From c3c86091d9d8536f78cb44c2b62425f1e0b54933 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期三, 28 八月 2024 14:51:13 +0800
Subject: [PATCH] 修改了boot增加了bootdeinit函数防止boot中uart初始化干扰app，但升级只能最初上机时升级
---
keil/include/main/main.c | 359 ++++++++++++++++++++++++-----------------------------------
1 files changed, 148 insertions(+), 211 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index cd5ebe2..e88bda8 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -72,13 +72,11 @@
#define NUM_SAMPLES 1
#define BIND_TRIGGER_TIME 60000
-#define MOTOR_COUNT_TIME 1
+#define MOTOR_COUNT_TIME 1
#define WARING_LIMIT_TIME 10
#define UPDATE_TIME 10
-#define GPS_OPEN_TIME_OUT 240
-#define GPS_RESTART_TIME1 1200
-#define GPS_RESTART_TIME2 120
-#define SEARCH_TIMESTEMP 120
+
+
extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
@@ -91,18 +89,20 @@
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,motor_count,gps_wait_count;
-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,first_motor_in_flag;
+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;
float nomove_count=0;
static uint32_t sample[NUM_SAMPLES] = {0};
-uint8_t recev_error_num,send_messgae_count,send_flag,control_state,gps_need_data_flag,gps_timeout_flag,search_open_flag;
+uint8_t recev_error_num,send_messgae_count,send_flag,control_state;
+uint8_t flag_4g_usart_rx_state = 1; //4G 串口RX当前是 RX状态，不是GPIO状态
typedef enum
{ UN_BIND=0,
LINK_SUCCESS,
SEARCH_DEV,
} Operation_step;
-Operation_step UWB_Work_State;
+Operation_step UWB_work_state;
Commend_SendDate send_struct;
@@ -177,60 +177,66 @@
//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,gps_uwb_flag,gps_air_flag,motor_open_air_flag,moter_open_uwb_flag;
+uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag;
int need_open_gps_count;
+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;
+ }
+ }
+}
void SecondTask(void)
{
- //UWB更新列表
- TagListUpdate();
- g_com_map[ALARM_DISTANCE1]=30;//测试
- g_com_map[ALARM_DISTANCE2]=40;
- //UWB状态检测
- 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;
- }
-}
+ //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())
{
TCP_reconnect_timer =0;
flag_TCP_reconnectting = 0;
- }else{
+ } 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{
+ } else {
flag_TCP_reconnectting = 0;
}
- if(TCP_reconnect_timer++>600)
+ if(TCP_reconnect_timer++>600)
{
TCP_reconnect_timer = 0;
}
@@ -239,100 +245,36 @@
HIDO_TimerTick();
nomove_count++;
}
+uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
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;
-// //}
- //马达震动逻辑
- if(motor_open_air_flag||moter_open_uwb_flag){
- if(first_motor_in_flag==0){
- first_motor_in_flag=1;
- motor_power_state=0;
- motor_count=0;
- }
- motor_count++;
- if(motor_count>=MOTOR_COUNT_TIME){
- motor_count=0;
- motor_power_state^=1;
-
- }
- }else{
- motor_power_state=1;
- motor_count=0;
- first_motor_in_flag=0;
- }
- //GPS工作逻辑
- if(gps_air_flag||gps_uwb_flag){
- gps_power_state=1;//开启GPS
- if(!gps_timeout_flag){
- if(gps_need_data_flag){
- gps_wait_count++;
- if(gps_wait_count>=GPS_OPEN_TIME_OUT){//超时切换工作状态
- gps_timeout_flag=1;//串口添加改变timeout逻辑
- gps_wait_count=0;
- gps_need_data_flag=0;//切换为关闭模式
- }
- }else{
- gps_wait_count++;
- gps_power_state=0;//关闭GPS
- if(gps_wait_count>GPS_RESTART_TIME2){
- gps_need_data_flag=1;
- gps_wait_count=0;
- }
- }
- }else{//超时工作状态
- if(gps_need_data_flag){
- gps_wait_count++;
- if(gps_wait_count>=GPS_OPEN_TIME_OUT){//超时切换工作状态
- gps_timeout_flag=1;
- gps_need_data_flag=0;
- gps_wait_count=0;
- }
- }else{
- gps_wait_count++;
- gps_power_state=0;//关闭GPS
- if(gps_wait_count>GPS_RESTART_TIME1){
- gps_need_data_flag=1;
- gps_wait_count=0;
- }
- }
-
- }
- }else{
- gps_power_state=0;//关闭gps
- gps_wait_count=0;
- gps_timeout_flag=0;
- gps_need_data_flag=1;
- }
-
- if(UWB_Work_State==LINK_SUCCESS) { //成功时清0错误计数
- link_error_count=0;
- g_start_send_flag=1;
+ IO_control_init();
+ UWBPoll();
+ // MotorPoll();
+ if(secondtask_count++%2==0)
+ {
+ flag_secondtask = 1;
+ }else{
+ flag_secondtask = 0;
}
- if(UWB_Work_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==SEARCH_TIMESTEMP){
- link_error_count=0;
- search_open_flag=1;
- }
- //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_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;
}
-
+
+ //GPS工作逻辑
+
}
static void voltage_input_handler(enum IO_PIN_T pin)
{
@@ -342,11 +284,12 @@
{
nomove_count=0;
}
-
+uint8_t flag_4G_recdata;
static void _4gUsart_handler(enum IO_PIN_T pin)
{
- io_pin_mux_set(_4G_USART_RX_Pin,IO_FUNC4);
- AIR780EUartInit();
+ LOG_INFO(TRACE_MODULE_APP, "4G RX 唤醒\r\n");
+ // flag_4G_recdata = 1;
+ // AIR780EUartInit();
}
void Program_Init(void)
{
@@ -356,12 +299,21 @@
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
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
+ 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;
+ }
}
@@ -392,8 +344,8 @@
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
//UartDeinit();
}
- UART_CheckReceive();
}
+ UART_CheckReceive();
}
int bind_check(void)
{
@@ -409,18 +361,30 @@
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;
+ UWB_work_state=LINK_SUCCESS;
} else { //否则进入搜索模式
- UWB_Work_State=SEARCH_DEV;
+ 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
+// 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;
int main(void)
{
board_clock_run();
+ boot_deinit();
board_pins_config();
board_debug_console_open(TRACE_PORT_UART0);
// Reset reason
@@ -460,40 +424,35 @@
//board_led_init();
// adc_open(&usr_adc_cfg);
-// IIC2_Init();
-// Accelerometer_Init();
+ 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_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
+ 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
+ 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;
- UWB_Work_State=UN_BIND;
- }
+ // LOG_INFO(TRACE_MODULE_APP, "测试数据");
+
+
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);
-
+ 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
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;
@@ -504,41 +463,12 @@
HIDO_TimerPoll();
TCPClient_Poll();
}
- switch(UWB_Work_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();
- }
+ if(flag_secondtask)
+ {
+ flag_secondtask = 0;
+ SecondTask();
}
- break;
- case SEARCH_DEV:
- { //接包不成功或者通讯失败进入搜索模式
- if(search_open_flag||first_search_flag) {
- first_search_flag=0;
- search_open_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)
- UWB_Work_State=LINK_SUCCESS;
- }
- IdleTask();
- }
- break;
- case UN_BIND:
- { uwb_led_off();//关闭uwb指示灯
- IdleTask();
- }
- break;
- }
-
+ IdleTask();
//3种情况后都要发包和休眠
//if(send_flag){
//message_construct();
@@ -548,17 +478,24 @@
//air780_success_state=0;
//}
#ifndef DEBUG_MODE
-if(!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&Socket_IsSendQueueEmpty(0))||!flag_TCP_reconnectting&&!IfTCPConnected())&&!gps_power_state) //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();
- uint32_t lock = int_lock();
- //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
- power_enter_power_down_mode(0);
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
- int_unlock(lock);
+//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);
+//
+ }
+// 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);
}
#endif
}
--
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