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 | 633 +++++++++++++++++++++++++++++++++++++-------------------
1 files changed, 417 insertions(+), 216 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index b36dfdb..520b7cd 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -61,10 +61,17 @@
#include "HIDO_ATLite.h"
#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
extern int simple_main(void);
extern int temp_main(void);
+void uart_change_check(uint16_t gpio_state);
#define TEST_UART_POLL_MODE 0
#define TEST_UART_INTERUPT_MODE 1
#define TEST_UART_DMA_MODE 2
@@ -72,33 +79,49 @@
#define NUM_SAMPLES 1
#define BIND_TRIGGER_TIME 60000
+#define MOTOR_COUNT_TIME 1
+#define WARING_LIMIT_TIME 10
+#define UPDATE_TIME 10
+
+
extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
+extern int distance;
+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;
uint8_t bat_percent,g_start_send_flag=1;
-int link_success_flag;
-uint8_t state5v,link_error_count;
-uint8_t gps_power_state,motor_power_state=1,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state;
-float nomove_count=0;
+uint8_t link_success_flag,motor_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,red_charge_state,green_charge_state,air780_success_state,first_motor_in_flag;
+uint16_t nomove_count=0;
static uint32_t sample[NUM_SAMPLES] = {0};
-uint8_t recev_error_num,send_messgae_count,send_flag,control_state;
-
-typedef enum
-{ UN_BIND=0,
- LINK_SUCCESS,
- SEARCH_DEV,
-} Operation_step;
-Operation_step Operation_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;
+extern uint8_t pca9555writedata_config[10];//暂存寄存器所有配置的数组
+extern uint8_t pca9555writedata_output[10];//暂存输出高低电平配置的数组
+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
+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;
-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)*/
@@ -119,7 +142,7 @@
.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,
@@ -134,9 +157,35 @@
.int_tx = false,
#endif
};
-static void uart_receive_callback(void *dev, uint32_t err_code)
+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);
+}
+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)
{
@@ -160,130 +209,255 @@
bat_percent = ((fVoltage_mv - 3300) /8);
}
}
- LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
+ 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
+ // 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);
-//}
-uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1;
-void SecondTask(void)
+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,keystarttime3;
+extern uint32_t get_in_num,get_out_num;
+void IMUTask(void)
{
- if(IfTCPConnected())
+ 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(!read_userkey_input_pca())
+ {
+ if(HIDO_TimerGetTick() - keystarttime3>2)
+ {
+ userkey_state = 1;
+ keystarttime3 = HIDO_TimerGetTick();
+ //UDPClient_UploadGPS();
+ }
+// 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)
+ {
+ 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
+ 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)
{
- 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;
- }
-
+ second_count = 0;
+ MinuteTask();
+ }
+ 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 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;
+ gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];
+ if(WAKE_UP_POSITION&gpio_state)
+ {
+ nomove_count=0;
+ }
+ //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)
{
-
- SecondTask();
- // IO_control_init();
- uwb_led_on();
- delay_us(1000);
- uwb_led_off();
-// send_messgae_count+=g_com_map[COM_INTERVAL];
-// //if(send_messgae_count>=g_com_map[4G_INTERNAL]){
-// //send_message_count=0;
-// //send_flag=1;
-// //}
-
-// if(Operation_state==LINK_SUCCESS) { //成功时清0错误计数
-// link_error_count=0;
-// g_start_send_flag=1;
-// }
-// if(Operation_state==SEARCH_DEV) {
-//// if(first_search_flag){//当第一次连接断开产生时才开始计数
-// //link_error_count=0;
-//// }
-// link_error_count++;
-// if(link_error_count==60)
-// link_error_count=0;
-// //link_error_count+=g_com_map[COM_INTERVAL];
-// //if(link_error_count>=g_com_map[4G_INTERNAL])
-// //link_error_count=0;
-// update_led_power_state();//更新灯状态
-// }
+
+ flag_secondtask = 1;
+ enable_sleep_count++;
+ if(enable_sleep_count==sleep_limit_time)
+ {
+ enable_sleep_count=0;
+ sleep_flag=1;
+ }
+
+ 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 _4gUsart_handler(enum IO_PIN_T pin)
+static void pca_handler(enum IO_PIN_T pin)
{
- io_pin_mux_set(_4G_USART_RX_Pin,IO_FUNC4);
- AIR780EUartInit();
+ PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值
+ check_input_change();
}
+uint8_t flag_4G_recdata;
+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;
+}
+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
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;
warning_distance=g_com_map[ALARM_DISTANCE1];
prewarning_distance=g_com_map[ALARM_DISTANCE2];
send_struct.warnDistence=warning_distance;
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
-}
+// 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)
+ {
+ 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)|0;
+ LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
+ 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);
+}
-
-
+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;
- 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();
- }
-
- //UART_CheckSend();
- } else {
+ 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;
- 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();
+ 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
}
- UART_CheckReceive();
- }
+
+ }
}
int bind_check(void)
{
@@ -296,28 +470,106 @@
//绑定信息为0说明设备未被绑定
}
}
-void check_if_in_search(void)
+//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)
{
- 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
- Operation_state=LINK_SUCCESS;
- } else { //否则进入搜索模式
- Operation_state=SEARCH_DEV;
- if(first_search_flag==0)
- first_search_flag=1;
+ //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);
+ // 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
+}
+uint8_t flag_4guart_needinit=0;
+uint8_t index1,index2,index3;
+int16_t Voltage_input;
+int tt2;
+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;
-uint8_t flag_4guart_needinit=0;
+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(TRACE_PORT_UART1);
+ board_debug_console_open_baud(TRACE_PORT_UART0,BAUD_115200);
// Reset reason
reset_cause_get();
reset_cause_clear();
-
- // 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)
@@ -330,121 +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();
-
- gpio_open();
- //board_led_init();
-
-// adc_open(&usr_adc_cfg);
- IIC2_Init();
- Accelerometer_Init();
- IO_control_init();
- // 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();
- // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
-// Initialize low power mode
- power_init();
- // LOG_INFO(TRACE_MODULE_APP, "测试数据");
-// g_com_map[BIND_DEV_ID]=0x1122;//测试
-// if(bind_check())//绑定后才提前开启测距
-// { link_success_flag=temp_main();//上机开启接收2s绑定成功则进行下面轮询测距流程,不成功则1分后再次开启2s接收
-// check_if_in_search();
-// } else {
-// send_struct.bindState=false;
-// Operation_state=UN_BIND;
-// }
- 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(1000));//测试
- //board_5V_input_init(voltage_input_handler);
- board_acceleration_detection_init(move_handler);
+ LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
- AIR780E_Reset(); //4G模块重启，耗时1.5秒
+
+ pwm_open(&usr_pwm_cfg);
+// pwm_ch_enable(PWM_ID0, &usr_pwm_ch0_cfg);
+ gpio_open();
+ LED_output_init();//配置adcGND引脚
+ adc_open(&usr_adc_cfg);
+
+ IIC2_Init();
+ 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();
+ sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
+
+ #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);
+ Tag_uwb_init();
+// Dw1000_App_Init();
while (1)
- {
- if(flag_TCP_reconnectting||IfTCPConnected())
+ {
+ if(flag_secondtask)
{
- if(flag_4guart_needinit)
- {
- flag_4guart_needinit = 0;
- AIR780EUartInit();
- }
- Internet_Poll();
- HIDO_ATLitePoll();
- HIDO_TimerPoll();
- TCPClient_Poll();
+ flag_secondtask = 0;
+ SecondTask();
}
-// switch(Operation_state) {
-// case LINK_SUCCESS:
-// { //连接成功进行轮询测距
-// if(g_start_send_flag) {
-// g_start_send_flag = 0;
-// uwb_led_on();
-// simple_main();
-// uwb_led_off();
-// IdleTask();
-// } else {
-// IdleTask();
-// }
-// }
-// break;
-// case SEARCH_DEV:
-// { //接包不成功或者通讯失败进入搜索模式
-// if(link_error_count==0||first_search_flag) {
-// first_search_flag=0;
-// uwb_led_on();
-// link_success_flag=temp_main();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
-// uwb_led_off();
-// if(link_success_flag)
-// Operation_state=LINK_SUCCESS;
-// }
-// IdleTask();
-// }
-// break;
-// case UN_BIND:
-// { uwb_led_off();//关闭uwb指示灯
-// IdleTask();
-// }
-// break;
-// }
-
- //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;
- //}
+ if(g_start_send_flag)
+ {
+ 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(!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。
- {
- board_4GUsart_detection_init(_4gUsart_handler);
- // LOG_INFO(TRACE_MODULE_APP, "进入休眠");
- flag_4guart_needinit = 1;
- trace_flush();
+
+ 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");
+ //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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