From c0c1ff032edd95fb1c8becf9dab14d6652b8ea1f Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期五, 30 五月 2025 16:22:20 +0800
Subject: [PATCH] 工装测试底板发货V1.0版本，增加默认g_com表组为150,按键按下后3s会重置标志位，避免重复启动免布线测功率模式
---
keil/include/main/main.c | 575 +++++++++++++++++++++++++++++++++++---------------------
1 files changed, 359 insertions(+), 216 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 40a5010..deb79d8 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -61,10 +61,14 @@
#include "HIDO_ATLite.h"
#include "HIDO_Timer.h"
#include "TCPClient.h"
+#include "PCA9555.h"
+#include "WS2812.h"
-//#define DEBUG_MODE
+#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
+void UserKeyState_change(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
@@ -76,7 +80,8 @@
#define WARING_LIMIT_TIME 10
#define UPDATE_TIME 10
-
+#define UWB_VOL_INVALID_LED_WAIT_COUNT 5
+#define UWB_VOL_VALID_LED_WAIT_COUNT 1
extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
@@ -90,13 +95,19 @@
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;
-uint8_t state5v;
-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;
+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;
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;
+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
typedef enum
{ UN_BIND=0,
LINK_SUCCESS,
@@ -104,9 +115,15 @@
} Operation_step;
Operation_step UWB_work_state;
-
+typedef enum
+{UWB_UNLINE=0,
+ VOLTAGE_NORMAL,
+ VOLTAGE_ABNORMAL,
+} UWB_State;
+extern UWB_State Voltage_State;
+Operation_step UWB_work_state;
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)*/
@@ -127,7 +144,7 @@
.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,
@@ -142,10 +159,25 @@
.int_tx = false,
#endif
};
-static void uart_receive_callback(void *dev, uint32_t err_code)
+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);
+ uart_receive(UART_ID0,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);
+}
+uint8_t power_detect_flag;
static void adc_callback(void *data, uint32_t number)
{
uint32_t *result = (uint32_t *)data;
@@ -168,217 +200,337 @@
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
+ power_detect_flag=1;
+ LOG_INFO(TRACE_MODULE_APP, "电池电压低于3.3V，异常工作\r\n");
+ }else{
+ //power_low_flag=0;
+ //gps_air780_power_change(gps_power_state,1);//gps原样,开启4G
+ power_detect_flag=0;
+ LOG_INFO(TRACE_MODULE_APP, "电池电压正常,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);
-//}
-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;
-void MotorPoll(void)
+uint32_t keystarttime,keystarttime2,keystarttime3;
+extern uint32_t get_in_num,get_out_num;
+uint8_t flag_4G_recdata;
+extern uint8_t taglist_num;
+void IMUTask(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(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();
+// }
+ UserKeyState_change();
+}
+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)
+{
+ //adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+}
+void blink_test_led(enum IO_PIN_T pin_num)
+{
+ gpio_pin_set(pin_num);//亮
+ delay_ms(500);
+ gpio_pin_clr(pin_num);//灭
+}
+void blink_test_led_off(enum IO_PIN_T pin_num)
+{
+ gpio_pin_clr(pin_num);//灭
+}
+uint8_t wltag_uwb_timer;
+void voltage_Task(void)
+{
+ if(taglist_num==0)
+ {
+ Voltage_State=UWB_UNLINE;
+ }
+switch(Voltage_State){
+ case VOLTAGE_NORMAL:
+ if(wltag_uwb_timer++>=UWB_VOL_VALID_LED_WAIT_COUNT)
+ { wltag_uwb_timer=0;
+ blink_test_led(LED_PIN);
+ }
+ break;
+ case VOLTAGE_ABNORMAL:
+ if(wltag_uwb_timer++>=UWB_VOL_INVALID_LED_WAIT_COUNT)
+ { wltag_uwb_timer=0;
+ blink_test_led(LED_PIN);
+ }
+ case UWB_UNLINE:
+ blink_test_led_off(LED_PIN);
+ break;
+ }
+}
+void led_Task(void)
+{
+ voltage_Task();
+}
+uint8_t fang_dou_flag=0;
void SecondTask(void)
-{
- //UWB更新列表
- TagListUpdate();
- GPS_Poll();
- g_com_map[ALARM_DISTANCE1]=30;//测试
- g_com_map[ALARM_DISTANCE2]=40;
- //UWB状态检测
-
- if(IfTCPConnected())
+{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();
}
+ led_Task();
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;
+uint32_t falling_time,rising_time,press_start_time,current_time;
+bool button_pressed;
+uint8_t change_buffer_flag=0;
+// 按键状态机
+typedef enum {
+ IDLE, // 空闲状态
+ WAIT_NEXT_RISING, // 已按下待确认
+ WAIT_NEXT_FALLING // 等待释放状态
+} ButtonState;
+volatile ButtonState sos_state = IDLE,temp_state;
+#define MAX_WAIT_TIME_S 3
+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;
+ }
+ if(!(MAIN_RI_POSITION&gpio_state))
+ {
+ flag_4G_recdata = 1;
+ delaysleep_count = 3;
+ }
+ //uart_change_check(gpio_state);
+}
static void sleep_timer_callback(void *dev, uint32_t time)
{
- IO_control_init();
- UWBPoll();
- // 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
+}
+void UserKeyState_change(void)
+{
+ if(change_buffer_flag)
+ {
+ current_time = HIDO_TimerGetTick();
+ if(current_time-falling_time>MAX_WAIT_TIME_S)
+ {//初始化状态
+ change_buffer_flag=0;
+ current_time=0;
+ falling_time=0;
+ }
+ }
+}
+//static void move_handler(enum IO_PIN_T pin)
+//{
+// nomove_count=0;
+//}
-}
-static void voltage_input_handler(enum IO_PIN_T pin)
-{
-}
-static void move_handler(enum IO_PIN_T pin)
+static void gpio_change_handler(enum IO_PIN_T pin)
{
- nomove_count=0;
+ //change_buffer_flag=1;
+ falling_time = HIDO_TimerGetTick();
+ // 记录新的按下时间
+ sos_state=WAIT_NEXT_RISING;
+ change_buffer_flag = 1;
}
-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;
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;
+// 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
- g_com_map[BIND_DEV_ID] = 0x1234;
+
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:MK工装测试标签 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 IdleTask(void)
+void uart_change_check(uint16_t gpio_state)
{
- if(gpio_pin_get_val(INPUT_5V_Pin))
- {
-
- if(state5v==0)
+ 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();
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
- //UartInit();
- }
-
- //UART_CheckSend();
- } else {
+ 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();
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
- //UartDeinit();
+ 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
}
- }
- UART_CheckReceive();
+ }
}
-int bind_check(void)
+void IdleTask(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
- }
+//if(read_5v_input_pca())
+// {
+// 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
+// }
+// }
+ UART0_CheckReceive();
}
-void check_if_in_search(void)
+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
- 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;
- }
+ //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;
+int test1,test3;
+uint32_t test4;
+
int main(void)
{
board_clock_run();
+ boot_deinit();
board_pins_config();
- board_debug_console_open(TRACE_PORT_UART0);
+ 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
uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
uint32_t external_flash = (REG_READ(0x40010030) >> 28) & 0x3;
@@ -398,93 +550,84 @@
// Disable watchdog timer
wdt_close(WDT_ID0);
- // LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
+ 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();
-
+ // TODO 4G
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(1,1);//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");
+ LED_output_init();//配置灯引脚和PA引脚
+
+// adc_open(&usr_adc_cfg);
+ Program_Init();
+ //uart_open(UART_ID1, &test_uart_cfg);
+ uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
-
+ // Initialize low power mode
+ power_init();
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);
-// 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
+// adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+ //board_acceleration_detection_init(move_handler);
+ gpio_change_detection_init(gpio_change_handler);//gpio中断检测输入切换对面免布线基站逻辑
+ //board_4GUsart_detection_init(_4gUsart_handler);
+ Uwb_init();
+ OpenUWB();
while (1)
- {
- 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();
- }
- Internet_Poll();
- HIDO_ATLitePoll();
- HIDO_TimerPoll();
- TCPClient_Poll();
- }
+ {
+ uwb_app_poll();
if(flag_secondtask)
{
flag_secondtask = 0;
SecondTask();
}
+
+// PowerTask();
+//// IMUTask();
+ UserKeyTask();
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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