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 | 619 ++++++++++++++++++++++++--------------------------------
1 files changed, 267 insertions(+), 352 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 91c2dc1..520b7cd 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -62,8 +62,13 @@
#include "HIDO_Timer.h"
#include "TCPClient.h"
#include "PCA9555.h"
+#include "WS2812.h"
+#include "dw_app_anchor.h"
+#include "ymodem.h"
+#include "mk_phy.h"
+#include "mk_pwm.h"
-#define DEBUG_MODE
+//#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
void uart_change_check(uint16_t gpio_state);
@@ -86,7 +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;
@@ -95,7 +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
@@ -105,13 +110,15 @@
extern uint8_t pca9555writedata_input[10];//暂存输入寄存器所有配置的数组
extern uint8_t pca9555writedata_polarity[10];//暂存输入极性反转寄存器所有配置的数组
uint8_t temp_pca9555writedata_input[10];//暂存上一次输入寄存器所有配置的数组
-typedef enum
-{ UN_BIND=0,
- LINK_SUCCESS,
- SEARCH_DEV,
-} Operation_step;
Operation_step UWB_work_state;
-
+struct PWM_CH_CFG_T usr_pwm_ch0_cfg = {
+ .prescale = 2,
+ .waveform = PWM_SEQUENTIAL,
+ .ratio = 50,
+ .phase = 0,
+ .pol_inv = 0,
+ .int_en = 0,
+};
Commend_SendDate send_struct;
struct ADC_CFG_T usr_adc_cfg = {
@@ -150,6 +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);
@@ -159,8 +178,8 @@
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
+// 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);
@@ -203,94 +222,12 @@
PCA9555_Set_One_Value_Output(ADC_MINIUS,1);//拉高
// LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
}
-//void UartInit(void)
-//{
-//board_pins_config();
-//uart_open(UART_ID1, &test_uart_cfg);
-//board_debug_console_open(TRACE_PORT_UART0);
-//uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
-//}
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;
+uint32_t keystarttime,keystarttime2,keystarttime3;
extern uint32_t get_in_num,get_out_num;
-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
- fenli_alarm_count = 0;
- if(flag_fenli_alarm)
- {
- flag_fenli_alarm = 0;
- fenli_alarm_count = 0;
- _4GAlarmUpload(2);
- }
- }
- }
- if(distance>g_com_map[ALARM_DISTANCE1]||anchordata_num==0)
- {
- if(fenli_alarm_count++>20)
- {
- if(!flag_fenli_alarm)
- {
- flag_fenli_alarm = 1;
- _4GAlarmUpload(1);
- }
- }
- }
- if(distance<g_com_map[ALARM_DISTANCE1]) { //小于预警距离
- if(flag_alam_state)
- {
- flag_alam_state = 0;
-
- }
-
- 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) {
- if(!flag_alam_state)
- {
- flag_alam_state = 1;
- }
- 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) {
- if(!flag_alam_state)
- {
- flag_alam_state = 1;
- }
- gps_uwb_flag=1;//开启gps测距流程
- need_open_gps_count=0;
- }
-
- }
- if(anchordata_num==0) {
- if(!flag_alam_state)
- {
- flag_alam_state = 1;
- }
- distance = 0x1ffff;
- 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;
- }
- }
- }
void IMUTask(void)
{
if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)
@@ -299,30 +236,53 @@
}
}
void UserKeyTask(void)
- {
- if(!GET_USERKEY)
+{
+if(!read_userkey_input_pca())
{
- if(HIDO_TimerGetTick() - keystarttime>3)
+ if(HIDO_TimerGetTick() - keystarttime3>2)
{
userkey_state = 1;
- keystarttime = HIDO_TimerGetTick();
- UDPClient_UploadGPS();
+ keystarttime3 = HIDO_TimerGetTick();
+ //UDPClient_UploadGPS();
}
- if(HIDO_TimerGetTick() - keystarttime2>10)
+// if(HIDO_TimerGetTick() - keystarttime2>10)
+// {
+//
+// g_com_map[CNT_RESTART] = 1;
+// }
+ }else
+ {
+ keystarttime3 = HIDO_TimerGetTick();
+ }
+}
+void PowerTask(void)
+{
+ if(read_powerkey_input_pca())
+ {
+ if(HIDO_TimerGetTick() - keystarttime>2)
{
- g_com_map[CNT_RESTART] = 1;
+ keystarttime = HIDO_TimerGetTick();
+ PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
+ PCA9555_Set_One_Value_Output(GPS_LED,0);//输出低电平关闭LED
}
+// if(HIDO_TimerGetTick() - keystarttime2>10)
+// {
+//
+// g_com_map[CNT_RESTART] = 1;
+// }
}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
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)
@@ -330,48 +290,53 @@
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;
+
+void PwtagTimeTask(void)
+{
+ for(uint8_t i=0; i<PWTAG_MAXGROUPNUM; i++)
+ {
+ if(pwtag.remain_time[i]>0)
+ {
+ pwtag.remain_time[i]--;
+ }
+ }
+}
void check_input_change(void)
{
uint16_t gpio_state;
@@ -380,42 +345,35 @@
{
nomove_count=0;
}
- uart_change_check(gpio_state);
+ //uart_change_check(gpio_state);
}
+uint8_t Get_anchor_appdata_flag;
+uint8_t Get_anchor_appdata_num;
+extern uint8_t update_tag_time;
+uint8_t sleep_limit_time=1;
+uint8_t enable_sleep_count,sleep_flag;
static void sleep_timer_callback(void *dev, uint32_t time)
{
- //IO_control_init();
- if(enbale_blink_flag)
- {
- green_charge_state=0;
- charge_red_on();
- }
-
- charge_state_change();//充电状态判断
-if(secondtask_count++%2==0)
+
+ flag_secondtask = 1;
+ enable_sleep_count++;
+ if(enable_sleep_count==sleep_limit_time)
{
- flag_secondtask = 1;
- }else{
- flag_secondtask = 0;
+ enable_sleep_count=0;
+ sleep_flag=1;
}
- if(enbale_blink_flag)
- {
- //delay_us(5000);
- green_charge_state=0;
- charge_red_off();
- }
- if(delaysleep_count>0)
- delaysleep_count--;
+
+
+ g_start_send_flag=1;
+// if(delaysleep_count>0)
+// delaysleep_count--;
//GPS工作逻辑
}
-static void voltage_input_handler(enum IO_PIN_T pin)
-{
-
-}
static void move_handler(enum IO_PIN_T pin)
{
nomove_count=0;
+ Motion_Detection_callback();
}
static void pca_handler(enum IO_PIN_T pin)
{
@@ -432,6 +390,7 @@
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 uwb_ch;
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
@@ -448,13 +407,13 @@
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;
- }
+// uwb_ch=g_com_map[NEARBASE_ID1];
+// 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)
{
@@ -471,64 +430,34 @@
port = g_com_map[TCP_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: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);
-}
+}
-
-void uart_change_check(uint16_t gpio_state)
-{
- if(INPUT_5V_POSITION&gpio_state)
- {
- 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
- }
- }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
- }
- }
-}
+uint8_t test1;
void IdleTask(void)
{
-// if(gpio_pin_get_val(INPUT_5V_Pin))
-// {
+
+ UART0_CheckReceive();
+ test1=gpio_pin_get_val(INPUT_5V_Pin);
+ if(gpio_pin_get_val(INPUT_5V_Pin))
+ {
+ if(state5v==0)
+ {
+ state5v=1;
+ sleep_flag=0;
+ sleep_limit_time=30;//新增插入串口后30s不休眠
+ enable_sleep_count=0;//重新插拔可以重置时间
+ }
+ }else{
+ if(state5v==1)
+ {
+ state5v=0;
+ sleep_limit_time=1;//新增插入串口后30s不休眠
+ enable_sleep_count=0;//重新插拔可以重置时间
+ }
-// 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();//测试
-// // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
-// //UartDeinit();
-// }
-// }
- UART_CheckReceive();
+ }
}
int bind_check(void)
{
@@ -541,16 +470,16 @@
//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 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)
{
//将boot中串口返回普通gpio
@@ -567,20 +496,80 @@
uint8_t index1,index2,index3;
int16_t Voltage_input;
int tt2;
-int test1,test3;
uint32_t test4;
+void Chuanshuwenjian_Poll()
+{
+ if(g_com_map[YAOGEIANC_UPWENJIAN_FLAG]==1)
+ {
+ calib_chip();
+ wdt_close(WDT_ID0);
+ Get_anchor_appdata_flag=1;
+ struct UART_CFG_T test_uart_cfg =
+ {
+ .parity = UART_PARITY_NONE,
+ .stop = UART_STOP_BITS_1,
+ .data = UART_DATA_BITS_8,
+ .flow = UART_FLOW_CONTROL_NONE,
+ .rx_level = UART_RXFIFO_CHAR_1,
+ .tx_level = UART_TXFIFO_EMPTY,
+ .baud = BAUD_115200,
+ .dma_en = true,
+ .int_rx = false,
+ .int_tx = false,
+ };
+ flash_open(FLASH_ID0, NULL);
+ //uart_open(UART_ID1, &test_uart_cfg);
+ uart_open(UART_ID0, &test_uart_cfg);
+ //uart_receive(UART_ID1, trx_buf, 1, uart_receive_callback);
+ Serial0PutString("MK8000-文件传输启动\r\n");
+// Get_anchor_appdata_flag=1;
+// HAL_TIM_Base_Start_IT(&htim4);
+ while(1)
+ {
+ if(SerialDownload()==0)
+ {
+// Get_anchor_appdata_flag=0;
+ g_com_map[YAOGEIANC_UPWENJIAN_FLAG]=0;
+ save_com_map_to_flash();
+ delay_ms(300);
+// Get_anchor_appdata_flag=0;
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+// else{
+// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+// }
+ }
+ }
+}
+uint16_t final_bag_num;
+extern uint8_t Lora_qingqiu_flag;
+uint8_t send_lora_data[250];
+uint16_t mubiao_anchor_ID;
+uint16_t Lora_qingqiu_bao;
+uint8_t jindu;
+uint8_t shengji_changdu;
+uint8_t Dtu_shengji_jindu[20]= {0x55,0xAA,0x34,0x05};
+extern uint32_t tempflag;
+ uint32_t tx_en_start_u32;
+ uint32_t tx_en_start_u321;
+uint8_t baifenbi=5;
+
+static void voltage_input_handler()
+{
+
+}
+extern uint8_t shengji_flag;
int main(void)
{
board_clock_run();
boot_deinit();
board_pins_config();
- board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_115200);
+ board_debug_console_open_baud(TRACE_PORT_UART0,BAUD_115200);
// Reset reason
reset_cause_get();
reset_cause_clear();
-//注意串口一波特率改为9600了为了能和GPS通信上
- // Load calibration parameters from NVM
+ Program_Init();
uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
uint32_t external_flash = (REG_READ(0x40010030) >> 28) & 0x3;
if (internal_flash || external_flash == 1)
@@ -593,144 +582,70 @@
{
board_calibration_params_default();
}
-
// Chip calibration
calib_chip();
-
// 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();
-
+
+
+ pwm_open(&usr_pwm_cfg);
+// pwm_ch_enable(PWM_ID0, &usr_pwm_ch0_cfg);
gpio_open();
- //board_output_init();//配置adcGND引脚
-// battery_monitor_open();
-// Voltage_input=battery_monitor_get();
-// battery_monitor_close();
-
+ LED_output_init();//配置adcGND引脚
adc_open(&usr_adc_cfg);
IIC2_Init();
- Accelerometer_Init();
- PCA9555_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_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
- gpio_pin_clr(ADC_GND_ENABLE);
-
- Program_Init();
- //uart_open(UART_ID1, &test_uart_cfg);
- // uart1_change_from_gps_to_debug();
- //Uart1GpsRecDebugSend();
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
-
-// Initialize low power mode
+ SC7A22H_Motion_Detection_Init();
+ gpio_pin_clr(ADC_GND_ENABLE);
+ //Program_Init();
+ uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
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);
- PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
- adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+
+ #ifdef _UWB_1HZ
+ sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
+ #else
+ sleep_timer_start(__MS_TO_32K_CNT(5000));//测试
+ #endif
+ board_5V_input_init(voltage_input_handler);
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
board_acceleration_detection_init(move_handler);
- pca_input_detection_init(pca_handler);//pca检测输入
- Uwb_init();
- OpenUWB();
-
- //board_4GUsart_detection_init(_4gUsart_handler);
+ Tag_uwb_init();
+// Dw1000_App_Init();
while (1)
{
- uwb_app_poll();
- //test4=gpio_pin_get_val(SCL_PIN);
- //UWBPoll();
-// if(!power_low_flag)//确认是否休眠下才开启功能
-// {
-// if(flag_TCP_reconnectting||IfTCPConnected())
-// {
-// // 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();
-
}
-// UserKeyTask();
-// IMUTask();
- IdleTask();
-#ifndef DEBUG_MODE
-//if(flag_sleeptimer)
-// 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;
-
-// 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))
+ if(g_start_send_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);
+ g_start_send_flag = 0;
+ gpio_pin_set(IO_PIN_7);//亮
+ TagRange();
+ gpio_pin_clr(IO_PIN_7);//灭
}
-
+// PowerTask();
+ //IMUTask();
+// UserKeyTask();
+ IdleTask();
+ LoraUp_Poll();
+#ifndef DEBUG_MODE
+
+ 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");
+ //唤醒源设置MK8000修改
+ //board_5V_input_init(voltage_input_handler);
+ //sleep_timer_start(g_com_map[COM_INTERVAL]);
+ power_enter_power_down_mode(0);
+ uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+ //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
+ int_unlock(lock);
+ }
#endif
}
}
--
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