From bccfff0ace10f85619e9f1fd4b2806f99e9390c2 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期六, 16 八月 2025 18:33:27 +0800
Subject: [PATCH] 防丢标签V1.0,demo版本实现震动和测距
---
keil/include/main/main.c | 213 ++++++++++++++--------------------------------------
1 files changed, 58 insertions(+), 155 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 7c5518d..520b7cd 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -91,7 +91,7 @@
extern uint8_t anchordata_num;
uint32_t dev_id;
uint8_t group_id;
-uint16_t tag_frequency;
+uint8_t tag_frequency;
uint16_t disoffset;
uint16_t warning_distance,prewarning_distance;
int16_t fVoltage_mv,first_search_flag;
@@ -100,7 +100,7 @@
uint16_t gps_wait_count,gps_wait_count2;
uint8_t state5v = 1;
uint8_t motor_power_state=1,uwb_state,air780_power_state,gps_success_state,red_charge_state,green_charge_state,air780_success_state,first_motor_in_flag;
-float nomove_count=0;
+uint16_t nomove_count=0;
static uint32_t sample[NUM_SAMPLES] = {0};
uint8_t recev_error_num,send_messgae_count,send_flag,control_state,power_low_flag;
uint8_t flag_4g_usart_rx_state = 1; //4G 串口RX当前是 RX状态，不是GPIO状态
@@ -157,6 +157,18 @@
.int_tx = false,
#endif
};
+static void pwm_callback(void *dev, uint32_t status)
+{
+// uint8_t id = *(uint8_t *)dev;
+// LOG_INFO(TRACE_MODULE_APP, "PWM %x interrupt callback\r\n", id);
+
+// gpio_pin_toggle(IO_PIN_7);
+}
+struct PWM_CFG_T usr_pwm_cfg = {
+ .general_prescale = 15,
+ .int_en = 1,
+ .callback = pwm_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);
@@ -266,9 +278,11 @@
}
void MinuteTask(void)
{
- PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
+// PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
}
+extern uint8_t motor_state;
+extern int8_t motor_keeptime;
void SecondTask(void)
{static uint8_t second_count;
if(second_count++>60)
@@ -276,46 +290,40 @@
second_count = 0;
MinuteTask();
}
-
-// 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;
-// }
-
-// }
-// }
+ search_in_motor_list();//每秒判断一次根据距离最近的判断该不该震动
+if(g_com_map[MOTOR_ENABLE])
+ {
+ if(motor_keeptime-->0)
+ {
+ motor_state = 2;
+ }else{
+ motor_state = 0;
+ }
+ switch(motor_state)
+ {case 0:
+ pwm_ch_disable(PWM_ID3);
+ break;
+ case 1:
+ break;
+ case 2:
+ pwm_ch_enable(PWM_ID3, &usr_pwm_ch0_cfg);
+ break;
+ case 3:
+ break;
+ }
+ }
HIDO_TimerTick();
+ if(motor_keeptime<0)
+ {
+ motor_keeptime=-1;//防止溢出
+ }
if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
nomove_count++;
else{
nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
}
}
-uint8_t tt=1;
+//uint8_t tt=1;
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
uint8_t uwb_enable_flag=0;
@@ -420,75 +428,16 @@
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)|1;
+ g_com_map[VERSION] = (1<<8)|0;
LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
- LOG_INFO(TRACE_MODULE_APP,"固件版本:4G-GPS定位手环 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
+ LOG_INFO(TRACE_MODULE_APP,"固件版本:防丢器标签 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);
-}
-extern uint8_t motor_state;
-extern float motor_keeptime;
+}
+
uint8_t test1;
void IdleTask(void)
{
- if(g_com_map[MOTOR_ENABLE])
- {
- if(motor_keeptime>0)
- {
- motor_state = 2;
- }else{
- motor_state = 0;
- }
- //motor_state=2;
- switch(motor_state)
- {case 0:
-// if(hardware_type==NSH1)
-// {MOTOR_OFF;
-// }else if(hardware_type==GP)
-// {
-// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
-// }
-// pwm_ch_enable(PWM_ID0, &usr_pwm_ch0_cfg);
-// delay_ms(10000);
- pwm_ch_disable(PWM_ID3);
- break;
- case 1:
-// if(current_time<MOTOR_ONTIME)
-// {
-// if(hardware_type==NSH1)
-// {MOTOR_ON;
-// }else if(hardware_type==GP)
-// {
-// HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
-// }
-// }else{
-// if(hardware_type==NSH1)
-// {MOTOR_OFF;
-// }else if(hardware_type==GP)
-// {
-// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
-// }
-// }
-// pwm_ch_enable(PWM_ID0, &usr_pwm_ch0_cfg);
- break;
- case 2:
-// if(hardware_type==NSH1)
-// {MOTOR_ON;
-// }else if(hardware_type==GP)
-// {
-// HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
-// }
- pwm_ch_enable(PWM_ID3, &usr_pwm_ch0_cfg);
- break;
- case 3:
-// if(hardware_type==NSH1)
-// {MOTOR_OFF;
-// }else if(hardware_type==GP)
-// {
-// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
-// }
- break;
- }
- }
+
UART0_CheckReceive();
test1=gpio_pin_get_val(INPUT_5V_Pin);
if(gpio_pin_get_val(INPUT_5V_Pin))
@@ -605,50 +554,7 @@
uint32_t tx_en_start_u32;
uint32_t tx_en_start_u321;
uint8_t baifenbi=5;
-void Lora_upanc_ing_Poll( void )
-{ uint16_t crc16;
-// if(Lora_upanc_flag==1)
-// {
-// Lora_deinit_Poll();
- if(Lora_qingqiu_flag==1)
- {
- CloseUWB();
-// mubiao_anchor_ID=0x1872;
- final_bag_num=(g_com_map[YAOGEIANC_UPWENJIAN_DAXIAO]/ONE_BAG_DAXIAO)+1;//计算一共要发都是包
-// final_bag_num=651;
- Lora_qingqiu_flag=0;
- send_lora_data[MSG_TYPE_IDX]=LORA_MSGTYPE_UPDATEFILE_RESP;//LORA MSG TYPE 定义
- memcpy(&send_lora_data[SOURCE_ID_IDX],&dev_id,2);//自己ID 占用2个字节
- memcpy(&send_lora_data[DEST_ID_IDX],&mubiao_anchor_ID,2);//标签或者基站的设备ID 2个字节
- memcpy(&send_lora_data[MUQIAN_BAG],&Lora_qingqiu_bao,2);
- memcpy(&send_lora_data[DATA_IDX], (HIDO_VOID *)(APP_CONFIG_APPLICATION_ADDRESS+Lora_qingqiu_bao*ONE_BAG_DAXIAO), ONE_BAG_DAXIAO);
- crc16=Cal_CRC16(send_lora_data,DATA_IDX+ONE_BAG_DAXIAO);
- memcpy(&send_lora_data[DATA_IDX+ONE_BAG_DAXIAO],&crc16,2);
-// Lora_status=1;
- jindu=(Lora_qingqiu_bao*100)/final_bag_num;
-// LOG_INFO(TRACE_MODULE_APP, "升级进度%d\r\n",jindu);
- Dtu_shengji_jindu[4]=jindu;
- memcpy(&Dtu_shengji_jindu[5],&mubiao_anchor_ID,2);
- if(jindu>baifenbi)
- {
- uart_send(UART_ID0, Dtu_shengji_jindu,9, NULL);
- baifenbi=baifenbi+10;
- }
- tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(100U);//发送必须要延时发送才可以用于测距否则立即发送会获取时间戳不对，需要计算程序运行时间，避免设置过去时间
- tempflag=uwb_tx(send_lora_data,DATA_IDX+ONE_BAG_DAXIAO+2+2,1,tx_en_start_u32);//立即发送
- tx_en_start_u321= phy_timer_count_get();
-// while(mac_is_busy());//等待发送完成
-
- }
-// }
-}
-static void pwm_callback(void *dev, uint32_t status)
-{
-// uint8_t id = *(uint8_t *)dev;
-// LOG_INFO(TRACE_MODULE_APP, "PWM %x interrupt callback\r\n", id);
-// gpio_pin_toggle(IO_PIN_7);
-}
static void voltage_input_handler()
{
@@ -682,11 +588,7 @@
wdt_close(WDT_ID0);
LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
- struct PWM_CFG_T usr_pwm_cfg = {
- .general_prescale = 15,
- .int_en = 1,
- .callback = pwm_callback,
- };
+
pwm_open(&usr_pwm_cfg);
// pwm_ch_enable(PWM_ID0, &usr_pwm_ch0_cfg);
gpio_open();
@@ -696,7 +598,7 @@
IIC2_Init();
SC7A22H_Motion_Detection_Init();
gpio_pin_clr(ADC_GND_ENABLE);
- Program_Init();
+ //Program_Init();
uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
power_init();
sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
@@ -709,8 +611,8 @@
board_5V_input_init(voltage_input_handler);
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
board_acceleration_detection_init(move_handler);
- Uwb_init();
- Dw1000_App_Init();
+ Tag_uwb_init();
+// Dw1000_App_Init();
while (1)
{
if(flag_secondtask)
@@ -721,17 +623,18 @@
if(g_start_send_flag)
{
g_start_send_flag = 0;
- gpio_pin_set(IO_PIN_7);//亮
- SwitchTagState();
+ gpio_pin_set(IO_PIN_7);//亮
+ TagRange();
gpio_pin_clr(IO_PIN_7);//灭
}
// PowerTask();
- IMUTask();
+ //IMUTask();
// UserKeyTask();
IdleTask();
+ LoraUp_Poll();
#ifndef DEBUG_MODE
- if(sleep_flag&&state5v==0){//开始一段时间无休眠
+ if(sleep_flag&&state5v==0&&!motor_state){//开始一段时间无休眠
trace_flush();
uint32_t lock = int_lock();
//LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
--
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