From bddf0b37dfea62d0d3f7f5f8c180c24727665b68 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期一, 26 五月 2025 09:59:25 +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 | 58 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 56 insertions(+), 2 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index eeefce7..f133c1e 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;
@@ -424,6 +426,57 @@
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
@@ -535,7 +588,7 @@
// }
g_com_map[MODBUS_MODE] = 0;
log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
- g_com_map[VERSION] = (1<<8)|22;
+ g_com_map[VERSION] = (1<<8)|23;
LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
@@ -782,7 +835,7 @@
else if(current_state==STATE_SLEEP)
{
elapsed_time_jibu = uwb_time_count - state_start_time;
- switch(elapsed_time_jibu==1)
+ switch(elapsed_time_jibu)
{
case UWB_OPEN_COUNT:
CloseUWB();
@@ -970,5 +1023,6 @@
}
IMUTask();
IdleTask();
+ check_step_and_update_state();
}
}
--
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