From b12f7e7c1514077ab1ac4a66b1b2cea8f3c21a56 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期一, 03 三月 2025 17:28:33 +0800
Subject: [PATCH] 初步解决按钮第二行到第四行没法相应的问题
---
keil/include/main/main.c | 715 ++++++++++++++++++++++++++++++++++++++++++-----------------
1 files changed, 505 insertions(+), 210 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index b1e45dd..59ff6e6 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -62,7 +62,7 @@
#include "HIDO_Timer.h"
#include "TCPClient.h"
-//#define DEBUG_MODE
+#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
#define TEST_UART_POLL_MODE 0
@@ -76,7 +76,22 @@
#define WARING_LIMIT_TIME 10
#define UPDATE_TIME 10
-
+#define GREEN 1
+#define UP_TOWARD 2
+#define DOWN_TOWARD 3
+#define RED 4
+#define BRT 5
+#define SAVE 6
+#define STEP 7
+#define SCAN 8
+#define WIN 9
+#define TXP 10
+#define SFT_D 11
+#define O 12
+#define VOX 13
+#define SQL 14
+#define ROGER 15
+#define KEY 16
extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
@@ -90,13 +105,14 @@
int16_t fVoltage_mv,first_search_flag;
uint8_t bat_percent,g_start_send_flag=1;
uint8_t link_success_flag,motor_count;
-uint16_t gps_wait_count;
+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,chaging_state,changed_state,air780_success_state,first_motor_in_flag;
+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;
static uint32_t sample[NUM_SAMPLES] = {0};
-uint8_t recev_error_num,send_messgae_count,send_flag,control_state;
+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
+int input_5v_flag,air780e_flag1,air780e_flag2,air780e_flag3,air780e_flag4;
typedef enum
{ UN_BIND=0,
LINK_SUCCESS,
@@ -106,7 +122,7 @@
Commend_SendDate send_struct;
-static struct ADC_CFG_T usr_adc_cfg = {
+struct ADC_CFG_T usr_adc_cfg = {
.mode = ADC_MODE_CONTINUE, /* Selected single conversion mode */
.clk_sel = ADC_CLK_HIGH, /* Selected 62.4M high speed clock */
.vref_sel = ADC_SEL_VREF_INT, /* Using internal reference voltage (1.2V)*/
@@ -146,6 +162,20 @@
{
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}
+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
+ sleep_timer_stop();
+ //adc_close();
+ power_enter_power_down_mode(1);
+ //LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");
+ sys_reset(0);
+ int_unlock(lock);
+}
static void adc_callback(void *data, uint32_t number)
{
uint32_t *result = (uint32_t *)data;
@@ -168,6 +198,17 @@
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");
+ }
+// gpio_pin_set(ADC_GND_ENABLE);//在拉高
// LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
}
//void UartInit(void)
@@ -177,113 +218,125 @@
//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;
-uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag;
+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;
+uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag,flag_fenli_alarm = 0,fenli_alarm_count,delaysleep_count,enbale_blink_flag;
int need_open_gps_count;
+uint32_t keystarttime,keystarttime2;
+extern int16_t beepontime;
+extern uint8_t beep_start_flag;
void MotorPoll(void)
{
- if(UWB_work_state==UN_BIND) {
- gps_uwb_flag=0;//关闭GPS
- moter_open_uwb_flag=0;//关闭震动
- need_open_gps_count=0;//清0计数gps
- } else { //绑定状态下
- if(anchordata_num==1) {
- if(distance<g_com_map[ALARM_DISTANCE1]) { //小于预警距离
- need_open_gps_count=0;
- moter_open_uwb_flag=0;//关闭震动
- gps_uwb_flag=0;//关闭GPS
- } else if(g_com_map[ALARM_DISTANCE1]<=distance&&distance<=g_com_map[ALARM_DISTANCE2]) { //大于预警距离小于报警距离
- need_open_gps_count++;
- moter_open_uwb_flag=1;//开启震动
- if(need_open_gps_count>=20) {
- gps_uwb_flag=1;//开启gps测距流程
- need_open_gps_count=0;
- }
- } else if(distance>=g_com_map[ALARM_DISTANCE2]) { //大于报警距离
- need_open_gps_count++;
- moter_open_uwb_flag=1;//开启震动
- if(need_open_gps_count>=20) {
- gps_uwb_flag=1;//开启gps测距流程
- need_open_gps_count=0;
- }
- }
- } else if(anchordata_num==0) {
-
- 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;
- }
- }
+ if(beep_start_flag)
+ {
+ if(beepontime-->0)
+ {
+ motor_power_state=0;
+ }else{
+ beep_start_flag=0;
+ motor_power_state=1;
+ }
+ }
}
+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);
+// mcu_deep_sleep();
+// }
+}
+void UserKeyTask(void)
+ {
+// if(!GET_USERKEY)
+// {
+// if(HIDO_TimerGetTick() - keystarttime>3)
+// {
+// userkey_state = 1;
+// keystarttime = HIDO_TimerGetTick();
+// //UDPClient_UploadGPS();
+// }
+// if(HIDO_TimerGetTick() - keystarttime2>10)
+// {
+// g_com_map[CNT_RESTART] = 1;
+// }
+// }else
+// {
+// keystarttime = HIDO_TimerGetTick();
+// keystarttime2 = HIDO_TimerGetTick();
+// }
+ }
void MinuteTask(void)
{
- adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+//{ gpio_pin_clr(ADC_GND_ENABLE);//拉低
+// adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
}
+uint8_t link_error_time;
void SecondTask(void)
-{static uint8_t second_count;
+{
+ static uint8_t second_count;
if(second_count++>60)
{
second_count = 0;
MinuteTask();
}
- //UWB更新列表
- TagListUpdate();
- GPS_Poll();
- //UWB状态检测
+// if(!power_low_flag)
+// {Gps_change();
+// MotorPoll();
+// }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())
+// {
+//// link_error_time=0;
+// 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;
+// sys_reset(4);//重连不上就复位
+// }
+// if(TCP_reconnect_timer++>600)
+// {
+// TCP_reconnect_timer = 0;
+// }
- 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;
- }
-
- }
- HIDO_TimerTick();
- nomove_count++;
+// }
+// }
+// HIDO_TimerTick();
+// 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 flag_sleeptimer,flag_secondtask,secondtask_count;
+uint8_t tt=1;
+uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
+uint8_t uwb_enable_flag=0;
static void sleep_timer_callback(void *dev, uint32_t time)
{
- IO_control_init();
- UWBPoll();
- if(g_com_map[MOTOR_ENABLE])
- MotorPoll();
- if(secondtask_count++%2==0)
+if(secondtask_count++%2==0)
{
flag_secondtask = 1;
}else{
flag_secondtask = 0;
}
-
- flag_sleeptimer = 1;
-
- //马达震动逻辑
- 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;
- }
-
+ if(delaysleep_count>0)
+ delaysleep_count--;
//GPS工作逻辑
-
}
+
static void voltage_input_handler(enum IO_PIN_T pin)
{
@@ -293,20 +346,23 @@
nomove_count=0;
}
uint8_t flag_4G_recdata;
-static void _4gUsart_handler(enum IO_PIN_T pin)
+void _4gUsart_handler(enum IO_PIN_T pin)
{
- LOG_INFO(TRACE_MODULE_APP, "4G RX 唤醒\r\n");
- // flag_4G_recdata = 1;
- // AIR780EUartInit();
+ //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;
+extern uint8_t gps_need_data_flag,gps_open_flag;
+uint8_t bat_bercent_hex;
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
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
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
+// 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;
@@ -316,79 +372,271 @@
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
-
- 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;
+
+// if(g_com_map[BIND_DEV_ID]==0)
+// {
+// UWB_work_state = UN_BIND;
+// }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[MODBUS_MODE] = 0;
+ log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
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)|2;
- 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);
+ 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:MK_对讲机 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);
}
-
+uint8_t key_num;
+ void board_key_scan(uint8_t *key)
+ {
+ uint8_t key_down_flag=0;
+ //第一行拉低做检测
+ gpio_pin_clr(CN1);
+ gpio_pin_set(CN2);
+ gpio_pin_set(CN3);
+ gpio_pin_set(CN4);
+ if(!gpio_pin_get_val(COM1)||!gpio_pin_get_val(COM2)||!gpio_pin_get_val(COM3)||!gpio_pin_get_val(COM4))
+ {
+ if(!gpio_pin_get_val(COM1))
+ {
+ key_down_flag=1;
+ *key=GREEN;
+ while(!gpio_pin_get_val(COM1));
+ }else if(!gpio_pin_get_val(COM2))
+ {
+ key_down_flag=1;
+ *key=UP_TOWARD;
+ while(!gpio_pin_get_val(COM2));
+ }else if (!gpio_pin_get_val(COM3))
+ {
+ key_down_flag=1;
+ *key=DOWN_TOWARD;
+ while(!gpio_pin_get_val(COM3));
+ }else if (!gpio_pin_get_val(COM4))
+ {
+ key_down_flag=1;
+ *key=RED;
+ while(!gpio_pin_get_val(COM4));
+ }else{
+ key_down_flag=0;
+ gpio_pin_set(CN1);
+ gpio_pin_set(CN2);
+ gpio_pin_set(CN3);
+ gpio_pin_set(CN4);
+ }
+ }
+ //第二行拉低做检测
+ gpio_pin_set(CN1);
+ gpio_pin_clr(CN2);
+ gpio_pin_set(CN3);
+ gpio_pin_set(CN4);
+ if(!gpio_pin_get_val(COM1)||!gpio_pin_get_val(COM2)||!gpio_pin_get_val(COM3)||!gpio_pin_get_val(COM4))
+ {
+ if(!gpio_pin_get_val(COM1))
+ {
+ key_down_flag=1;
+ *key=BRT;
+ while(!gpio_pin_get_val(COM1));
+ }else if(!gpio_pin_get_val(COM2))
+ {
+ key_down_flag=1;
+ *key=SAVE;
+ while(!gpio_pin_get_val(COM2));
+ }else if (!gpio_pin_get_val(COM3))
+ {
+ key_down_flag=1;
+ *key=STEP;
+ while(!gpio_pin_get_val(COM3));
+ }else if (!gpio_pin_get_val(COM4))
+ {
+ key_down_flag=1;
+ *key=SCAN;
+ while(!gpio_pin_get_val(COM4));
+ }else{
+ key_down_flag=0;
+ gpio_pin_set(CN1);
+ gpio_pin_set(CN2);
+ gpio_pin_set(CN3);
+ gpio_pin_set(CN4);
+ }
+ }
+
+ //第三行拉低做检测
+ gpio_pin_set(CN1);
+ gpio_pin_set(CN2);
+ gpio_pin_clr(CN3);
+ gpio_pin_set(CN4);
+ if(!gpio_pin_get_val(COM1)||!gpio_pin_get_val(COM2)||!gpio_pin_get_val(COM3)||!gpio_pin_get_val(COM4))
+ {
+ if(!gpio_pin_get_val(COM1))
+ {
+ key_down_flag=1;
+ *key=WIN;
+ while(!gpio_pin_get_val(COM1));
+ }else if(!gpio_pin_get_val(COM2))
+ {
+ key_down_flag=1;
+ *key=TXP;
+ while(!gpio_pin_get_val(COM2));
+ }else if (!gpio_pin_get_val(COM3))
+ {
+ key_down_flag=1;
+ *key=SFT_D;
+ while(!gpio_pin_get_val(COM3));
+ }else if (!gpio_pin_get_val(COM4))
+ {
+ key_down_flag=1;
+ *key=O;
+ while(!gpio_pin_get_val(COM4));
+ }else{
+ key_down_flag=0;
+ gpio_pin_set(CN1);
+ gpio_pin_set(CN2);
+ gpio_pin_set(CN3);
+ gpio_pin_set(CN4);
+ }
+ }
+ //第四行拉低做检测
+ gpio_pin_set(CN1);
+ gpio_pin_set(CN2);
+ gpio_pin_set(CN3);
+ gpio_pin_clr(CN4);
+ if(!gpio_pin_get_val(COM1)||!gpio_pin_get_val(COM2)||!gpio_pin_get_val(COM3)||!gpio_pin_get_val(COM4))
+ {
+ if(!gpio_pin_get_val(COM1))
+ {
+ key_down_flag=1;
+ *key=VOX;
+ while(!gpio_pin_get_val(COM1));
+ }else if(!gpio_pin_get_val(COM2))
+ {
+ key_down_flag=1;
+ *key=SQL;
+ while(!gpio_pin_get_val(COM2));
+ }else if (!gpio_pin_get_val(COM3))
+ {
+ key_down_flag=1;
+ *key=ROGER;
+ while(!gpio_pin_get_val(COM3));
+ }else if (!gpio_pin_get_val(COM4))
+ {
+ key_down_flag=1;
+ *key=KEY;
+ while(!gpio_pin_get_val(COM4));
+ }else{
+ key_down_flag=0;
+ gpio_pin_set(CN1);
+ gpio_pin_set(CN2);
+ gpio_pin_set(CN3);
+ gpio_pin_set(CN4);
+ }
+ }
+ }
+
+void board_key_message(uint8_t *key)
+{
+ switch(*key){
+ case 0:
+
+ break;
+ case 1:
+
+ break;
+
+ case 2:
+
+ break;
+
+ case 3:
+
+ break;
+ case 4:
+
+ break;
+ case 5:
+
+ break;
+ case 6:
+
+ break;
+ case 7:
+
+ break;
+ case 8:
+
+ break;
+ case 9:
+
+ break;
+ case 10:
+
+ break;
+ case 11:
+
+ break;
+ case 12:
+
+ break;
+ case 13:
+
+ break;
+ case 14:
+
+ break;
+ case 15:
+
+ break;
+ case 16:
+
+ break;
+}
+
+}
void IdleTask(void)
{
- if(gpio_pin_get_val(INPUT_5V_Pin))
- {
+// if(gpio_pin_get_val(INPUT_5V_Pin))
+// {
- if(state5v==0)
- {
- state5v=1;
- 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
- //UartInit();
- }
+// 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
+// // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
+// //UartInit();
+// }
- //UART_CheckSend();
- } 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
- //UartDeinit();
- }
- }
+// //UART_CheckSend();
+// } 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
+// // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
+// //UartDeinit();
+// }
+// }
+ board_key_scan(&key_num);
+ board_key_message(&key_num);
UART_CheckReceive();
-}
-int bind_check(void)
-{
- if(g_com_map[BIND_DEV_ID]!=0x00)
- {
- return 1;
-//绑定信息为1说明设备已经被下发绑定
- } else {
- return 0;
-//绑定信息为0说明设备未被绑定
- }
-}
-void check_if_in_search(void)
-{
- if(link_success_flag==1) { //如果第一次测距收包成功那么则进入连接测距模式
- UWB_work_state=LINK_SUCCESS;
- } else { //否则进入搜索模式
- UWB_work_state=SEARCH_DEV;
- if(first_search_flag==0)
- first_search_flag=1;
- }
}
void boot_deinit(void)
{
@@ -403,12 +651,31 @@
uart_close(UART_ID0);//解绑原来串口0
}
uint8_t flag_4guart_needinit=0;
+uint8_t index1,index2,index3;
+int16_t Voltage_input;
+int tt2;
+int test1,test3;
+uint32_t test4;
+uint32_t time_count;
+
+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)
{
board_clock_run();
boot_deinit();
board_pins_config();
- board_debug_console_open(TRACE_PORT_UART1);
+ board_debug_console_open(TRACE_PORT_UART0);//4G串口
// Reset reason
reset_cause_get();
reset_cause_clear();
@@ -432,96 +699,124 @@
// Disable watchdog timer
wdt_close(WDT_ID0);
+
LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
// open system timer
//sys_timer_open();
- // TODO 4G
- Uart_Register(UART_ID_4G, UART_ID0);
- Internet_Init();
- TCPClient_Init();
-
gpio_open();
- //board_led_init();
- 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(0,1);//开启gps，4G
+// adc_open(&usr_adc_cfg);
+ board_gpio_init();
+// IIC2_Init();
+// Accelerometer_Init();
+// io_pin_mux_set(SCL_PIN, IO_FUNC0);//测试测距波形
+// gpio_pin_set_dir(SCL_PIN , GPIO_DIR_IN, 0);
+// io_pull_set(SCL_PIN , IO_PULL_UP, IO_PULL_UP_LEVEL4);
+ //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();
+
+ Program_Init();
+ uart_open(UART_ID1, &test_uart_cfg);
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
// Initialize low power mode
power_init();
+ //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_acceleration_detection_init(move_handler);
+// adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+ //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
+ //board_4GUsart_detection_init(_4gUsart_handler);
+
while (1)
{
- if(flag_TCP_reconnectting||IfTCPConnected())
- {
-
- // LOG_INFO(TRACE_MODULE_APP, "处理4G任务\r\n");
- air780_led_on();
- if(flag_4guart_needinit)
- {
- flag_4guart_needinit = 0;
- AIR780EUartInit();
- }
- Internet_Poll();
- HIDO_ATLitePoll();
- HIDO_TimerPoll();
- TCPClient_Poll();
- air780_led_off();
- }
+
+// if(!power_low_flag)//确认是否休眠下才开启功能
+// {
+// if(flag_TCP_reconnectting||IfTCPConnected())
+// {
+//// if(flag_TCP_reconnectting)
+//// {
+//// link_error_time++;
+//// }//后加的
+// // LOG_INFO(TRACE_MODULE_APP, "处理4G任务\r\n");
+//
+//// if(flag_4guart_needinit)
+//// {
+//// flag_4guart_needinit = 0;
+//// AIR780EUartInit();
+//// }//yuan
+// if(flag_4G_recdata==1)
+// {
+// flag_4G_recdata = 2;
+//
+// //LOG_INFO(TRACE_MODULE_APP, "运行Socket_RecvAll tt2 %d\r\n",tt2);
+// Socket_RecvAll();
+// }
+//// air780_led_on();
+// Internet_Poll();
+// HIDO_ATLitePoll();
+// HIDO_TimerPoll();
+// TCPClient_Poll();
+//// air780_led_off();
+// }
+// }
if(flag_secondtask)
{
flag_secondtask = 0;
SecondTask();
+ // time_count++;
}
+ UserKeyTask();
+ //IMUTask();
IdleTask();
- //3种情况后都要发包和休眠
- //if(send_flag){
- //message_construct();
- //send_udp;
- //air780_success_state=0;//关闭4G成功发送灯
- //blink_led(&air780_success_state);//成功测距闪烁4G状态灯
- //air780_success_state=0;
- //}
#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(!flag_4guart_needinit)
- {
- // LOG_INFO(TRACE_MODULE_APP, "4G RX 中断打开\r\n");
- // board_4GUsart_detection_init(_4gUsart_handler);
-//
- }
+// if(!gps_need_data_flag&&!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)
+// {
+// LOG_INFO(TRACE_MODULE_APP, "4G RX 中断打开\r\n");
+// board_4GUsart_detection_init(_4gUsart_handler);
+
+// }
// flag_sleeptimer =0;
-// LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
- // flag_4guart_needinit = 1;
-//
+ //LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
+// flag_4guart_needinit = 1;
+
// trace_flush();
// uint32_t lock = int_lock();
// //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
// power_enter_power_down_mode(0);
// int_unlock(lock);
+// }//yuan
+
+ if(delaysleep_count==0)
+ if(!gps_power_state&&!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&AIR780E_IsIPIdle()&&Socket_IsSendQueueEmpty(0))||((!flag_TCP_reconnectting)&&!IfTCPConnected())||power_low_flag))
+ {
+// test1=gpio_pin_get_val(_4G_USART_RX_Pin);
+ uint32_t lock;
+ //flag_4guart_needinit = 1;
+// Internet_Poll();
+// HIDO_ATLitePoll();
+// HIDO_TimerPoll();
+// TCPClient_Poll();
+
+ // delay_us(300000);
+ trace_flush();
+ lock = int_lock();
+ power_enter_power_down_mode(0);
+ uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+// test3=gpio_pin_get_val(_4G_USART_RX_Pin);
+ //LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
+ int_unlock(lock);
}
+
#endif
}
}
--
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