From cc919e4e5e2395b61b86f922a07440f47ae2ad0a Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期一, 24 二月 2025 15:25:16 +0800
Subject: [PATCH] 开发差不多完成，等新板子来了测一下充电跟休眠那块的逻辑。目前4g跟gps上传那块跟urtf4的差不多。
---
keil/include/main/main.c | 309 ++++++++++++++++++++++++++++++---------------------
1 files changed, 181 insertions(+), 128 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index d25232f..67238fe 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -64,10 +64,9 @@
#include "PCA9555.h"
#include "WS2812.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);
#define TEST_UART_POLL_MODE 0
#define TEST_UART_INTERUPT_MODE 1
#define TEST_UART_DMA_MODE 2
@@ -161,7 +160,9 @@
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
+// gps_air780_power_change(0,0);//关闭gps，4G
+ PCA9555_Set_One_Value_Output(GPS_POWER,0);//关闭gps，4G
+ PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭gps，4G
sleep_timer_stop();
//adc_close();
power_enter_power_down_mode(1);
@@ -211,7 +212,8 @@
uint32_t keystarttime,keystarttime2,keystarttime3;
extern uint32_t get_in_num,get_out_num;
uint8_t flag_4G_recdata;
-
+uint8_t ledonflag;
+uint32_t ledontime;
void IMUTask(void)
{
if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)
@@ -245,9 +247,15 @@
{
if(HIDO_TimerGetTick() - keystarttime>2)
{
+ rtkled=WHITE;
+ uwbled=WHITE;
+ led4g=WHITE;
+ powerled=WHITE;
+ Set4LEDColor(uwbled,rtkled,led4g,powerled);
+ delay_ms(500);
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
+ PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
+ PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
}
// if(HIDO_TimerGetTick() - keystarttime2>10)
// {
@@ -278,7 +286,7 @@
//// flag_4guart_needinit = 0;
//// AIR780EUartInit();
//// }//yuan
- if(flag_4G_recdata==1)
+ if(flag_4G_recdata==1)
{
flag_4G_recdata = 2;
@@ -323,18 +331,41 @@
}
// }
HIDO_TimerTick();
- if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//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;
- }
+// 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 check_input_change(void)
+static void sleep_timer_callback(void *dev, uint32_t time)
{
+if(secondtask_count++%2==0)
+ {
+ flag_secondtask = 1;
+ if(!read_5v_input_pca())
+ {
+ if(bat_percent>15)
+ {
+ powerled = BLUE;
+ }else{
+ powerled = RED;
+ }
+ ledonflag=1;
+// ledontime=HIDO_TimerGetTick();
+ Set4LEDColor(uwbled,rtkled,led4g,powerled);
+ }
+ }else{
+ flag_secondtask = 0;
+ }
+ if(delaysleep_count>0)
+ delaysleep_count--;
+}
+static void pca_handler(enum IO_PIN_T pin)
+{
+ PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值
uint16_t gpio_state;
gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];
if(WAKE_UP_POSITION&gpio_state)
@@ -346,29 +377,10 @@
flag_4G_recdata = 1;
delaysleep_count = 3;
}
- //uart_change_check(gpio_state);
-}
-static void sleep_timer_callback(void *dev, uint32_t time)
-{
-if(secondtask_count++%2==0)
- {
- flag_secondtask = 1;
- }else{
- flag_secondtask = 0;
- }
- if(delaysleep_count>0)
- delaysleep_count--;
- //GPS工作逻辑
-}
-
-//static void move_handler(enum IO_PIN_T pin)
-//{
-// nomove_count=0;
-//}
-static void pca_handler(enum IO_PIN_T pin)
-{
- PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值
- check_input_change();
+ if((PWR_ON_POSITION&gpio_state))
+ {
+ PowerTask();
+ }
}
void _4gUsart_handler(enum IO_PIN_T pin)
@@ -379,7 +391,7 @@
}
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 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
@@ -422,56 +434,93 @@
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,"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
- }
- }
-}
+uint32_t adctick = 0;
+uint8_t only_one_flag;
+uint16_t chongman_time;
+uint8_t bat_percent_old=100;
+uint8_t input5vflag;
void IdleTask(void)
{
if(read_5v_input_pca())
{
- if(state5v==0)
+ 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
+ }
+// chongman_time=0;
+// only_one_flag=0;
+// uwbled=0;
+// rtkled=0;
+// led4g=0;
+// powerled=0;
+// while(read_5v_input_pca())
+// {
+// nomove_count = 0;
+// if(HIDO_TimerGetTick()-adctick>6000) //10分钟采样一次 电量
+// {
+// chongman_time=chongman_time+6;
+// adctick = HIDO_TimerGetTick();
+// PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
+// adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+// }
+// if(bat_percent>=99&&!only_one_flag)
+// {
+// only_one_flag=1;
+// chongman_time=0;
+// }
+// if(bat_percent>=99&&chongman_time>=1800)
+// {
+// powerled = GREEN;
+// }else{
+// powerled = RED;
+// }
+// UART_CheckReceive();
+// delay_ms(100);
+// Internet_Poll();
+// Set4LEDColor(0,0,0,powerled);
+// }
+// NVIC_SystemReset();
+ input5vflag=1;
+ }
+ else
{
- 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
+ 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
+ }
+// input5vflag=0;
}
- }
UART_CheckReceive();
+ if(g_com_map[CNT_RESTART]==1)
+ {
+ g_com_map[CNT_RESTART]=0;
+// printf("%s URTRestart",__debug_info__);
+// URTRestart();
+ NVIC_SystemReset();
+
+ }
+ if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
+ {
+// printf("%s URTRestart",__debug_info__);
+// URTRestart();
+// // SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ NVIC_SystemReset();
+ }
+ HIDO_TimerPoll();
+ if(ledonflag==1)
+ {
+ ledonflag=0;
+ Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
+ }
}
void boot_deinit(void)
{
@@ -540,13 +589,13 @@
adc_open(&usr_adc_cfg);
- if(!read_5v_input_pca())
- {
- Set4LEDColor(BLUE,GREEN,WHITE,GREEN);
+ if(!read_5v_input_pca())
+ {
+ Set4LEDColor(BLUE,GREEN,WHITE,RED);
delay_ms(500);
Set4LEDColor(RED,WHITE,RED,WHITE);
delay_ms(500);
- //Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
+ Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
}
// io_pin_mux_set(SCL_PIN, IO_FUNC0);//测试测距波形
// gpio_pin_set_dir(SCL_PIN , GPIO_DIR_IN, 0);
@@ -572,58 +621,62 @@
OpenUWB();
while (1)
{
- uwb_app_poll();
- Air780eTask();
+ uwb_app_poll();
+// Air780eTask();
+ Internet_Poll();
+ HIDO_TimerPoll();
+ HIDO_ATLitePoll();
+ TCPClient_Poll();
if(flag_secondtask)
{
flag_secondtask = 0;
SecondTask();
}
- PowerTask();
-// IMUTask();
- UserKeyTask();
+ PowerTask();
+ IMUTask();
+ UserKeyTask();
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_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(!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))
- {
-// 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);
- }
+//// 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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