From a842ed1ea9caa76785625ad6b7728a919bb4ce2c Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期三, 02 七月 2025 18:49:01 +0800
Subject: [PATCH] Merge branch 'MK大工卡-低精度GPS-1/5HZ' of http://47.108.70.204:60062/r/ChinaUWBProject into MK大工卡-低精度GPS-1/5HZ
---
keil/include/main/main.c | 478 +++++++++++++++++++++++++++++++++++------------------------
1 files changed, 280 insertions(+), 198 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 3688375..24336ea 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -46,6 +46,8 @@
#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];
extern uint8_t state5V_prase_flag,gps_prase_flag;
@@ -143,55 +145,22 @@
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(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_Output(TTS_ENABLE,0);
+
PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭gps，4G
- sleep_timer_stop();
+
+ sleep_timer_stop();
+
//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);
-//// 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();
-// if(onlyoneflag)
-// {
-// onlyoneflag=0;
-// userkey_state=4;
-// heartbeasend_flag = 1;
-// sleepflag=1;
-// sleepflagtime=HIDO_TimerGetTick();
-// }
-// if(sleepflag)
-// {
-// if(HIDO_TimerGetTick() - sleepflagtime>3)
-// {
-// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭gps，4G
-// }
-// }
-//
-//// 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);
-//// sys_reset(0);
-////// LOG_INFO(TRACE_MODULE_APP, "从休眠出来\r\n");
-//// int_unlock(lock);
}
+uint8_t jiancebat_percent_flag;
static void adc_callback(void *data, uint32_t number)
{
uint32_t *result = (uint32_t *)data;
@@ -218,6 +187,7 @@
bat_percent=100;
if(bat_percent<0)
bat_percent=0;
+ jiancebat_percent_flag=1;
// if(fVoltage_mv<3300)
// {
// //power_low_flag=1;
@@ -251,6 +221,7 @@
userkey_state=4;
heartbeasend_flag = 1;
sleepflag=1;
+
sleepflagtime=HIDO_TimerGetTick();
}
}
@@ -271,6 +242,7 @@
}
}
+uint16_t gaodu;
uint8_t guanjiflag;
uint8_t heartbeasend_flag;
uint32_t guanjiflagtime;
@@ -296,6 +268,7 @@
keystarttime3 = HIDO_TimerGetTick();
}
}
+uint8_t user_Power_keyflag=0;
void PowerTask(void)
{
if(read_powerkey_input_pca())
@@ -315,9 +288,12 @@
// 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();
}
}else
{
@@ -362,6 +338,7 @@
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;
// }
@@ -372,6 +349,7 @@
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)
{
// powerON_Task();
@@ -402,7 +380,7 @@
// uart_send(UART_ID1, ceshidata, 50,NULL);
}
input5v_time=1;
- if(taglist_num==0&&g_com_map[UWBFrequency]==1&&g_com_map[UWBENBLE]==1)
+ if(taglist_num==0&&g_com_map[UWBFrequency]==1&&g_com_map[UWBENBLE]==1&&uwb_OpenClose_flag==1)
{
CloseUWB();
Uwb_init();
@@ -420,6 +398,57 @@
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
@@ -483,6 +512,10 @@
{
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;
@@ -531,8 +564,8 @@
// }
g_com_map[MODBUS_MODE] = 0;
log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
- g_com_map[VERSION] = (1<<8)|20;
-
+ g_com_map[VERSION] = (1<<8)|25;
+
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);
@@ -542,6 +575,7 @@
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);
+// 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]);
@@ -566,166 +600,184 @@
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())
{
- 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;
-// adctick = HIDO_TimerGetTick();
- if(HIDO_TimerGetTick()-adctick>600) //10分钟采样一次 电量
+ if(state5v==0)
{
- 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;
+ 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;
- }
- if(bat_percent>=99&&chongman_time>=180)
+ only_one_flag=0;
+ uwbled=0;
+ rtkled=0;
+ led4g=0;
+ powerled=0;
+ // PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
+ while(1)
{
- powerled = GREEN;
- }else{
- powerled = RED;
- }
- if(DBG_GetMode() == DBG_MODE_SHELL)
- {
- 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();
- }
- 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)
+ 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
{
- g_com_map[CNT_RESTART]=0;
- save_com_map_to_flash();
- NVIC_SystemReset();
+ 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)
+ {
+ powerled = GREEN;
+ }else{
+ powerled = RED;
+ }
+ if(DBG_GetMode() == DBG_MODE_SHELL)
+ {
+ 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();
+ }
+ 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();
+ }
+ }
+ else
+ {
+ Set4LEDColor(0,0,0,powerled);
+ }
+ if(input5v_time)
+ {
+ if(!read_5v_input_pca())
+ {
+ break;
+ }
}
}
- else
- {
- Set4LEDColor(0,0,0,powerled);
- }
- if(input5v_time)
- {
- if(!read_5v_input_pca())
- {
- break;
- }
- }
+ // NVIC_SystemReset();
+ // PCA9555_Set_One_Value_Output(PWR_ENABLE,0);
+ input5vflag=1;
}
-// NVIC_SystemReset();
-// PCA9555_Set_One_Value_Output(PWR_ENABLE,0);
- input5vflag=1;
- }
- else
- {
- if(state5v==1)
+ else
{
- 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);
-
- }
- }
- 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);
- }
- if(bat_percent<1)
- {
- userkey_state=3;
- heartbeasend_flag = 1;
- guanjiflag=1;
- guanjiflagtime=HIDO_TimerGetTick();
- }
- if(guanjiflag)
- {
- rtkled=WHITE;
- uwbled=WHITE;
- led4g=WHITE;
- powerled=WHITE;
- Set4LEDColor(uwbled,rtkled,led4g,powerled);
- if(HIDO_TimerGetTick() - guanjiflagtime>3)
- {
+ 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);
+
+ }
+ }
+ 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);
+ }
+ 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)
{
@@ -746,10 +798,11 @@
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()
{
- if(current_state==STATE_NORMAL)
+ if(current_state==STATE_NORMAL&&uwb_OpenClose_flag==1)
{
if(g_com_map[UWBFrequency]>1)
{
@@ -771,10 +824,10 @@
else
{}
}
- else if(current_state==STATE_SLEEP)
+ else if(current_state==STATE_SLEEP&&uwb_OpenClose_flag==1)
{
elapsed_time_jibu = uwb_time_count - state_start_time;
- switch(elapsed_time_jibu==1)
+ switch(elapsed_time_jibu)
{
case UWB_OPEN_COUNT:
CloseUWB();
@@ -843,6 +896,17 @@
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();
@@ -850,11 +914,15 @@
boot_deinit();
board_pins_config();
gpio_open();
- IIC2_Init();
- Accelerometer_Init();
+ IIC2_Init();
+ Accelerometer_Init();
+// delay_ms(100);
+ BarInit();
+// delay_ms(100);
+// gaodu=GetPressAndHeight();
PCA9555_init();
- board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_115200);
-
+ board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_921600);
+// while(1);
// Reset reason
reset_cause_get();
reset_cause_clear();
@@ -877,7 +945,8 @@
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)
@@ -890,15 +959,25 @@
TCPClient_Init_1();
}
// HTTPClient_Init();
-
+ wdt_open(WDT_ID0,&app_wdt_cfg);//30s检测喂狗
LED_output_init();//配置彩色灯引脚
-
+ 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();
Uwb_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();
@@ -926,6 +1005,7 @@
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
+ gaodu=GetPressAndHeight()*100;
while (1)
{
@@ -934,6 +1014,7 @@
HIDO_TimerPoll();
HIDO_ATLitePoll();
TCPClient_Poll();
+ wdt_ping(WDT_ID0);//喂狗
if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
{
TCPClient_Poll_1();
@@ -943,7 +1024,8 @@
flag_secondtask = 0;
SecondTask();
}
- IMUTask();
+ IMUTask();
IdleTask();
+ check_step_and_update_state();
}
}
--
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