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 | 721 ++++++++++++++++++++++++++++++++++++++----------------
1 files changed, 501 insertions(+), 220 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 10c2612..67238fe 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -60,7 +60,11 @@
#include "Internet.h"
#include "HIDO_ATLite.h"
#include "HIDO_Timer.h"
+#include "TCPClient.h"
+#include "PCA9555.h"
+#include "WS2812.h"
+//#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
#define TEST_UART_POLL_MODE 0
@@ -69,10 +73,17 @@
#define TEST_UART_MODE TEST_UART_DMA_MODE
#define NUM_SAMPLES 1
-#define BIND_TRIGGER_TIME 60000
+#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;
@@ -80,23 +91,30 @@
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;
+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;
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,
- SEARCH_DEV,
-}Operation_step;
-Operation_step Operation_state;
+ LINK_SUCCESS,
+ SEARCH_DEV,
+} Operation_step;
+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)*/
@@ -109,39 +127,55 @@
.high_pulse_time = 4,
.settle_time = 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,
+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_9600,
#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
- .dma_en = false,
- .int_rx = false,
- .int_tx = false,
+ .dma_en = false,
+ .int_rx = false,
+ .int_tx = false,
#elif (TEST_UART_MODE == TEST_UART_INTERUPT_MODE)
- .dma_en = false,
- .int_rx = true,
- .int_tx = true,
+ .dma_en = false,
+ .int_rx = true,
+ .int_tx = true,
#elif (TEST_UART_MODE == TEST_UART_DMA_MODE)
- .dma_en = true,
- .int_rx = false,
- .int_tx = false,
+ .dma_en = true,
+ .int_rx = false,
+ .int_tx = false,
#endif
- };
-static 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 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
+ 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);
+ //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)
{
uint32_t *result = (uint32_t *)data;
for (uint16_t i = 0; i < number; i++)
{
-// LOG_INFO(TRACE_MODULE_APP, "The voltage measured %d mv\r\n",
+// LOG_INFO(TRACE_MODULE_APP, "The voltage measured %d mv\r\n",
// ADC_INTERNAL_VREF_MV + adc_code_to_mv((int16_t)*result, ADC_INTERNAL_VREF_MV));
fVoltage_mv=ADC_INTERNAL_VREF_MV + adc_code_to_mv((int16_t)*result, ADC_INTERNAL_VREF_MV);
fVoltage_mv=fVoltage_mv*2;
@@ -158,131 +192,365 @@
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);
-//}
+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;
+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)
+ {//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)
+ {
+ 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(LED_POWER,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
+}
+void Air780eTask(void)
+{
+// if(!power_low_flag)//确认是否休眠下才开启功能
+// {
+ 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();
+//// }//yuan
+ if(flag_4G_recdata==1)
+ {
+ flag_4G_recdata = 2;
+
+ //LOG_INFO(TRACE_MODULE_APP, "运行Socket_RecvAll tt2 %d\r\n",tt2);
+ Socket_RecvAll();
+ }
+ Internet_Poll();
+ HIDO_ATLitePoll();
+ HIDO_TimerPoll();
+ TCPClient_Poll();
+
+ }
+// }
+
+}
+void SecondTask(void)
+{static uint8_t second_count;
+ if(second_count++>60)
+ {
+ second_count = 0;
+ MinuteTask();
+ }
+// //UWB状态检测
+//if(!power_low_flag)//低供电下不需要检测重连
+// {
+ if(IfTCPConnected())
+ {
+ 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;
+ }
+
+ }
+// }
+ 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 tt=1;
+uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
+uint8_t uwb_enable_flag=0;
static void sleep_timer_callback(void *dev, uint32_t time)
{
-
- nomove_count++;
- 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;
- updata_led_power_state();//更新灯状态
+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)
+ {
+ nomove_count=0;
}
- HIDO_TimerTick();
+ if(!(MAIN_RI_POSITION&gpio_state))
+ {
+ flag_4G_recdata = 1;
+ delaysleep_count = 3;
+ }
+ if((PWR_ON_POSITION&gpio_state))
+ {
+ PowerTask();
+ }
}
-static void voltage_input_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;
+ delaysleep_count = 3;
}
-static void move_handler(enum IO_PIN_T pin)
-{
-nomove_count=0;
-}
+extern uint16_t ip0,ip1,ip2,ip3,port;
+extern uint8_t gps_4g_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
-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
-memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
-warning_distance=g_com_map[STATIONARY_TIME];
-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
+{
+ 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
+ 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
+
+ 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: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);
}
-
-
-
+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(gpio_pin_get_val(INPUT_5V_Pin))
- {
-
- if(state5v==0)
+if(read_5v_input_pca())
{
- 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();
+ 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;
}
-
- //UART_CheckSend();
- }else{
- if(state5v==1)
+ else
{
- 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();
+ 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();
+ 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);
+ }
}
-}
-int bind_check(void)
+void boot_deinit(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
+ //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
}
-}
-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
- 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;
- }
-}
-
+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();
- IIC2_Init();
- board_debug_console_open(TRACE_PORT_UART0);
- // Reset reason
+ board_debug_console_open_baud(TRACE_PORT_UART1,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;
@@ -302,101 +570,114 @@
// 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_ID1);
- AIR780EDriver_PinRegister(AIR780E_PIN_3V8_EN, IO_PIN_5);
- AIR780EDriver_PinRegister(AIR780E_PIN_PWRKEY, IO_PIN_6);
+ // TODO 4G
+ Uart_Register(UART_ID_4G, UART_ID0);
Internet_Init();
-
+ TCPClient_Init();
gpio_open();
- //board_led_init();
+ LED_output_init();//配置彩色灯引脚
+ IIC2_Init();
+ Accelerometer_Init();
+ PCA9555_init();
+
-// adc_open(&usr_adc_cfg);
- IIC2_Init();
- Accelerometer_Init(); //加速度计初始化必须在IO_control_init之前因为复用SDA引脚
- IO_control_init();
- //adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
- uart_open(UART_ID1, &test_uart_cfg);
- gps_air780_power_change(1,1);//开启gps，4G
- Program_Init();
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
-// Initialize low power mode
- power_init();
-// 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);
- while (1)
+ //AIR780E_Reset();
+
+ adc_open(&usr_adc_cfg);
+
+ if(!read_5v_input_pca())
{
- // TODO
+ Set4LEDColor(BLUE,GREEN,WHITE,RED);
+ delay_ms(500);
+ Set4LEDColor(RED,WHITE,RED,WHITE);
+ delay_ms(500);
+ 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);
+// io_pull_set(SCL_PIN , IO_PULL_UP, IO_PULL_UP_LEVEL4);
+ Program_Init();
+ //uart_open(UART_ID1, &test_uart_cfg);
+ // uart1_change_from_gps_to_debug();
+ //Uart1GpsRecDebugSend();
+ uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+
+ // Initialize low power mode
+ power_init();
+ //AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
+ 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
+ PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+ //board_acceleration_detection_init(move_handler);
+ pca_input_detection_init(pca_handler);//pca检测输入
+ //board_4GUsart_detection_init(_4gUsart_handler);
+ Uwb_init();
+ OpenUWB();
+ while (1)
+ {
+ uwb_app_poll();
+// Air780eTask();
Internet_Poll();
- HIDO_ATLitePoll();
HIDO_TimerPoll();
-
- 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;
- //}
-#ifdef DEBUG_MODE
- if(!gpio_pin_get_val(INPUT_5V_Pin)){
- 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);
- }
+ HIDO_ATLitePoll();
+ TCPClient_Poll();
+ if(flag_secondtask)
+ {
+ flag_secondtask = 0;
+ SecondTask();
+ }
+ 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_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);
+// }
+
#endif
}
}
--
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