From 2ebb8217f43b69f491620423ea4d5d5944d1f91d Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期六, 05 七月 2025 22:43:58 +0800
Subject: [PATCH] 格式化部分代码
---
keil/include/main/main.c | 926 +++++++++++++++++++++++++++++++++++++++------------------
1 files changed, 624 insertions(+), 302 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 576a40b..fe945d1 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -29,6 +29,7 @@
extern int simple_main(void);
extern int temp_main(void);
void boot_deinit(void);
+void upload_apppoll();
#define TEST_UART_POLL_MODE 0
#define TEST_UART_INTERUPT_MODE 1
#define TEST_UART_DMA_MODE 2
@@ -42,8 +43,10 @@
#define UWB_OPEN_COUNT 1
-#define UWB_MEASUREMENT_INTERVAL 3
-#define UWB_MEASUREMENT_INTERVAL_SLEEP 60
+#define UWB_MEASUREMENT_INTERVAL 5
+#define UWB_MEASUREMENT_INTERVAL_SLEEP 30
+
+#define INACTIVE_TIMEOUT 30
extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
@@ -78,12 +81,8 @@
} Operation_step;
Operation_step UWB_work_state;
-// 定义状态
-typedef enum {
- STATE_NORMAL, // 正常状态，3秒测距上传一次
- STATE_SLEEP // 休眠状态，1分钟测距上传一次
-} CountState_t;
+uint32_t gpsbaudrate;
uint32_t uwb_time_count = 0; // 定时器计数值
//uint32_t step_count = 0; // 步数计数
//uint32_t last_step_count = 0; // 上一次步数
@@ -113,7 +112,7 @@
.flow = UART_FLOW_CONTROL_NONE,
.rx_level = UART_RXFIFO_CHAR_1,
.tx_level = UART_TXFIFO_EMPTY,
- .baud = BAUD_115200,
+ .baud = BAUD_9600,
#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
.dma_en = false,
.int_rx = false,
@@ -133,31 +132,42 @@
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}
uint8_t deep_sleep_falg=1;
+extern uint8_t userkey_state;
+extern uint8_t heartbeasend_flag;
+uint8_t sleepflag;
+uint32_t sleepflagtime;
+uint8_t onlyoneflag=1;
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
- deep_sleep_falg=0;
- PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
- PCA9555_Set_One_Value_Output(GPS_POWER,0);//关闭gps，4G
- PCA9555_Set_One_Value_Config(MAIN_RI,0);//配置4G唤醒引脚为输入
-// PCA9555_Set_One_Value_Output(MAIN_RI,1);
- boot_deinit();
- CloseUWB();
- PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭gps，4G
-
-// sleep_timer_stop();
-// //adc_close();
-// power_enter_power_down_mode(1);
-// delay_us(200000);
+ // char str[19]= {"AT+POWERMODE=ST\r\n"};
+ uint32_t lock;
+ // uart_send(UART_ID0, str,19, NULL);
+ 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
+ PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
+ PCA9555_Set_One_Value_Output(GPS_POWER,0);//关闭gps
+// PCA9555_Set_One_Value_Output(TTS_ENABLE,0);
-// sys_reset(0);
-//// LOG_INFO(TRACE_MODULE_APP, "从休眠出来\r\n");
-// int_unlock(lock);
+// gpio_pin_get_val(PCA_INPUT_DETECT);
+// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭4G AT+CPOWD
+
+ sleep_timer_stop();
+// delay_ms(1);
+ if(!gpio_pin_get_val(PCA_INPUT_DETECT))
+ {
+ return;
+ }
+ //adc_close();
+ power_enter_power_down_mode(1);
+
+// LOG_INFO(TRACE_MODULE_APP, "从休眠出来\r\n");
+ sys_reset(0);
+ int_unlock(lock);
+
}
+uint8_t jiancebat_percent_flag;
static void adc_callback(void *data, uint32_t number)
{
uint32_t *result = (uint32_t *)data;
@@ -180,17 +190,22 @@
bat_percent = ((fVoltage_mv - 3300) /8);
}
}
- 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,正常工作\r\n");
- }
- PCA9555_Set_One_Value_Output(ADC_MINIUS,1);//拉高
+ if(bat_percent>100)
+ bat_percent=100;
+ if(bat_percent<0)
+ bat_percent=0;
+ jiancebat_percent_flag=1;
+// 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,正常工作\r\n");
+// }
+ PCA9555_Set_One_Value_Output(ADC_MINIUS,1);//拉高
}
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;
@@ -199,155 +214,263 @@
uint32_t keystarttime,keystarttime2,keystarttime3;
extern uint32_t get_in_num,get_out_num;
uint8_t flag_4G_recdata;
-uint8_t ledonflag;
+uint8_t ledonflag,_4gclose_flag;
uint32_t ledontime;
extern uint8_t flag_first_TCPconnect;
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);
- power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)PCA_INPUT_DETECT, POWER_WAKEUP_LEVEL_LOW);
- mcu_deep_sleep();
- }
+ 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);
+ if(onlyoneflag)
+ {
+ onlyoneflag=0;
+ nomove_count=0;
+ userkey_state=4;
+ heartbeasend_flag = 1;
+ sleepflag=1;
+
+ sleepflagtime=HIDO_TimerGetTick();
+ }
+ }
+ if(sleepflag)
+ {
+ if(HIDO_TimerGetTick() - sleepflagtime>1)
+ {
+ if(!_4gclose_flag)
+ {
+ _4gclose_flag = 1;
+ PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
+ }
+ }
+
+ if(HIDO_TimerGetTick() - sleepflagtime>3)
+ {
+ power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)PCA_INPUT_DETECT, POWER_WAKEUP_LEVEL_LOW);
+ mcu_deep_sleep();
+ }
+ }
}
+void powerON_Task(void)
+{
+ if(deep_sleep_falg==0)
+ {
+ PCA9555_Set_One_Value_Output(PWR_ENABLE,1);
+ }
+
+}
+uint16_t gaodu;
+uint8_t guanjiflag;
+uint8_t heartbeasend_flag;
+uint32_t guanjiflagtime;
void UserKeyTask(void)
{
-if(!read_userkey_input_pca())
- {
- delay_ms(1000);
+ if(!read_userkey_input_pca())
+ {
+ delay_ms(1000);
if(!read_userkey_input_pca())
{
userkey_state = 1;
keystarttime3 = HIDO_TimerGetTick();
flag_first_TCPconnect = 1;
- //UDPClient_UploadGPS();
+ //UDPClient_UploadGPS();
}
// if(HIDO_TimerGetTick() - keystarttime2>10)
// {
-//
+//
// g_com_map[CNT_RESTART] = 1;
// }
- }else
- {
- keystarttime3 = HIDO_TimerGetTick();
- }
-}
+ } else
+ {
+ keystarttime3 = HIDO_TimerGetTick();
+ }
+}
+uint8_t user_Power_keyflag=0;
void PowerTask(void)
{
- if(read_powerkey_input_pca())
- {
+ if(read_powerkey_input_pca())
+ {
delay_ms(1000);
if(read_powerkey_input_pca())
{
- rtkled=WHITE;
- uwbled=WHITE;
- led4g=WHITE;
- powerled=WHITE;
- Set4LEDColor(uwbled,rtkled,led4g,powerled);
+ rtkled=WHITE;
+ uwbled=WHITE;
+ led4g=WHITE;
+ powerled=WHITE;
+ Set4LEDColor(uwbled,rtkled,led4g,powerled);
delay_ms(500);
- keystarttime = HIDO_TimerGetTick();
- PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
- PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
- PCA9555_Set_One_Value_Output(GPS_POWER,0);//关GPS
- PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
-
+// keystarttime = HIDO_TimerGetTick();
+// PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
+// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
+// PCA9555_Set_One_Value_Output(GPS_POWER,0);//关GPS
+// PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
+ heartbeasend_flag = 1;
+ user_Power_keyflag=1;
+ guanjiflag=1;
+ userkey_state = 2;
+ guanjiflagtime=HIDO_TimerGetTick();
+ g_com_map[KEY_POWERON] = user_Power_keyflag;
+ save_com_map_to_flash();
}
-// if(HIDO_TimerGetTick() - keystarttime2>10)
-// {
-//
-// g_com_map[CNT_RESTART] = 1;
-// }
- }else
- {
- keystarttime = HIDO_TimerGetTick();
- keystarttime2 = HIDO_TimerGetTick();
- }
+ } else
+ {
+ keystarttime = HIDO_TimerGetTick();
+ keystarttime2 = HIDO_TimerGetTick();
+ }
}
void MinuteTask(void)
-{
- PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
+{
+ PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
delay_ms(100);
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
}
void SecondTask(void)
-{static uint8_t second_count;
+{ static uint8_t second_count;
if(second_count++>120)
{
second_count = 0;
MinuteTask();
}
//UWB状态检测
-if(!power_low_flag)//低供电下不需要检测重连
- {
- if(IfTCPConnected())
+ if(!power_low_flag)//低供电下不需要检测重连
{
- 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
+ if(IfTCPConnected())
{
- flag_TCP_reconnectting = 1;
- } else {
+ TCP_reconnect_timer =0;
flag_TCP_reconnectting = 0;
- }
- if(TCP_reconnect_timer++>600)
- {
- TCP_reconnect_timer = 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;
+ }
+ }
}
- }
HIDO_TimerTick();
// if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
nomove_count++;
+// gaodu=GetPressAndHeight()*100;
// 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 uwb_offtime_count=0;
uint8_t input5v_time;
extern uint8_t taglist_num;
uint8_t gps_ntripsend;
+extern uint8_t uwb_OpenClose_flag;
static void sleep_timer_callback(void *dev, uint32_t time)
{
-if(secondtask_count++%2==0)
- {
+// powerON_Task();
+ if(secondtask_count++%2==0)
+ {
input5v_time=1;
flag_secondtask = 1;
+ if(g_com_map[UWBFrequency]>1)
+ {
+ uwb_time_count++;
+ }
+// #endif
+ uwb_offtime_count++;
+ if(uwb_offtime_count>60)
+ {
+ uwb_offtime_count=0;
+ current_state = STATE_SLEEP;
+ }
if(!read_5v_input_pca())
{
- if(bat_percent>15)
- {
- powerled = BLUE;
- }else{
- powerled = RED;
- }
- ledonflag=1;
+ if(bat_percent>15)
+ {
+ powerled = BLUE;
+ } else {
+ powerled = RED;
+ }
+ ledonflag=1;
// ledontime=HIDO_TimerGetTick();
- Set4LEDColor(uwbled,rtkled,led4g,powerled);
+ Set4LEDColor(uwbled,rtkled,led4g,powerled);
// uart_send(UART_ID1, ceshidata, 50,NULL);
}
input5v_time=1;
- if(taglist_num==0)
+ if(taglist_num==0&&g_com_map[UWBFrequency]==1&&g_com_map[UWBENBLE]==1&&uwb_OpenClose_flag==1)
{
- CloseUWB();
- Uwb_init();
- OpenUWB();
+ CloseUWB();
+ Uwb_init();
+ OpenUWB();
}
- }else{
+ if(g_com_map[UWBENBLE]==1)
+ {
+ upload_apppoll();
+ }
+ } else {
flag_secondtask = 0;
}
-
- if(delaysleep_count>0)
- delaysleep_count--;
+
+ if(delaysleep_count>0)
+ delaysleep_count--;
}
+#ifdef JIBU_XIUMIAN
+
+uint16_t sleep_time=0;
+uint32_t state_start_time_jibu=0;
+uint8_t exercise_state=0;
+uint32_t step_count = 0; // 步数计数
+uint32_t last_step_count = 0; // 上一次步数
+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_jibu = uwb_time_count;
+ state_start_time=uwb_time_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;
+ exercise_state=1;
+ 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)
+ {
+ 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;
+ exercise_state=2;
+ state_start_time_jibu=uwb_time_count;
+ }
+ }
+ }
+}
+#endif
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();
+ PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值
+ check_input_change();
// uint16_t gpio_state;
// gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];
@@ -355,15 +478,16 @@
void _4gUsart_handler(enum IO_PIN_T pin)
{
- //LOG_INFO(TRACE_MODULE_APP, "4G RX 唤醒\r\n");
- flag_4G_recdata = 1;
- delaysleep_count = 3;
+ //LOG_INFO(TRACE_MODULE_APP, "4G RX 唤醒\r\n");
+ flag_4G_recdata = 1;
+ delaysleep_count = 3;
}
extern uint16_t ip0,ip1,ip2,ip3,port;
extern uint8_t gps_4g_flag;
uint8_t gps_need_data_flag,gps_open_flag;
void Program_Init(void)
{
+ uint32_t gpsbaudrate1;
Usart1ParseDataCallback = UsartParseDataHandler;//需改为默认为gps处理，UsartParseDataHandler为升级处理当调试时候改为
parameter_init_anchor();//g_com_map表初始化角色默认为基站
dev_id=g_com_map[DEV_ID];//这里不太对
@@ -376,20 +500,52 @@
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
- tag_frequency = 1000/g_com_map[COM_INTERVAL];
-
+ g_com_map[MOTOR_ONTIME_INDEX]=10;
+ tag_frequency = 1000/g_com_map[COM_INTERVAL];
+ gpsbaudrate=(g_com_map[GPSBAUDRATE1_INDEX]<<16)|g_com_map[GPSBAUDRATE2_INDEX];
+ if(gpsbaudrate==9600)
+ {
+ gpsbaudrate = 3;
+ gpsbaudrate1=9600;
+ }
+ else if(gpsbaudrate==115200)
+ {
+ gpsbaudrate = 7;
+ gpsbaudrate1=115200;
+ }
+ else
+ {
+ gpsbaudrate = 3;
+ gpsbaudrate1=9600;
+ }
+ if(g_com_map[GPSENBLE]>1)
+ {
+ g_com_map[GPSENBLE]=1;
+ }
+ if(g_com_map[UWBENBLE]>1)
+ {
+ g_com_map[UWBENBLE]=1;
+ }
+ if(g_com_map[UWBFrequency]>10)
+ {
+ g_com_map[UWBFrequency]=1;
+ }
+ if(g_com_map[URT_BQ]>1)
+ {
+ g_com_map[URT_BQ]=0;
+ }
// g_com_map[IP_0]=111;
// g_com_map[IP_1]=198;
// g_com_map[IP_2]=60;
// g_com_map[IP_3]=6;
// g_com_map[PORT]=6666;
-
+
// g_com_map[IP_0]=117;
// g_com_map[IP_1]=72;
// g_com_map[IP_2]=111;
// g_com_map[IP_3]=237;
// g_com_map[PORT]=7000;
-//
+//
// g_com_map[TCP_IP_0]=111;
// g_com_map[TCP_IP_1]=198;
// g_com_map[TCP_IP_2]=60;
@@ -401,8 +557,8 @@
RTCMMODE_NTRIP,
*/
// g_com_map[RTCMMODE_INDEX] = RTCMMODE_NTRIP;
-
-
+
+
// snprintf((char *)&g_com_map[NTRIP_HOST_INDEX], 32, "140.143.212.42");
// g_com_map[NTRIP_PORT_INDEX] = HIDO_UtilStrToInt("8005");
//// snprintf((char *)&g_com_map[NTRIP_PORT_INDEX], 32, "8005");
@@ -414,27 +570,38 @@
if(g_com_map[BIND_DEV_ID]==0)
{
UWB_work_state = UN_BIND;
- }else{
+ } else {
UWB_work_state = SEARCH_DEV;
}
- //g_com_map[SEND_4G_SECOND]
- if(g_com_map[SEND_4G_SECOND]<30)
- {
- gps_open_flag=0;
- }else{
- gps_open_flag=1;
- }
+ //g_com_map[SEND_4G_SECOND]
+// if(g_com_map[SEND_4G_SECOND]<30)
+// {
+// gps_open_flag=0;
+// }else{
+// gps_open_flag=1;
+// }
g_com_map[MODBUS_MODE] = 0;
- log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
- g_com_map[VERSION] = (1<<8)|8;
-
-
+ log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
+ g_com_map[VERSION] = (1<<8)|33;
+
+
LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
LOG_INFO(TRACE_MODULE_APP,"固件版本:4G-GPS定位工卡 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",g_com_map[IP_0],g_com_map[IP_1],g_com_map[IP_2],g_com_map[IP_3],g_com_map[PORT]);
+ LOG_INFO(TRACE_MODULE_APP,"设备UWB状态: %x .\r\n",g_com_map[UWBENBLE]);
+ LOG_INFO(TRACE_MODULE_APP,"设备GPS状态: %x .\r\n",g_com_map[GPSENBLE]);
+ LOG_INFO(TRACE_MODULE_APP,"设备UWB工作间隔: %x .\r\n",g_com_map[UWBFrequency]);
+ LOG_INFO(TRACE_MODULE_APP,"设备GPS工作间隔: %x .\r\n",g_com_map[GPSFrequency]);
+ LOG_INFO(TRACE_MODULE_APP,"当前GPS工作波特率: %d .\r\n",gpsbaudrate1);
+#ifdef _4G_115200
+ LOG_INFO(TRACE_MODULE_APP,"当前4G波特率: 115200.\r\n");
+#else
+ LOG_INFO(TRACE_MODULE_APP,"当前4G波特率: 9600.\r\n");
+#endif
+// LOG_INFO(TRACE_MODULE_APP,"充电是否开机标志位: %d .\r\n",g_com_map[URT_BQ]);
if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
{
- LOG_INFO(TRACE_MODULE_APP,"TCP_RTCM模式,服务器地址: %d.%d.%d.%d:%d.\r\n",g_com_map[TCP_IP_0],g_com_map[TCP_IP_1],g_com_map[TCP_IP_2],g_com_map[TCP_IP_3],g_com_map[TCP_PORT]);
+ LOG_INFO(TRACE_MODULE_APP,"TCP_RTCM模式,服务器地址: %d.%d.%d.%d:%d.\r\n",g_com_map[TCP_IP_0],g_com_map[TCP_IP_1],g_com_map[TCP_IP_2],g_com_map[TCP_IP_3],g_com_map[TCP_PORT]);
}
else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
{
@@ -445,7 +612,7 @@
LOG_INFO(TRACE_MODULE_APP,"NtripSourcename:%s.\r\n",(char *)&g_com_map[NTRIP_SOURCENAME_INDEX]);
}
else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NONE)
- {
+ {
LOG_INFO(TRACE_MODULE_APP,"单点定位模式模式. \r\n");
}
delay_ms(500);
@@ -456,193 +623,314 @@
uint8_t bat_percent_old=100;
uint8_t input5vflag;
extern uint8_t ota_flag;
+uint8_t bat_percent_only_one=1;
+extern uint8_t jiancebat_percent_flag;
void IdleTask(void)
{
-if(read_5v_input_pca())
- {
- if(state5v==0)
+// if(g_com_map[URT_BQ])
+// {}
+// else
+// {
+//
+//
+// }
+
+ 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
+ }
+ chongman_time=0;
+ only_one_flag=0;
+ uwbled=0;
+ rtkled=0;
+ led4g=0;
+ powerled=0;
+ // PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
+ while(1)
+ {
+ nomove_count = 0;
+ wdt_ping(WDT_ID0);//喂狗
+ // adctick = HIDO_TimerGetTick();
+ if(HIDO_TimerGetTick()-adctick>600) //10分钟采样一次 电量
{
- 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
- }
- chongman_time=0;
- only_one_flag=0;
- uwbled=0;
- rtkled=0;
- led4g=0;
- powerled=0;
-// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
- while(1)
+ chongman_time=chongman_time+60;
+ adctick = HIDO_TimerGetTick();
+ PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+ }
+ if(bat_percent>=99&&!only_one_flag)
{
- nomove_count = 0;
-// adctick = HIDO_TimerGetTick();
- 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(ADC_MINIUS,0);//拉低
- adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
- }
- if(bat_percent>=99&&!only_one_flag)
- {
only_one_flag=1;
chongman_time=0;
- }
- if(bat_percent>=99&&chongman_time>=180)
+ }
+ if(bat_percent>=99&&chongman_time>=180)
+ {
+ powerled = GREEN;
+ } else {
+ powerled = RED;
+ }
+ if(DBG_GetMode() == DBG_MODE_SHELL)
+ {
+ if(ota_flag==1)
{
- powerled = GREEN;
- }else{
- powerled = RED;
+ // OTA_Poll();
+ // HTTPClient_Poll();
}
- if(DBG_GetMode() == DBG_MODE_SHELL)
+ else
{
- if(ota_flag==1)
- {
-// OTA_Poll();
-// HTTPClient_Poll();
- }
- else
- {
- uwb_app_poll();
- }
- Internet_Poll();
- HIDO_TimerPoll();
- HIDO_ATLitePoll();
- TCPClient_Poll();
- if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
- {TCPClient_Poll_1();}
- if(flag_secondtask)
- {
- flag_secondtask = 0;
- SecondTask();
- }
- UserKeyTask();
+ uwb_app_poll();
}
- UART_CheckReceive();
+ Internet_Poll();
+ HIDO_TimerPoll();
+ HIDO_ATLitePoll();
+ TCPClient_Poll();
+ if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
+ {
+ TCPClient_Poll_1();
+ }
if(flag_secondtask)
{
flag_secondtask = 0;
SecondTask();
}
- if(DBG_GetMode() == DBG_MODE_SHELL)
- {
+ UserKeyTask();
+ }
+ UART_CheckReceive();
+ if(flag_secondtask)
+ {
+ flag_secondtask = 0;
+ SecondTask();
+ }
+ if(DBG_GetMode() == DBG_MODE_SHELL)
+ {
Set4LEDColor(uwbled,rtkled,led4g,powerled);
- if(g_com_map[CNT_RESTART]==1)
- {
- g_com_map[CNT_RESTART]=0;
- save_com_map_to_flash();
- NVIC_SystemReset();
+ if(g_com_map[CNT_RESTART]==1)
+ {
+ g_com_map[CNT_RESTART]=0;
+ save_com_map_to_flash();
+ NVIC_SystemReset();
- }
}
- else
- {
+ }
+ else
+ {
Set4LEDColor(0,0,0,powerled);
- }
- if(input5v_time)
- {
+ }
+ if(input5v_time)
+ {
if(!read_5v_input_pca())
{
- break;
- }
+ break;
}
}
- NVIC_SystemReset();
- input5vflag=1;
- }
- 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();
- if(g_com_map[CNT_RESTART]==1)
+ // NVIC_SystemReset();
+ // PCA9555_Set_One_Value_Output(PWR_ENABLE,0);
+ input5vflag=1;
+ }
+ 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
+// PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
+// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
+// PCA9555_Set_One_Value_Output(GPS_POWER,0);//关GPS
+// PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
+// delay_us(1000000);
+//
+// }
+ if(state5v==1)
{
- g_com_map[CNT_RESTART]=0;
- NVIC_SystemReset();
-
+ 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
+ //保留串口输出到debug口这样可以看到看门狗的复位
+ //关闭电源前检查PCA输出脚的电平保证不供电在关闭电源脚
+ PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
+ PCA9555_Set_One_Value_Output(TTS_ENABLE,0);
+ PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
+ PCA9555_Set_One_Value_Output(GPS_POWER,0);//关GPS
+ delay_ms(200);
+
+ PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
+
+
}
- if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
- {
- NVIC_SystemReset();
- }
- HIDO_TimerPoll();
- if(ledonflag==1)
- {
+ }
+ UART_CheckReceive();
+ if(g_com_map[CNT_RESTART]==1)
+ {
+ g_com_map[CNT_RESTART]=0;
+ NVIC_SystemReset();
+
+ }
+ if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
+ {
+ NVIC_SystemReset();
+ }
+ HIDO_TimerPoll();
+ if(ledonflag==1)
+ {
ledonflag=0;
uwbled=0;
rtkled=0;
led4g=0;
powerled=0;
- Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
+ Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
+ }
+ if(bat_percent<5&&jiancebat_percent_flag)
+ {
+ WT588E_PLAY(14);
+ }
+ if(bat_percent<1&&bat_percent_only_one&&jiancebat_percent_flag)
+ {
+ WT588E_PLAY(15);
+ userkey_state=3;
+ heartbeasend_flag = 1;
+ guanjiflag=1;
+ guanjiflagtime=HIDO_TimerGetTick();
+ bat_percent_only_one=0;
+ }
+ if(guanjiflag)
+ {
+ rtkled=WHITE;
+ uwbled=WHITE;
+ led4g=WHITE;
+ powerled=WHITE;
+ Set4LEDColor(uwbled,rtkled,led4g,powerled);
+ if(HIDO_TimerGetTick() - guanjiflagtime>3)
+ {
+ PCA9555_Set_One_Value_Output(TTS_ENABLE,0); //关闭语音输入
+ PCA9555_Set_One_Value_Output(LED_POWER,0); //输出低电平关闭LED
+ PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
+ PCA9555_Set_One_Value_Output(GPS_POWER,0); //关GPS
+ PCA9555_Set_One_Value_Output(PWR_ENABLE,0); //低电平关闭
}
+
+ }
}
void boot_deinit(void)
{
- //将boot中串口返回普通gpio
+ //将boot中串口返回普通gpio
// UART0 TX/RX
io_pin_mux_set(IO_PIN_5, IO_FUNC0);
io_pin_mux_set(IO_PIN_6, IO_FUNC0);
- gpio_pin_set_dir(IO_PIN_5 , GPIO_DIR_OUT, 0);
- gpio_pin_set_dir(IO_PIN_6 , GPIO_DIR_OUT, 0);
+ gpio_pin_set_dir(IO_PIN_5 , GPIO_DIR_OUT, 0);
+ gpio_pin_set_dir(IO_PIN_6 , GPIO_DIR_OUT, 0);
// UART1 RX/TX
io_pin_mux_set(IO_PIN_10, IO_FUNC0);
io_pin_mux_set(IO_PIN_9, IO_FUNC0);
-
- uart_close(UART_ID1);//解绑原来串口1
- uart_close(UART_ID0);//解绑原来串口0
+
+ uart_close(UART_ID1);//解绑原来串口1
+ uart_close(UART_ID0);//解绑原来串口0
}
extern uint32_t uwb_time_count;
+uint8_t GPS_UPLOAD_FLAG=0;
+uint32_t elapsed_time_jibu;
+extern uint8_t uwb_OpenClose_flag;
void upload_apppoll()
-{
- uint32_t elapsed_time_jibu;
+{
- switch (current_state)
- {
- case STATE_NORMAL:
+ if(current_state==STATE_NORMAL&&uwb_OpenClose_flag==1)
+ {
+ if(g_com_map[UWBFrequency]>1)
+ {
elapsed_time_jibu = uwb_time_count - state_start_time;
- switch(elapsed_time_jibu)
- {
- case UWB_OPEN_COUNT:
-
- CloseUWB();
- break;
-
- case UWB_MEASUREMENT_INTERVAL:
- OpenUWB();
- state_start_time = uwb_time_count;
- break;
- }
+ if(elapsed_time_jibu==1)
+ {
+ CloseUWB();
+ UWBSendUDPTask();
+ }
+ else if(elapsed_time_jibu==g_com_map[UWBFrequency])
+ {
+ taglist_num = 0;
+ CloseUWB();
+ Uwb_init();
+ OpenUWB();
+ state_start_time = uwb_time_count;
+ }
+ }
+ else
+ {}
+ }
+ else if(current_state==STATE_SLEEP&&uwb_OpenClose_flag==1)
+ {
+ elapsed_time_jibu = uwb_time_count - state_start_time;
+ switch(elapsed_time_jibu)
+ {
+ case UWB_OPEN_COUNT:
+ CloseUWB();
+ UWBSendUDPTask();
break;
- case STATE_SLEEP:
- elapsed_time_jibu = uwb_time_count - state_start_time;
- switch(elapsed_time_jibu)
- {
- case UWB_OPEN_COUNT:
-
- CloseUWB();
- break;
-
- case UWB_MEASUREMENT_INTERVAL_SLEEP:
-
- OpenUWB();
- state_start_time = uwb_time_count;
- break;
- }
+ case UWB_MEASUREMENT_INTERVAL_SLEEP:
+ taglist_num = 0;
+ CloseUWB();
+ Uwb_init();
+ OpenUWB();
+ state_start_time = uwb_time_count;
break;
- }
+ }
+ }
+// switch (current_state)
+// {
+////#ifdef UWB_1_5HZ
+// if(g_com_map[UWBFrequency]>1)
+// {
+// case STATE_NORMAL:
+// elapsed_time_jibu = uwb_time_count - state_start_time;
+// if(elapsed_time_jibu)
+// {
+// CloseUWB();
+// UWBSendUDPTask();
+// }
+// else if(elapsed_time_jibu==g_com_map[UWBFrequency])
+// {
+// taglist_num = 0;
+// CloseUWB();
+// Uwb_init();
+// OpenUWB();
+// state_start_time = uwb_time_count;
+// }
+// }
+// else
+// {}
+////#endif
+// case STATE_SLEEP:
+// elapsed_time_jibu = uwb_time_count - state_start_time;
+// switch(elapsed_time_jibu)
+// {
+// case UWB_OPEN_COUNT:
+// CloseUWB();
+// UWBSendUDPTask();
+// break;
+//
+// case UWB_MEASUREMENT_INTERVAL_SLEEP:
+// taglist_num = 0;
+// CloseUWB();
+// Uwb_init();
+// OpenUWB();
+// state_start_time = uwb_time_count;
+// break;
+// }
+// break;
+// }
}
@@ -653,13 +941,33 @@
int test1,test3;
uint32_t test4;
extern uint8_t receive_flag;
+static void app_wdt_callback(void *dev, uint32_t status)
+{
+ ASSERT(status, "WDT TIMEOUT，程序复位");
+ //LOG_INFO(TRACE_MODULE_APP, "程序卡死，看门狗复位");
+}
+struct WDT_CFG_T app_wdt_cfg = {
+ .timeout = 32768 * 30,
+ .rst_en = true,
+ .int_en = true,
+ .callback = app_wdt_callback,
+};
int main(void)
{
- __enable_irq();
+ __enable_irq();
board_clock_run();
boot_deinit();
board_pins_config();
- board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_115200);
+ gpio_open();
+ IIC2_Init();
+ Accelerometer_Init();
+// delay_ms(100);
+// BarInit();
+// delay_ms(100);
+// gaodu=GetPressAndHeight();
+ PCA9555_init();
+ board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_921600);
+// while(1);
// Reset reason
reset_cause_get();
reset_cause_clear();
@@ -679,10 +987,9 @@
wdt_close(WDT_ID0);
Program_Init();
Uart_Register(UART_ID_4G, UART_ID0);
-
Uart_Register(UART_ID_DBG_GPS, UART_ID1);
DBG_Init();
-
+ SendComMap(0x50,0);
Internet_Init();
TCPClient_Init();
// if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
@@ -695,31 +1002,33 @@
TCPClient_Init_1();
}
// HTTPClient_Init();
- gpio_open();
+ wdt_open(WDT_ID0,&app_wdt_cfg);//30s检测喂狗
LED_output_init();//配置彩色灯引脚
- IIC2_Init();
- Accelerometer_Init();
- PCA9555_init();
+
+ PCA9555_Set_One_Value_Output(TTS_ENABLE,1);
+ WT588E02B_Init();
adc_open(&usr_adc_cfg);
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
power_init();
- sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
- sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
- PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
- adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
- pca_input_detection_init(pca_handler);//pca检测输入
Uwb_init();
- OpenUWB();
-// DBG_SetMode(DBG_MODE_SHELL);
-// Shell_Init();
-
+
+ if(g_com_map[KEY_POWERON]==1)
+ {
+ WT588E_PLAY(0); //播报开机语音
+ g_com_map[KEY_POWERON]=0;
+ save_com_map_to_flash();
+ }
+ if(g_com_map[UWBFrequency]&&g_com_map[UWBENBLE])
+ {
+ OpenUWB();
+ }
if(!read_5v_input_pca())
{
- Set4LEDColor(BLUE,GREEN,WHITE,RED);
- delay_ms(500);
- Set4LEDColor(RED,WHITE,RED,WHITE);
- delay_ms(500);
- Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
+ Set4LEDColor(BLUE,GREEN,WHITE,RED);
+ delay_ms(500);
+ Set4LEDColor(RED,WHITE,RED,WHITE);
+ delay_ms(500);
+ Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
}
g_com_map[MODBUS_MODE] = 0;
state5v=0;
@@ -727,13 +1036,25 @@
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
+ if(g_com_map[UWBENBLE]==0)
+ {
+ CloseUWB();
+ }
+ sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
+ sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
+ PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+ pca_input_detection_init(pca_handler);//pca检测输入
+ GPS_Init();
+// gaodu=GetPressAndHeight()*100;
while (1)
- {
+ {
uwb_app_poll();
Internet_Poll();
HIDO_TimerPoll();
HIDO_ATLitePoll();
TCPClient_Poll();
+ wdt_ping(WDT_ID0);//喂狗
if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
{
TCPClient_Poll_1();
@@ -743,7 +1064,8 @@
flag_secondtask = 0;
SecondTask();
}
- IMUTask();
+ IMUTask();
IdleTask();
+ check_step_and_update_state();
}
}
--
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