OFF;
UWB_LED_OFF;
BT_LED_OFF;
@@ -521,29 +506,32 @@
while(1)
{
nomove_count = 0;
- adctick = HIDO_TimerGetTick();
- if(HIDO_TimerGetTick()-adctick>60) //10分钟采样一次 电量
+
+ if(HIDO_TimerGetTick()-adctick>600) //10分钟采样一次 电量
{
chongman_time=chongman_time+60;
adctick = HIDO_TimerGetTick();
PCA9555_Set_One_Value_Output(PWR_GND,0);//拉低
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
}
- if(bat_percent>=99&&chongman_time>=600)
+ if(bat_percent>=99&&chongman_time>=180)
{
GREEN_LED_ON;
RED_LED_OFF;
}
else
{
-// RED_LED_ON;
+ RED_LED_ON;
GREEN_LED_OFF;
}
-
+ UART_CheckReceive();
+ if(input5v_time)
+ {
if(!read_5v_input_pca())
{
break;
}
+ }
}
sys_reset(0);
// NVIC_SystemReset();
@@ -614,13 +602,15 @@
LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
//关闭蓝牙 灯
LORA_LED_OFF;
- GREEN_LED_OFF;
+ PCA9555_Set_One_Value_Config(GREEN_LED,0);
+ PCA9555_Set_One_Value_Output(GREEN_LED,0);
+// GREEN_LED_OFF;
UWB_LED_OFF;
RED_LED_OFF;
BT_LED_OFF;
- PCA9555_Set_One_Value_Output(BT_EN,0);
-// PCA9555_Set_One_Value_Config(BT_IRQ,0); //设置BT_IRQ为输出拉低
-// PCA9555_Set_One_Value_Output(BT_IRQ,0);
+// PCA9555_Set_One_Value_Output(BT_EN,0);
+ PCA9555_Set_One_Value_Config(BT_IRQ,0); //设置BT_IRQ为输出拉低
+ PCA9555_Set_One_Value_Output(BT_IRQ,1);
sleep_timer_stop();
power_enter_power_down_mode(1);
sys_reset(0);
@@ -628,7 +618,7 @@
}
void IMUTask(void)
{
- if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==2)
+ if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)
{
power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)PCA_INPUT_DETECT, POWER_WAKEUP_LEVEL_LOW);
mcu_deep_sleep();
@@ -662,11 +652,6 @@
io_pin_mux_set(UART0_RX, IO_FUNC4);
io_pin_mux_set(UART0_TX, IO_FUNC4);
uart_open(UART_ID0, &test_uart_cfg);
-// io_pin_mux_set(UART0_RX, IO_FUNC0);
-// gpio_pin_set_dir(UART0_RX , GPIO_DIR_OUT, 0);
-// io_pin_mux_set(UART0_TX, IO_FUNC0);
-// gpio_pin_set_dir(UART0_TX , GPIO_DIR_OUT, 0);
-// board_debug_console_open(TRACE_PORT_UART0);
uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);//开启dma
//串口1
@@ -674,6 +659,7 @@
io_pin_mux_set(UART1_TX, IO_FUNC4);
board_debug_console_open(TRACE_PORT_UART1,BAUD_115200);
+ uart_receive(UART_ID1,m_EUART_DMA_RXBuf_1,USART_RX_BUF_SIZE,uart1_receive_callback);//开启dma
}
void spi_init()
{
@@ -754,6 +740,7 @@
extern uint32_t uwb_time_count;
uint8_t uwbled,btled,loraled,powerled;
uint8_t send_count=0;
+//uint32_t elapsed_time_jibu;
void upload_apppoll()
{
uint32_t elapsed_time_jibu;
@@ -764,18 +751,20 @@
elapsed_time_jibu = uwb_time_count - state_start_time;
switch(elapsed_time_jibu)
{
- case UWB_OPEN_COUNT:
- CloseUWB();
+ case UWB_OPEN_COUNT:
+ CloseUWB();
LoraReportPoll();
- LEDTask(0,0,0,2);
-
break;
case UWB_MEASUREMENT_INTERVAL:
LEDTask(uwbled,btled,loraled,powerled);
- PCA9555_Set_One_Value_Output(IO_KONG,0);
+ LEDTask(0,0,0,2);
+// PCA9555_Set_One_Value_Output(IO_KONG,0);
+// delay_us(10000);
+// PCA9555_Set_One_Value_Output(IO_KONG,1);
+ PCA9555_Set_One_Value_Output(BT_IRQ,0);
delay_us(10000);
- PCA9555_Set_One_Value_Output(IO_KONG,1);
+ PCA9555_Set_One_Value_Output(BT_IRQ,1);
CloseUWB();
Uwbinit();
OpenUWB();
@@ -791,15 +780,19 @@
case UWB_OPEN_COUNT:
CloseUWB();
LoraReportPoll();
- LEDTask(0,0,0,2);
+
break;
case UWB_MEASUREMENT_INTERVAL_SLEEP:
LEDTask(uwbled,btled,loraled,powerled);
- PCA9555_Set_One_Value_Output(IO_KONG,0);
+ LEDTask(0,0,0,2);
+// PCA9555_Set_One_Value_Output(IO_KONG,0);
+// delay_us(10000);
+// PCA9555_Set_One_Value_Output(IO_KONG,1);
+ PCA9555_Set_One_Value_Output(BT_IRQ,0);
delay_us(10000);
- PCA9555_Set_One_Value_Output(IO_KONG,1);
+ PCA9555_Set_One_Value_Output(BT_IRQ,1);
CloseUWB();
Uwbinit();
OpenUWB();
@@ -840,19 +833,15 @@
if(powerled==1)
{
GREEN_LED_ON;
- RED_LED_OFF;
- }
- else if(powerled==2)
- {
- RED_LED_OFF;
- GREEN_LED_OFF;
+ GREEN_LED_OFF;;
}
else if(powerled==0)
{
RED_LED_ON;
- GREEN_LED_OFF;
+ RED_LED_OFF;
+
}
-
+
// PCA9555_Set_One_Value_Output(BT_IRQ ,0);
@@ -882,11 +871,12 @@
Board_LORA_NVIC_Init(Lora_irq_handler);
- pca_input_detection_init(pca_handler);
+
IIC2_Init();
Accelerometer_Init();
PCA9555_init();
+ pca_input_detection_init(pca_handler);
adc_open(&usr_adc_cfg);
Lora_1268_Init();
SwitchLoraSettings(478,7,22);
@@ -895,26 +885,33 @@
sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
adc_get(&sample[0], NUM_SAMPLES, adc_callback);
-//#ifdef DEBUG_BOXING
-// io_pin_mux_set(BOXING_PIN,IO_FUNC0);
-// gpio_pin_set_dir(BOXING_PIN,GPIO_DIR_OUT,0);
-// io_pull_set(BOXING_PIN,IO_PULL_DOWN,IO_PULL_UP_LEVEL4);
-//#endif
Uwbinit();
-// OpenUWB();
-// boot_deinit();
while (1)
{
if(jibu_flag)
{
jibu_flag=0;
step_count = mir3da_get_step(); // 获取步数
+ if(!read_5v_input_pca())
+ {
+ if(bat_percent>15)
+ {
+ powerled=1;
+ }
+ else
+ {
+ powerled=0;
+ }
+ }
}
-
-// Lora_Tx_Poll();
+
uwb_app_poll();
check_step_and_update_state();
-// upload_apppoll();
+ if(jishu_flag)
+ {
+ jishu_flag=0;
+ upload_apppoll();
+ }
IdleTask();
IMUTask();
--
Gitblit v1.9.3